eive/eive-obsw
eive/eive-obsw
12
3
Fork 0
Code Issues 4 Pull Requests 2 Releases 119 Wiki Activity

Merge pull request 'v1.4.0' (#58) from develop into master

Browse Source 
Reviewed-on: #58
This commit is contained in:
Robin Müller 2021-07-23 18:32:35 +02:00
commit 521601fc6a
99 changed files with 3698 additions and 831 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
.gitmodules vendored
View File

@ -13,9 +13,12 @@
[submodule "thirdparty/lwgps"]
path = thirdparty/lwgps
url = https://github.com/rmspacefish/lwgps.git
[submodule "fsfw_hal"]
path = fsfw_hal
url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-hal.git
[submodule "generators/fsfwgen"]
path = generators/fsfwgen
url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-generators.git
[submodule "thirdparty/arcsec_star_tracker"]
path = thirdparty/arcsec_star_tracker
url = https://egit.irs.uni-stuttgart.de/eive/arcsec_star_tracker.git
[submodule "thirdparty/json"]
path = thirdparty/json
url = https://github.com/nlohmann/json.git

36
CMakeLists.txt
View File

@ -1,8 +1,6 @@
################################################################################
# CMake support for the EIVE OBSW
#
# Developed in an effort to replace Make with a modern build system.
#
# Author: R. Mueller
################################################################################
@ -20,8 +18,10 @@ if(TGT_BSP MATCHES "arm/q7s")
endif()
option(ADD_ETL_LIB "Add ETL library" ON)
if(NOT OS_FSFW)
set(OS_FSFW host CACHE STRING "OS for the FSFW.")
option(ADD_JSON_LIB "Add JSON librara" ON)
if(NOT FSFW_OSAL)
set(FSFW_OSAL host CACHE STRING "OS for the FSFW.")
endif()
if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
@ -48,10 +48,11 @@ set(TARGET_NAME ${CMAKE_PROJECT_NAME})
set(LIB_FSFW_NAME fsfw)
set(LIB_ETL_NAME etl)
set(LIB_CSP_NAME libcsp)
set(LIB_FSFW_HAL_NAME fsfw_hal)
set(LIB_LWGPS_NAME lwgps)
set(LIB_ARCSEC wire)
set(THIRD_PARTY_FOLDER thirdparty)
set(LIB_CXX_FS -lstdc++fs)
set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
# Set path names
set(FSFW_PATH fsfw)
@ -65,6 +66,8 @@ 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_JSON_PATH ${THIRD_PARTY_FOLDER}/json)
set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
set(ADD_LINUX_FILES False)
@ -75,8 +78,8 @@ include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
pre_source_hw_os_config()
if(TGT_BSP)
if(${TGT_BSP} MATCHES "arm/q7s" OR ${TGT_BSP} MATCHES "arm/raspberrypi"
OR ${TGT_BSP} MATCHES "arm/beagleboneblack"
if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
OR TGT_BSP MATCHES "arm/beagleboneblack"
)
set(FSFW_CONFIG_PATH "linux/fsfwconfig")
if(NOT Q7S_SIMPLE_MODE)
@ -140,6 +143,10 @@ if(ADD_LINUX_FILES)
add_subdirectory(${LINUX_PATH})
endif()
if(ADD_JSON_LIB)
add_subdirectory(${LIB_JSON_PATH})
endif()
add_subdirectory(${BSP_PATH})
add_subdirectory(${COMMON_PATH})
@ -148,7 +155,7 @@ if(NOT Q7S_SIMPLE_MODE)
add_subdirectory(${FSFW_PATH})
add_subdirectory(${MISSION_PATH})
add_subdirectory(${TEST_PATH})
add_subdirectory(${FSFW_HAL_LIB_PATH})
add_subdirectory(${ARCSEC_LIB_PATH})
endif()
@ -156,7 +163,7 @@ endif()
# Post-Sources preparation
################################################################################
set_property(CACHE OS_FSFW PROPERTY STRINGS host linux)
set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux)
if(NOT Q7S_SIMPLE_MODE)
# Add libraries for all sources.
@ -164,7 +171,7 @@ if(NOT Q7S_SIMPLE_MODE)
${LIB_FSFW_NAME}
${LIB_OS_NAME}
${LIB_LWGPS_NAME}
${LIB_FSFW_HAL_NAME}
${LIB_ARCSEC}
${LIB_CXX_FS}
)
endif()
@ -181,11 +188,18 @@ if(ADD_CSP_LIB)
)
endif()
if(ADD_JSON_LIB)
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_JSON_NAME}
)
endif()
# Add include paths for all sources.
target_include_directories(${TARGET_NAME} PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}
${FSFW_CONFIG_PATH}
${CMAKE_CURRENT_BINARY_DIR}
${ARCSEC_LIB_PATH}
)
@ -243,7 +257,7 @@ endif()
string(CONCAT POST_BUILD_COMMENT
"Build directory: ${CMAKE_BINARY_DIR}\n"
"Target OSAL: ${OS_FSFW}\n"
"Target OSAL: ${FSFW_OSAL}\n"
"Target Build Type: ${CMAKE_BUILD_TYPE}\n"
"${TARGET_STRING}"
)

86
README.md
View File

@ -14,7 +14,8 @@ Target systems:
* Datasheet at https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Arbeitsdaten/08_Used%20Components/Q7S&fileid=340648
* Also a lot of information about the Q7S can be found on
the [Xiphos Traq Platform](https://trac2.xiphos.ca/eive-q7). Press on index to find all
relevant pages.
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
[here](https://github.com/spacefisch/linux-xlnx) . Pre-compiled files can be
@ -591,6 +592,39 @@ Eclipse indexer.
# Q7S Utilities and Troubleshooting
## Core commands
Display currently running image:
```sh
xsc_boot_copy
```
Rebooting currently running image:
```sh
xsc_boot_copy -r
```
### Setting time on Q7S
Setting date and time (only timezone UTC available)
````
timedatectl set-time 'YYYY-MM-DD HH:MM:SS'
````
Setting UNIX time
````
date +%s -s @1626337522
````
This only sets the system time and does not updating the time of the real time clock. To harmonize
the system time with the real time clock run
````
hwclock -w
````
Reading the real time clock
````
hwclock --show
````
## pa3tool Host Tool
The `pa3tool` is a host tool to interface with the ProASIC3 on the Q7S board. It was
@ -612,6 +646,40 @@ cat /tmp/test.txt
For more useful combinations, see this [link](https://www.freecodecamp.org/news/the-cat-command-in-linux-how-to-create-a-text-file-with-cat-or-touch/).
## Using the scratch buffer of the ProASIC3
The ProASIC3 has a 1024 byte scratch buffer. The values in this scratch buffer will survive
a reboot, so this buffer can be used as an alternative to the SD cards to exchange information
between images or to store mission critical information.
You can use `xsc_scratch --help` for more information.
Write to scratch buffer:
```sh
xsc_scratch write TEST "1"
```
Read from scratch buffer:
```sh
xsc_scratch read TEST
```
Read all keys:
```sh
xsc_scratch read
```
Get fill count:
```sh
xsc_scratch read | wc -c
```
## Using `system` when debugging
Please note that when using a `system` call in C++/C code and debugging, a new thread will be
@ -695,20 +763,6 @@ Reading data from CAN:
candump can0
````
## Useful Q7S Linux Commands
Display currently running image:
```sh
xsc_boot_copy
```
Rebooting currently running image:
```sh
xsc_boot_copy -r
```
## Preparation of a fresh rootfs and SD card
This section summarizes important changes between a fresh rootfs and the current
@ -724,7 +778,7 @@ EIVE implementation
### SD Cards
- Folder `bin` for binaries, for example the OBSW
- Folder `misc` for miscellaneous files
- 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)

2
bsp_hosted/fsfwconfig/devices/powerSwitcherList.h
View File

@ -33,7 +33,7 @@ namespace pcduSwitches {
static const uint8_t INIT_STATE_Q7S = ON;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
static const uint8_t INIT_STATE_RW = OFF;
#if TE0720 == 1
#if BOARD_TE0720 == 1
/* Because the TE0720 is not connected to the PCDU, this switch is always on */
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
#else

16
bsp_linux_board/ObjectFactory.cpp
View File

@ -1,5 +1,5 @@
#include <fsfw_hal/linux/uart/UartComIF.h>
#include <fsfw_hal/linux/uart/UartCookie.h>
#include <fsfw/hal/linux/uart/UartComIF.h>
#include <fsfw/hal/linux/uart/UartCookie.h>
#include <mission/devices/GPSHyperionHandler.h>
#include "ObjectFactory.h"
@ -31,12 +31,12 @@
#include "fsfw/osal/common/UdpTmTcBridge.h"
#include "fsfw/osal/common/UdpTcPollingTask.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/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"
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;

2
bsp_q7s/boardconfig/q7sConfig.h.in
View File

@ -24,6 +24,8 @@
#define Q7S_ADD_SPI_TEST 0
#endif
#define Q7S_ADD_SYRLINKS_HANDLER 1
#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0
namespace config {

195
bsp_q7s/boardtest/Q7STestTask.cpp
View File

@ -1,9 +1,16 @@
#include <bsp_q7s/memory/FileSystemHandler.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include "Q7STestTask.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "bsp_q7s/memory/scratchApi.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/tasks/TaskFactory.h"
#include "bsp_q7s/memory/scratchApi.h"
#include "test/DummyParameter.h"
#include <nlohmann/json.hpp>
#include <iostream>
#include <fstream>
@ -13,12 +20,16 @@ Q7STestTask::Q7STestTask(object_id_t objectId): TestTask(objectId) {
}
ReturnValue_t Q7STestTask::performOneShotAction() {
//sdCardTests();
testScratchApi();
//testSdCard();
//testScratchApi();
//testJsonLibDirect();
//testDummyParams();
FsOpCodes opCode = FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY;
testFileSystemHandlerDirect(opCode);
return TestTask::performOneShotAction();
}
void Q7STestTask::sdCardTests() {
void Q7STestTask::testSdCard() {
using namespace std;
Stopwatch stopwatch;
int result = std::system("q7hw sd info all > /tmp/sd_status.txt");
@ -61,7 +72,183 @@ void Q7STestTask::testScratchApi() {
}
int number = 0;
result = scratch::readNumber("TEST", number);
sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST\": " << number << std::endl;
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
}
result = scratch::writeString("TEST2", "halloWelt");
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Writing string failed" << std::endl;
}
std::string string;
result = scratch::readString("TEST2", string);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
}
sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST2\": " << string << std::endl;
result = scratch::clearValue("TEST");
result = scratch::clearValue("TEST2");
}
void Q7STestTask::testJsonLibDirect() {
Stopwatch stopwatch;
// for convenience
using json = nlohmann::json;
json helloTest;
// add a number that is stored as double (note the implicit conversion of j to an object)
helloTest["pi"] = 3.141;
std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
std::string fileName = mntPrefix + "/pretty.json";
std::ofstream o(fileName);
o << std::setw(4) << helloTest << std::endl;
}
void Q7STestTask::testDummyParams() {
std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
DummyParameter param(mntPrefix, "dummy_json.txt");
param.printKeys();
param.print();
if(not param.getJsonFileExists()) {
param.writeJsonFile();
}
ReturnValue_t result = param.readJsonFile();
if(result != HasReturnvaluesIF::RETURN_OK) {
}
param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
param.setValue(DummyParameter::DUMMY_KEY_PARAM_2, "blirb");
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);
sif::info << "Test value (3 expected): " << test << std::endl;
sif::info << "Test value 2 (\"blirb\" expected): " << test2 << std::endl;
}
void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
auto fsHandler = ObjectManager::instance()->
get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
if(fsHandler == nullptr) {
sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
<< std::endl;
}
FileSystemHandler::FsCommandCfg cfg = {};
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// Lambda for common code
auto createNonEmptyTmpDir = [&]() {
if(not std::filesystem::exists("/tmp/test")) {
result = fsHandler->createDirectory("/tmp/test", &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
// Creating sample files
sif::info << "Creating sample files in directory" << std::endl;
result = fsHandler->createFile("/tmp/test", "test1.txt", nullptr, 0, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = fsHandler->createFile("/tmp/test", "test2.txt", nullptr, 0, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
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);
break;
}
case(FsOpCodes::REMOVE_TMP_FILE): {
sif::info << "Deleting /tmp/test.txt sample file" << std::endl;
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
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);
}
result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "File removed successfully" << std::endl;
}
else {
sif::warning << "File removal failed!" << std::endl;
}
break;
}
case(FsOpCodes::CREATE_DIR_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
ReturnValue_t result = fsHandler->createDirectory("/tmp/test", &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory created successfully" << std::endl;
}
else {
sif::warning << "Directory creation failed!" << std::endl;
}
break;
}
case(FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): {
// 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 {
// Delete any leftover files to regular dir removal works
std::remove("/tmp/test/*");
}
result = fsHandler->removeDirectory("/tmp/test", false, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed successfully" << std::endl;
}
else {
sif::warning << "Directory removal failed!" << std::endl;
}
break;
}
case(FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
result = createNonEmptyTmpDir();
if(result != HasReturnvaluesIF::RETURN_OK) {
return;
}
result = fsHandler->removeDirectory("/tmp/test", true, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed recursively successfully" << std::endl;
}
else {
sif::warning << "Recursive directory removal failed!" << std::endl;
}
break;
}
case(FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): {
result = createNonEmptyTmpDir();
if(result != HasReturnvaluesIF::RETURN_OK) {
return;
}
result = fsHandler->removeDirectory("/tmp/test", false, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removal attempt failed as expected" << std::endl;
}
else {
sif::warning << "Directory removal worked when it should not have!" << std::endl;
}
}
}
}

13
bsp_q7s/boardtest/Q7STestTask.h
View File

@ -9,11 +9,22 @@ public:
private:
ReturnValue_t performOneShotAction() override;
void sdCardTests();
void testSdCard();
void fileTests();
void testScratchApi();
void testJsonLibDirect();
void testDummyParams();
enum FsOpCodes {
CREATE_EMPTY_FILE_IN_TMP,
REMOVE_TMP_FILE,
CREATE_DIR_IN_TMP,
REMOVE_EMPTY_DIR_IN_TMP,
ATTEMPT_DIR_REMOVAL_NON_EMPTY,
REMOVE_FILLED_DIR_IN_TMP,
};
void testFileSystemHandlerDirect(FsOpCodes opCode);
};

276
bsp_q7s/core/CoreController.cpp
View File

@ -1,8 +1,13 @@
#include "CoreController.h"
#include "q7sConfig.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "../memory/scratchApi.h"
#include "../memory/SdCardManager.h"
#include <filesystem>
CoreController::CoreController(object_id_t objectId):
ExtendedControllerBase(objectId, objects::NO_OBJECT, 5) {
}
@ -24,7 +29,24 @@ LocalPoolDataSetBase* CoreController::getDataSetHandle(sid_t sid) {
}
ReturnValue_t CoreController::initialize() {
return sdCardInit();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
try {
result = sdCardInit();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: SD card init failed" << std::endl;
}
}
catch(const std::filesystem::filesystem_error& e) {
sif::error << "CoreController::initialize: sdCardInit failed with exception " << e.what()
<< std::endl;
}
result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Setting up alloc failure "
"count failed" << std::endl;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
@ -38,7 +60,9 @@ ReturnValue_t CoreController::sdCardInit() {
return HasReturnvaluesIF::RETURN_OK;
#else
SdCardManager* sdcMan = SdCardManager::instance();
if(sdcMan == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
// Create update status file
ReturnValue_t result = sdcMan->updateSdCardStateFile();
if(result != HasReturnvaluesIF::RETURN_OK) {
@ -46,93 +70,14 @@ ReturnValue_t CoreController::sdCardInit() {
<< std::endl;
}
auto sdStatus = std::pair<sd::SdStatus, sd::SdStatus>(sd::SdStatus::OFF, sd::SdStatus::OFF);
result = sdcMan->getSdCardActiveStatus(sdStatus);
auto statusPair = SdCardManager::SdStatusPair(sd::SdStatus::OFF, sd::SdStatus::OFF);
result = sdcMan->getSdCardActiveStatus(statusPair);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Getting SD card activity status failed" << std::endl;
}
// Use a lambda to avoid duplicate code
auto setUpSdCard = [&](sd::SdCard sdCard, sd::SdStatus status, std::string sdString) {
std::string mountString;
if(sdCard == sd::SdCard::SLOT_0) {
mountString = SdCardManager::SD_0_MOUNT_POINT;
}
else {
mountString = SdCardManager::SD_1_MOUNT_POINT;
}
if(status == sd::SdStatus::OFF) {
sif::info << "Switching on and mounting SD card " << sdString << " at " <<
mountString << std::endl;
return sdcMan->switchOnSdCard(sdCard, true, &sdStatus);
}
else if(status == sd::SdStatus::ON) {
sif::info << "Mounting SD card " << sdString << " at " << mountString << std::endl;
return sdcMan->mountSdCard(sdCard);
}
else {
sif::info << "SD card " << sdString << " already on and mounted at " <<
mountString << std::endl;
return SdCardManager::ALREADY_MOUNTED;
}
};
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
result = sdcMan->getPreferredSdCard(preferredSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Could not get preferred SD card information from the scratch buffer"
<< std::endl;
}
std::string preferredString;
sd::SdStatus preferredStatus = sd::SdStatus::OFF;
sd::SdStatus otherStatus = sd::SdStatus::OFF;
std::string otherString;
sd::SdCard otherSdc = sd::SdCard::SLOT_0;
if(preferredSdCard == sd::SdCard::SLOT_0) {
preferredStatus = sdStatus.first;
preferredString = "0";
otherSdc = sd::SdCard::SLOT_1;
otherStatus = sdStatus.second;
otherString = "1";
}
else {
preferredString = "1";
preferredStatus = sdStatus.second;
otherStatus = sdStatus.first;
otherSdc = sd::SdCard::SLOT_0;
otherString = "0";
}
sif::info << "Cold redundant SD card configuration, preferred SD card " <<
preferredString << std::endl;
result = setUpSdCard(preferredSdCard, preferredStatus, preferredString);
if(result != SdCardManager::ALREADY_MOUNTED and result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Setting up preferred card " << otherString <<
" in cold redundant mode failed" << std::endl;
// Try other SD card and mark set up operation as failed
setUpSdCard(otherSdc, otherStatus, otherString);
result = HasReturnvaluesIF::RETURN_FAILED;
}
if(result != HasReturnvaluesIF::RETURN_FAILED and otherStatus != sd::SdStatus::OFF) {
sif::info << "Switching off secondary SD card " << otherString << std::endl;
// Switch off other SD card in cold redundant mode if setting up preferred one walked
// without issues
result = sdcMan->switchOffSdCard(otherSdc, otherStatus, &sdStatus);
if(result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_OFF) {
sif::warning << "Switching off secondary SD card " << otherString <<
" in cold redundant mode failed" << std::endl;
}
}
// Update status file
sdcMan->updateSdCardStateFile();
return HasReturnvaluesIF::RETURN_OK;
return sdCardColdRedundantInit(sdcMan, statusPair);
#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
sif::info << "Hot redundant SD card configuration" << std::endl;
@ -146,3 +91,166 @@ ReturnValue_t CoreController::sdCardInit() {
#endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
}
ReturnValue_t CoreController::sdCardSetup(SdCardManager& sdcMan,
SdCardManager::SdStatusPair& statusPair,sd::SdCard sdCard, sd::SdStatus status,
std::string sdString) {
std::string mountString;
if(sdCard == sd::SdCard::SLOT_0) {
mountString = SdCardManager::SD_0_MOUNT_POINT;
}
else {
mountString = SdCardManager::SD_1_MOUNT_POINT;
}
if(status == sd::SdStatus::OFF) {
sif::info << "Switching on and mounting SD card " << sdString << " at " <<
mountString << std::endl;
return sdcMan.switchOnSdCard(sdCard, true, &statusPair);
}
else if(status == sd::SdStatus::ON) {
sif::info << "Mounting SD card " << sdString << " at " << mountString << std::endl;
return sdcMan.mountSdCard(sdCard);
}
else {
if(std::filesystem::exists(mountString)) {
sif::info << "SD card " << sdString << " already on and mounted at " <<
mountString << std::endl;
return SdCardManager::ALREADY_MOUNTED;
}
sif::error << "SD card mounted but expected mount point " << mountString << " not found!"
<< std::endl;
return SdCardManager::MOUNT_ERROR;
}
}
ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch(actionId) {
case(LIST_DIRECTORY_INTO_FILE): {
// TODO: Packet definition for clean deserialization
// 2 bytes for a and R flag, at least 5 bytes for minimum valid path /tmp with
// null termination, at least 7 bytes for minimum target file name /tmp/a with
// null termination.
if(size < 14) {
return HasActionsIF::INVALID_PARAMETERS;
}
// We could also make -l optional, but I can't think of a reason why to not use -l..
// This flag specifies to run ls with -a
bool aFlag = data[0];
data += 1;
// This flag specifies to run ls with -R
bool RFlag = data[1];
data += 1;
size_t remainingSize = size - 2;
// One larger for null termination, which prevents undefined behaviour if the sent
// strings are not 0 terminated properly
std::vector<uint8_t> repoAndTargetFileBuffer(remainingSize + 1, 0);
std::memcpy(repoAndTargetFileBuffer.data(), data, remainingSize);
const char* currentCharPtr = reinterpret_cast<const char*>(repoAndTargetFileBuffer.data());
// Full target file name
std::string repoName(currentCharPtr);
size_t repoLength = repoName.length();
// The other string needs to be at least one letter plus NULL termination to be valid at all
// The first string also needs to be NULL terminated, but the termination is not included
// in the string length, so this is subtracted from the remaining size as well
if(repoLength > remainingSize - 3) {
return HasActionsIF::INVALID_PARAMETERS;
}
// The file length will not include the NULL termination, so we skip it
currentCharPtr += repoLength + 1;
std::string targetFileName(currentCharPtr);
std::ostringstream oss;
oss << "ls -l";
if(aFlag) {
oss << "a";
}
if(RFlag) {
oss << "R";
}
oss << " " << repoName << " > " << targetFileName;
std::system(oss.str().c_str());
return HasReturnvaluesIF::RETURN_OK;
}
default: {
return HasActionsIF::INVALID_ACTION_ID;
}
}
}
ReturnValue_t CoreController::sdCardColdRedundantInit(SdCardManager* sdcMan,
SdCardManager::SdStatusPair& statusPair) {
sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
if(result == scratch::KEY_NOT_FOUND) {
sif::warning << "CoreController::sdCardInit: "
"Preferred SD card not set. Setting to 0" << std::endl;
sdcMan->setPreferredSdCard(preferredSdCard);
}
else {
sif::warning << "CoreController::sdCardInit: Could not get preferred SD card"
"information from the scratch buffer" << std::endl;
}
}
std::string preferredString;
sd::SdStatus preferredStatus = sd::SdStatus::OFF;
sd::SdStatus otherStatus = sd::SdStatus::OFF;
std::string otherString;
sd::SdCard otherSdc = sd::SdCard::SLOT_0;
if(preferredSdCard == sd::SdCard::SLOT_0) {
preferredStatus = statusPair.first;
preferredString = "0";
otherSdc = sd::SdCard::SLOT_1;
otherStatus = statusPair.second;
otherString = "1";
}
else {
preferredString = "1";
preferredStatus = statusPair.second;
otherStatus = statusPair.first;
otherSdc = sd::SdCard::SLOT_0;
otherString = "0";
}
sif::info << "Cold redundant SD card configuration, preferred SD card " <<
preferredString << std::endl;
result = sdCardSetup(*sdcMan, statusPair, preferredSdCard, preferredStatus, preferredString);
if(result != SdCardManager::ALREADY_MOUNTED and result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Setting up preferred card " << otherString <<
" in cold redundant mode failed" << std::endl;
// Try other SD card and mark set up operation as failed
sdCardSetup(*sdcMan, statusPair, preferredSdCard, preferredStatus, preferredString);
result = HasReturnvaluesIF::RETURN_FAILED;
}
if(result != HasReturnvaluesIF::RETURN_FAILED and otherStatus != sd::SdStatus::OFF) {
sif::info << "Switching off secondary SD card " << otherString << std::endl;
// Switch off other SD card in cold redundant mode if setting up preferred one walked
// without issues
result = sdcMan->switchOffSdCard(otherSdc, otherStatus, &statusPair);
if(result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_OFF) {
sif::warning << "Switching off secondary SD card " << otherString <<
" in cold redundant mode failed" << std::endl;
}
}
// Update status file
sdcMan->updateSdCardStateFile();
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CoreController::incrementAllocationFailureCount() {
uint32_t count = 0;
ReturnValue_t result = scratch::readNumber(scratch::ALLOC_FAILURE_COUNT, count);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
count++;
return scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, count);
}

18
bsp_q7s/core/CoreController.h
View File

@ -2,15 +2,29 @@
#define BSP_Q7S_CORE_CORECONTROLLER_H_
#include "fsfw/controller/ExtendedControllerBase.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "events/subsystemIdRanges.h"
class CoreController: public ExtendedControllerBase {
public:
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
CoreController(object_id_t objectId);
ReturnValue_t initialize() 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;
static ReturnValue_t incrementAllocationFailureCount();
private:
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
@ -19,6 +33,10 @@ private:
uint32_t *msToReachTheMode);
ReturnValue_t sdCardInit();
ReturnValue_t sdCardSetup(SdCardManager& sdcMan, SdCardManager::SdStatusPair& statusPair,
sd::SdCard sdCard, sd::SdStatus status, std::string sdString);
ReturnValue_t sdCardColdRedundantInit(SdCardManager* sdcMan,
SdCardManager::SdStatusPair& statusPair);
};

237
bsp_q7s/core/InitMission.cpp
View File

@ -3,20 +3,22 @@
#include "OBSWConfig.h"
#include "pollingsequence/pollingSequenceFactory.h"
#include <mission/utility/InitMission.h>
#include "mission/utility/InitMission.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 "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>
/* This is configured for linux without CR */
#ifdef LINUX
#ifdef PLATFORM_UNIX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
@ -93,6 +95,15 @@ void initmission::initTasks() {
initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
}
// FS task, task interval does not matter because it runs in permanent loop, priority low
// because it is a non-essential background task
PeriodicTaskIF* fsTask = factory->createPeriodicTask(
"FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
}
#if TEST_CCSDS_BRIDGE == 1
PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
"PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
@ -102,15 +113,113 @@ void initmission::initTasks() {
}
#endif
std::vector<PeriodicTaskIF*> pusTasks;
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
std::vector<PeriodicTaskIF*> pstTasks;
createPstTasks(*factory, missedDeadlineFunc, pstTasks);
std::vector<PeriodicTaskIF*> testTasks;
createTestTasks(*factory, missedDeadlineFunc, testTasks);
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();
udpBridgeTask->startTask();
udpPollingTask->startTask();
coreController->startTask();
taskStarter(pstTasks, "PST task vector");
taskStarter(pusTasks, "PUS task vector");
#if OBSW_ADD_TEST_CODE == 1
taskStarter(testTasks, "Test task vector");
#endif
#if TEST_CCSDS_BRIDGE == 1
ptmeTestTask->startTask();
#endif
fsTask->startTask();
sif::info << "Tasks started.." << std::endl;
}
void initmission::createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if BOARD_TE0720 == 0
/* Polling Sequence Table Default */
#if Q7S_ADD_SPI_TEST == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"PST_TASK_DEFAULT", 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;
}
taskVec.push_back(spiPst);
#endif
FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, 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);
result = pst::pstGpio(gpioPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
taskVec.push_back(gpioPst);
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
result = pst::pstI2c(i2cPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
result = pst::pstGompaceCan(gomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
}
taskVec.push_back(i2cPst);
#else /* BOARD_TE7020 == 0 */
FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask(
"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;
}
taskVec.push_back(pollingSequenceTaskTE0720);
#endif /* BOARD_TE7020 == 1 */
}
void initmission::createPusTasks(TaskFactory &factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
/* PUS Services */
PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
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) {
initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
}
taskVec.push_back(pusVerification);
PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
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) {
@ -120,8 +229,9 @@ void initmission::initTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
taskVec.push_back(pusEvents);
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
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) {
@ -131,8 +241,9 @@ void initmission::initTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);
PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
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) {
@ -150,8 +261,9 @@ void initmission::initTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
}
taskVec.push_back(pusMedPrio);
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
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) {
@ -161,58 +273,13 @@ void initmission::initTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
}
taskVec.push_back(pusLowPrio);
}
#if TE0720 == 0
//TODO: Add handling of missed deadlines
/* Polling Sequence Table Default */
#if Q7S_ADD_SPI_TEST == 0
FixedTimeslotTaskIF* spiPst = factory->createFixedTimeslotTask(
"PST_TASK_DEFAULT", 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;
}
#endif
FixedTimeslotTaskIF* uartPst = factory->createFixedTimeslotTask(
"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
result = pst::pstUart(uartPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
FixedTimeslotTaskIF* gpioPst = factory->createFixedTimeslotTask(
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
result = pst::pstGpio(gpioPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
FixedTimeslotTaskIF* i2cPst = factory->createFixedTimeslotTask(
"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
result = pst::pstI2c(i2cPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
FixedTimeslotTaskIF* gomSpacePstTask = factory->createFixedTimeslotTask(
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
result = pst::pstGompaceCan(gomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
}
#else /* TE7020 == 0 */
FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask(
"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;
}
#endif /* TE7020 == 1 */
#if OBSW_ADD_TEST_CODE == 1
PeriodicTaskIF* testTask = factory->createPeriodicTask(
void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
@ -225,45 +292,11 @@ void initmission::initTasks() {
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
}
#endif
#endif /* OBSW_ADD_TEST_CODE == 1 */
#if TE0720 == 1 && TEST_LIBGPIOD == 1
#if BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1
result = testTask->addComponent(objects::LIBGPIOD_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
}
#endif /* TE0720 == 1 && TEST_LIBGPIOD == 1 */
sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask();
udpBridgeTask->startTask();
udpPollingTask->startTask();
coreController->startTask();
#if TE0720 == 0
uartPst->startTask();
gpioPst->startTask();
i2cPst->startTask();
#if Q7S_ADD_SPI_TEST == 0
gomSpacePstTask->startTask();
spiPst->startTask();
#endif /* Q7S_ADD_SPI_TEST == 0 */
#elif TE0720 == 1 && Q7S_ADD_SPI_TEST == 0
pollingSequenceTaskTE0720->startTask();
#endif
pusVerification->startTask();
pusEvents->startTask();
pusHighPrio->startTask();
pusMedPrio->startTask();
pusLowPrio->startTask();
#if OBSW_ADD_TEST_CODE == 1
testTask->startTask();
#endif
#if TEST_CCSDS_BRIDGE == 1
ptmeTestTask->startTask();
#endif
sif::info << "Tasks started.." << std::endl;
#endif /* BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1 */
taskVec.push_back(testTask);
}

13
bsp_q7s/core/InitMission.h
View File

@ -1,9 +1,22 @@
#ifndef BSP_Q7S_INITMISSION_H_
#define BSP_Q7S_INITMISSION_H_
#include "fsfw/tasks/Typedef.h"
#include <vector>
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);
void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
};
#endif /* BSP_Q7S_INITMISSION_H_ */

447
bsp_q7s/core/ObjectFactory.cpp
View File

@ -1,4 +1,3 @@
#include <bsp_q7s/boardtest/Q7STestTask.h>
#include "ObjectFactory.h"
#include "OBSWConfig.h"
#include "tmtc/apid.h"
@ -11,62 +10,72 @@
#include "bsp_q7s/gpio/gpioCallbacks.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/spiCallbacks/rwSpiCallback.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include <linux/devices/HeaterHandler.h>
#include <linux/devices/SolarArrayDeploymentHandler.h>
#include <linux/devices/devicedefinitions/SusDefinitions.h>
#include <linux/devices/SusHandler.h>
#include <linux/csp/CspCookie.h>
#include <linux/csp/CspComIF.h>
#include "linux/devices/HeaterHandler.h"
#include "linux/devices/SolarArrayDeploymentHandler.h"
#include "linux/devices/devicedefinitions/SusDefinitions.h"
#include "linux/devices/SusHandler.h"
#include "linux/csp/CspCookie.h"
#include "linux/csp/CspComIF.h"
#include <mission/core/GenericFactory.h>
#include <mission/devices/PDU1Handler.h>
#include <mission/devices/PDU2Handler.h>
#include <mission/devices/ACUHandler.h>
#include <mission/devices/PCDUHandler.h>
#include <mission/devices/P60DockHandler.h>
#include <mission/devices/Tmp1075Handler.h>
#include <mission/devices/Max31865PT1000Handler.h>
#include <mission/devices/IMTQHandler.h>
#include <mission/devices/SyrlinksHkHandler.h>
#include <mission/devices/MGMHandlerLIS3MDL.h>
#include <mission/devices/MGMHandlerRM3100.h>
#include <mission/devices/PlocHandler.h>
#include <mission/devices/RadiationSensorHandler.h>
#include <mission/devices/RwHandler.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
#include <mission/devices/devicedefinitions/PlocDefinitions.h>
#include <mission/devices/devicedefinitions/RadSensorDefinitions.h>
#include <mission/devices/devicedefinitions/Max31865Definitions.h>
#include <mission/devices/devicedefinitions/RwDefinitions.h>
#include <mission/utility/TmFunnel.h>
#include <linux/obc/CCSDSIPCoreBridge.h>
#include "mission/core/GenericFactory.h"
#include "mission/devices/PDU1Handler.h"
#include "mission/devices/PDU2Handler.h"
#include "mission/devices/ACUHandler.h"
#include "mission/devices/PCDUHandler.h"
#include "mission/devices/P60DockHandler.h"
#include "mission/devices/Tmp1075Handler.h"
#include "mission/devices/Max31865PT1000Handler.h"
#include "mission/devices/IMTQHandler.h"
#include "mission/devices/SyrlinksHkHandler.h"
#include "mission/devices/MGMHandlerLIS3MDL.h"
#include "mission/devices/MGMHandlerRM3100.h"
#include "mission/devices/PlocMPSoCHandler.h"
#include "mission/devices/PlocSupervisorHandler.h"
#include "mission/devices/RadiationSensorHandler.h"
#include "mission/devices/RwHandler.h"
#include "mission/devices/StarTrackerHandler.h"
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
#include "mission/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#include "mission/devices/devicedefinitions/PlocSupervisorDefinitions.h"
#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"
#include <mission/devices/devicedefinitions/StarTrackerDefinitions.h>
#include "mission/utility/TmFunnel.h"
#include "linux/obc/CCSDSIPCoreBridge.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include <fsfw_hal/linux/i2c/I2cCookie.h>
#include <fsfw_hal/linux/i2c/I2cComIF.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include "fsfw/hal/linux/uart/UartComIF.h"
#include "fsfw/hal/linux/uart/UartCookie.h"
#include "fsfw/hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw/hal/linux/i2c/I2cCookie.h"
#include "fsfw/hal/linux/i2c/I2cComIF.h"
#include "fsfw/hal/linux/spi/SpiCookie.h"
#include "fsfw/hal/linux/spi/SpiComIF.h"
#include "fsfw/hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw/hal/common/gpio/GpioCookie.h"
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/tmtcpacket/pus/tm.h>
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "fsfw/tmtcpacket/pus/tm.h"
/* UDP server includes */
#include <fsfw/osal/common/UdpTmTcBridge.h>
#include <fsfw/osal/common/UdpTcPollingTask.h>
#include <linux/boardtest/SpiTestClass.h>
#include "fsfw/osal/common/UdpTmTcBridge.h"
#include "fsfw/osal/common/UdpTcPollingTask.h"
#include "linux/boardtest/SpiTestClass.h"
#if TEST_LIBGPIOD == 1
#include <linux/boardtest/LibgpiodTest.h>
#include "linux/boardtest/LibgpiodTest.h"
#endif
void ObjectFactory::setStatics() {
Factory::setStaticFrameworkObjectIds();
}
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
@ -84,24 +93,82 @@ void Factory::setStaticFrameworkObjectIds() {
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
}
void ObjectFactory::produce(void* args){
Factory::setStaticFrameworkObjectIds();
ObjectFactory::setStatics();
ObjectFactory::produceGenericObjects();
LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
/* Communication interfaces */
new CspComIF(objects::CSP_COM_IF);
new I2cComIF(objects::I2C_COM_IF);
new UartComIF(objects::UART_COM_IF);
#if Q7S_ADD_SPI_TEST == 0
new SpiComIF(objects::SPI_COM_IF, gpioComIF);
#endif /* Q7S_ADD_SPI_TEST == 0 */
new CoreController(objects::CORE_CONTROLLER);
LinuxLibgpioIF* gpioComIF = nullptr;
createCommunicationInterfaces(&gpioComIF);
createTmpComponents();
#if BOARD_TE0720 == 0
#if TE0720 == 1
createPcduComponents();
createRadSensorComponent(gpioComIF);
createSunSensorComponents(gpioComIF);
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF);
#endif /* OBSW_ADD_ACS_BOARD == 1 */
createHeaterComponents();
createSolarArrayDeploymentComponents();
#if Q7S_ADD_SYRLINKS_HANDLER == 1
createSyrlinksComponents();
#endif /* Q7S_ADD_SYRLINKS_HANDLER == 1 */
#if Q7S_ADD_RTD_DEVICES == 1
createRtdComponents();
#endif /* Q7S_ADD_RTD_DEVICES == 1 */
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
std::string("/dev/i2c-0"));
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
#if ADD_PLOC_MPSOC == 1
UartCookie* mpsocUartCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
UartModes::NON_CANONICAL, 115200, PLOC_MPSOC::MAX_REPLY_SIZE);
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie);
#endif /* ADD_PLOC_MPSOC */
createReactionWheelComponents(gpioComIF);
#endif /* TE7020 != 0 */
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
/* Test Task */
#if OBSW_ADD_TEST_CODE == 1
createTestComponents();
#endif /* OBSW_ADD_TEST_CODE == 1 */
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
#if ADD_PLOC_MPSOC == 1
UartCookie* plocMpsocCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
UartModes::NON_CANONICAL, 115200, PLOC_MPSOC::MAX_REPLY_SIZE);
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocMpsocCookie);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
UartCookie* starTrackerCookie = new UartCookie(objects::START_TRACKER, std::string("/dev/ttyUL3"),
UartModes::NON_CANONICAL, 115200, StarTracker::MAX_FRAME_SIZE* 2 + 2);
starTrackerCookie->setNoFixedSizeReply();
new StarTrackerHandler(objects::START_TRACKER, objects::UART_COM_IF, starTrackerCookie);
#endif
#if ADD_PLOC_SUPERVISOR == 1
/* Configuration for MIO0 on TE0720-03-1CFA */
UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
std::string("/dev/ttyUL3"), UartModes::NON_CANONICAL, 115200,
PLOC_SPV::MAX_REPLY_SIZE);
PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
plocSupervisor->setStartUpImmediately();
#endif
}
void ObjectFactory::createTmpComponents() {
#if BOARD_TE0720 == 1
I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
@ -122,8 +189,27 @@ void ObjectFactory::produce(void* args){
objects::TMP1075_HANDLER_2, objects::I2C_COM_IF,
i2cCookieTmp1075tcs2);
(void) tmp1075Handler_2;
}
#if TE0720 == 0
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF) {
if(gpioComIF == nullptr) {
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid GPIO ComIF"
<< std::endl;
}
*gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
/* Communication interfaces */
new CspComIF(objects::CSP_COM_IF);
new I2cComIF(objects::I2C_COM_IF);
new UartComIF(objects::UART_COM_IF);
#if Q7S_ADD_SPI_TEST == 0
new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
#endif /* Q7S_ADD_SPI_TEST == 0 */
/* Adding gpios for chip select decoding to the gpioComIf */
gpioCallbacks::initSpiCsDecoder(*gpioComIF);
}
void ObjectFactory::createPcduComponents() {
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
addresses::P60DOCK);
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
@ -156,10 +242,9 @@ void ObjectFactory::produce(void* args){
(void) pdu1handler;
(void) pdu2handler;
(void) acuhandler;
}
/* Adding gpios for chip select decoding to the gpioComIf */
gpioCallbacks::initSpiCsDecoder(gpioComIF);
void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
GpioCookie* gpioCookieRadSensor = new GpioCookie;
GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip5"), 19,
std::string("Chip Select Radiation Sensor"), gpio::OUT, 1);
@ -170,6 +255,9 @@ void ObjectFactory::produce(void* args){
std::string("/dev/spidev2.0"), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
}
void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF) {
GpioCookie* gpioCookieSus = new GpioCookie();
GpioCallback* susgpio = new GpioCallback(std::string("Chip select SUS 1"), gpio::OUT, 1,
@ -254,21 +342,35 @@ void ObjectFactory::produce(void* args){
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF, gpioIds::CS_SUS_1);
new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF, gpioIds::CS_SUS_2);
new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF, gpioIds::CS_SUS_3);
new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF, gpioIds::CS_SUS_4);
new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF, gpioIds::CS_SUS_5);
new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF, gpioIds::CS_SUS_6);
new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF, gpioIds::CS_SUS_7);
new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF, gpioIds::CS_SUS_8);
new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF, gpioIds::CS_SUS_9);
new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF, gpioIds::CS_SUS_10);
new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF, gpioIds::CS_SUS_11);
new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12, gpioComIF, gpioIds::CS_SUS_12);
new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13, gpioComIF, gpioIds::CS_SUS_13);
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF,
gpioIds::CS_SUS_1);
new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF,
gpioIds::CS_SUS_2);
new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF,
gpioIds::CS_SUS_3);
new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF,
gpioIds::CS_SUS_4);
new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF,
gpioIds::CS_SUS_5);
new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF,
gpioIds::CS_SUS_6);
new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF,
gpioIds::CS_SUS_7);
new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF,
gpioIds::CS_SUS_8);
new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF,
gpioIds::CS_SUS_9);
new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF,
gpioIds::CS_SUS_10);
new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF,
gpioIds::CS_SUS_11);
new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12, gpioComIF,
gpioIds::CS_SUS_12);
new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13, gpioComIF,
gpioIds::CS_SUS_13);
}
#if OBSW_ADD_ACS_BOARD == 1
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF) {
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
GpiodRegular* gpio = nullptr;
gpio = new GpiodRegular(std::string("gpiochip5"), 1, std::string("CS_GYRO_0_ADIS"),
@ -326,20 +428,23 @@ void ObjectFactory::produce(void* args){
//TODO: Adis Gyro (Gyro 0 Side A)
// Commented until ACS board V2 in in clean room again
/* Gyro 1 Side A */
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie);
gyroL3gHandler->setStartUpImmediately();
// spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
// L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
// auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
// spiCookie);
// gyroL3gHandler->setStartUpImmediately();
//
// /* Gyro 2 Side B */
// spiCookie = new SpiCookie(addresses::GYRO_2_L3G, gpioIds::GYRO_2_L3G_CS, spiDev,
// L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
// gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF,
// spiCookie);
// gyroL3gHandler->setStartUpImmediately();
}
/* Gyro 2 Side B */
spiCookie = new SpiCookie(addresses::GYRO_2_L3G, gpioIds::GYRO_2_L3G_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie);
gyroL3gHandler->setStartUpImmediately();
#endif
void ObjectFactory::createHeaterComponents() {
GpioCookie* heaterGpiosCookie = new GpioCookie;
@ -380,7 +485,9 @@ void ObjectFactory::produce(void* args){
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
}
void ObjectFactory::createSolarArrayDeploymentComponents() {
GpioCookie* solarArrayDeplCookie = new GpioCookie;
GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(std::string("gpiochip7"), 4,
@ -394,16 +501,17 @@ void ObjectFactory::produce(void* args){
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM,
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
}
void ObjectFactory::createSyrlinksComponents() {
UartCookie* syrlinksUartCookie = new UartCookie(objects::SYRLINKS_HK_HANDLER,
std::string("/dev/ttyUL0"), UartModes::NON_CANONICAL, 38400, SYRLINKS::MAX_REPLY_SIZE);
syrlinksUartCookie->setParityEven();
SyrlinksHkHandler* syrlinksHkHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER,
objects::UART_COM_IF, syrlinksUartCookie);
syrlinksHkHandler->setModeNormal();
new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie);
}
#if Q7S_ADD_RTD_DEVICES == 1
void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
GpioCookie* rtdGpioCookie = new GpioCookie;
GpioCallback* gpioRtdIc3 = new GpioCallback(std::string("Chip select RTD IC3"), gpio::OUT, 1,
@ -506,22 +614,38 @@ void ObjectFactory::produce(void* args){
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3, objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4, objects::SPI_COM_IF, spiRtdIc4, 0);
Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5, objects::SPI_COM_IF, spiRtdIc5, 0);
Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6, objects::SPI_COM_IF, spiRtdIc6, 0);
Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7, objects::SPI_COM_IF, spiRtdIc7, 0);
Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8, objects::SPI_COM_IF, spiRtdIc8, 0);
Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9, objects::SPI_COM_IF, spiRtdIc9, 0);
Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10, objects::SPI_COM_IF, spiRtdIc10, 0);
Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11, objects::SPI_COM_IF, spiRtdIc11, 0);
Max31865PT1000Handler* rtdIc12 = new Max31865PT1000Handler(objects::RTD_IC12, objects::SPI_COM_IF, spiRtdIc12, 0);
Max31865PT1000Handler* rtdIc13 = new Max31865PT1000Handler(objects::RTD_IC13, objects::SPI_COM_IF, spiRtdIc13, 0);
Max31865PT1000Handler* rtdIc14 = new Max31865PT1000Handler(objects::RTD_IC14, objects::SPI_COM_IF, spiRtdIc14, 0);
Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC15, objects::SPI_COM_IF, spiRtdIc15, 0);
Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16, objects::SPI_COM_IF, spiRtdIc16, 0);
Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17, objects::SPI_COM_IF, spiRtdIc17, 0);
Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0);
Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3,
objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4,
objects::SPI_COM_IF, spiRtdIc4, 0);
Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5,
objects::SPI_COM_IF, spiRtdIc5, 0);
Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6,
objects::SPI_COM_IF, spiRtdIc6, 0);
Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7,
objects::SPI_COM_IF, spiRtdIc7, 0);
Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8,
objects::SPI_COM_IF, spiRtdIc8, 0);
Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9,
objects::SPI_COM_IF, spiRtdIc9, 0);
Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10,
objects::SPI_COM_IF, spiRtdIc10, 0);
Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11,
objects::SPI_COM_IF, spiRtdIc11, 0);
Max31865PT1000Handler* rtdIc12 = new Max31865PT1000Handler(objects::RTD_IC12,
objects::SPI_COM_IF, spiRtdIc12, 0);
Max31865PT1000Handler* rtdIc13 = new Max31865PT1000Handler(objects::RTD_IC13,
objects::SPI_COM_IF, spiRtdIc13, 0);
Max31865PT1000Handler* rtdIc14 = new Max31865PT1000Handler(objects::RTD_IC14,
objects::SPI_COM_IF, spiRtdIc14, 0);
Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC15,
objects::SPI_COM_IF, spiRtdIc15, 0);
Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16,
objects::SPI_COM_IF, spiRtdIc16, 0);
Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17,
objects::SPI_COM_IF, spiRtdIc17, 0);
Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18,
objects::SPI_COM_IF, spiRtdIc18, 0);
(void) rtdIc3;
(void) rtdIc4;
@ -539,17 +663,9 @@ void ObjectFactory::produce(void* args){
(void) rtdIc16;
(void) rtdIc17;
(void) rtdIc18;
}
#endif /* Q7S_ADD_RTD_DEVICES == 1 */
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
std::string("/dev/i2c-0"));
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
UartCookie* plocUartCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
UartModes::NON_CANONICAL, 115200, PLOC::MAX_REPLY_SIZE);
new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, plocUartCookie);
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
GpioCookie* gpioCookieRw = new GpioCookie;
GpioCallback* csRw1 = new GpioCallback(std::string("Chip select reaction wheel 1"), gpio::OUT,
1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
@ -564,29 +680,29 @@ void ObjectFactory::produce(void* args){
1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
GpiodRegular* enRw1 = new GpiodRegular(std::string("gpiochip5"), 7,
std::string("Enable reaction wheel 1"), gpio::OUT, 0);
gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
GpiodRegular* enRw2 = new GpiodRegular(std::string("gpiochip5"), 3,
std::string("Enable reaction wheel 2"), gpio::OUT, 0);
gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
GpiodRegular* enRw3 = new GpiodRegular(std::string("gpiochip5"), 11,
std::string("Enable reaction wheel 3"), gpio::OUT, 0);
gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
GpiodRegular* enRw4 = new GpiodRegular(std::string("gpiochip5"), 6,
std::string("Enable reaction wheel 4"), gpio::OUT, 0);
gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
GpiodRegular* enRw1 = new GpiodRegular(std::string("gpiochip5"), 7,
std::string("Enable reaction wheel 1"), gpio::OUT, 0);
gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
GpiodRegular* enRw2 = new GpiodRegular(std::string("gpiochip5"), 3,
std::string("Enable reaction wheel 2"), gpio::OUT, 0);
gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
GpiodRegular* enRw3 = new GpiodRegular(std::string("gpiochip5"), 11,
std::string("Enable reaction wheel 3"), gpio::OUT, 0);
gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
GpiodRegular* enRw4 = new GpiodRegular(std::string("gpiochip5"), 6,
std::string("Enable reaction wheel 4"), gpio::OUT, 0);
gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
/**
* This GPIO is only internally connected to the SPI MUX module and responsible to disconnect
* the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core.
* Per default the PS SPI is selected (EMIO = 0).
*/
GpiodRegular* spiMux = new GpiodRegular(std::string("gpiochip11"), 54,
/**
* This GPIO is only internally connected to the SPI MUX module and responsible to disconnect
* the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core.
* Per default the PS SPI is selected (EMIO = 0).
*/
GpiodRegular* spiMux = new GpiodRegular(std::string("gpiochip11"), 54,
std::string("EMIO 0 SPI Mux"), gpio::OUT, 0);
gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux);
gpioComIF->addGpios(gpioCookieRw);
gpioComIF->addGpios(gpioCookieRw);
auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, "/dev/spidev3.0",
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
@ -601,33 +717,27 @@ void ObjectFactory::produce(void* args){
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
gpioIds::EN_RW1);
auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
gpioIds::EN_RW1);
rw1SpiCookie->setCallbackArgs(rwHandler1);
auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
gpioIds::EN_RW2);
gpioIds::EN_RW2);
rw2SpiCookie->setCallbackArgs(rwHandler2);
auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
gpioIds::EN_RW3);
gpioIds::EN_RW3);
rw3SpiCookie->setCallbackArgs(rwHandler3);
auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
gpioIds::EN_RW4);
gpioIds::EN_RW4);
rw4SpiCookie->setCallbackArgs(rwHandler4);
}
#endif /* TE0720 == 0 */
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
/* Test Task */
#if OBSW_ADD_TEST_CODE == 1
void ObjectFactory::createTestComponents() {
new Q7STestTask(objects::TEST_TASK);
#endif
#if TE0720 == 1 && TEST_LIBGPIOD == 1
#if BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1
/* Configure MIO0 as input */
GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
std::string("MIO0"), gpio::IN, 0);
@ -636,7 +746,7 @@ void ObjectFactory::produce(void* args){
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
#endif
#if TE0720 == 1 && TEST_SUS_HANDLER == 1
#if BOARD_TE0720 == 1 && TEST_SUS_HANDLER == 1
GpioCookie* gpioCookieSus = new GpioCookie;
GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip1"), 9,
std::string("Chip Select Sus Sensor"), gpio::OUT, 1);
@ -650,7 +760,7 @@ void ObjectFactory::produce(void* args){
gpioIds::CS_SUS_1);
#endif
#if TE0720 == 1 && TEST_CCSDS_BRIDGE == 1
#if BOARD_TE0720 == 1 && TEST_CCSDS_BRIDGE == 1
GpioCookie* gpioCookieCcsdsIp = new GpioCookie;
GpiodRegular* papbBusyN = new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_N"));
gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
@ -664,7 +774,7 @@ void ObjectFactory::produce(void* args){
gpioIds::PAPB_BUSY_N, gpioIds::PAPB_EMPTY);
#endif
#if TE0720 == 1 && TEST_RADIATION_SENSOR_HANDLER == 1
#if BOARD_TE0720 == 1 && TEST_RADIATION_SENSOR_HANDLER == 1
GpioCookie* gpioCookieRadSensor = new GpioCookie;
GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip1"), 0,
std::string("Chip select radiation sensor"), gpio::OUT, 1);
@ -680,16 +790,16 @@ void ObjectFactory::produce(void* args){
radSensor->setStartUpImmediately();
#endif
#if TE0720 == 1 && TEST_PLOC_HANDLER == 1
#if BOARD_TE0720 == 1 && TEST_PLOC_HANDLER == 1
UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200,
PLOC::MAX_REPLY_SIZE);
/* Testing PlocHandler on TE0720-03-1CFA */
PlocHandler* plocHandler = new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF,
PLOC_MPSOC::MAX_REPLY_SIZE);
/* Testing PlocMPSoCHandler on TE0720-03-1CFA */
PlocMPSoCHandler* mpsocPlocHandler = new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF,
plocUartCookie);
plocHandler->setStartUpImmediately();
mpsocPlocHandler->setStartUpImmediately();
#endif
#if TE0720 == 1 && TE0720_HEATER_TEST == 1
#if BOARD_TE0720 == 1 && TE0720_HEATER_TEST == 1
/* Configuration for MIO0 on TE0720-03-1CFA */
GpiodRegular* heaterGpio = new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
GpioCookie* gpioCookie = new GpioCookie;
@ -698,6 +808,17 @@ void ObjectFactory::produce(void* args){
pcduSwitches::TCS_BOARD_8V_HEATER_IN);
#endif
#if TE0720 == 1 && ADD_PLOC_SUPERVISOR == 1
/* Configuration for MIO0 on TE0720-03-1CFA */
UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
std::string("/dev/ttyPS1"), UartModes::NON_CANONICAL, 115200,
PLOC_SPV::MAX_REPLY_SIZE);
PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
plocSupervisor->setStartUpImmediately();
#endif
#if Q7S_ADD_SPI_TEST == 1
new SpiTestClass(objects::SPI_TEST, gpioComIF);
#endif

17
bsp_q7s/core/ObjectFactory.h
View File

@ -1,9 +1,26 @@
#ifndef BSP_Q7S_OBJECTFACTORY_H_
#define BSP_Q7S_OBJECTFACTORY_H_
class LinuxLibgpioIF;
namespace ObjectFactory {
void setStatics();
void produce(void* args);
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF);
void createTmpComponents();
void createPcduComponents();
void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
void createSunSensorComponents(LinuxLibgpioIF* gpioComIF);
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF);
void createHeaterComponents();
void createSolarArrayDeploymentComponents();
void createSyrlinksComponents();
void createRtdComponents(LinuxLibgpioIF* gpioComIF);
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
void createTestComponents();
};
#endif /* BSP_Q7S_OBJECTFACTORY_H_ */

8
bsp_q7s/core/ParameterHandler.cpp Normal file
View File

@ -0,0 +1,8 @@
#include "ParameterHandler.h"
ParameterHandler::ParameterHandler(std::string mountPrefix): mountPrefix(mountPrefix) {
}
void ParameterHandler::setMountPrefix(std::string prefix) {
mountPrefix = prefix;
}

22
bsp_q7s/core/ParameterHandler.h Normal file
View File

@ -0,0 +1,22 @@
#ifndef BSP_Q7S_CORE_PARAMETERHANDLER_H_
#define BSP_Q7S_CORE_PARAMETERHANDLER_H_
#include <nlohmann/json.hpp>
#include <string>
class ParameterHandler {
public:
ParameterHandler(std::string mountPrefix);
void setMountPrefix(std::string prefix);
void setUpDummyParameter();
private:
std::string mountPrefix;
DummyParameter dummyParam;
};
#endif /* BSP_Q7S_CORE_PARAMETERHANDLER_H_ */

3
bsp_q7s/core/obsw.cpp
View File

@ -2,11 +2,12 @@
#include "OBSWVersion.h"
#include "InitMission.h"
#include "fsfw/tasks/TaskFactory.h"
#include "OBSWConfig.h"
#include <iostream>
int obsw::obsw() {
std::cout << "-- EIVE OBSW --" << std::endl;
#if TE0720 == 0
#if BOARD_TE0720 == 0
std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
#else
std::cout << "-- Compiled for Linux (TE0720) --" << std::endl;

4
bsp_q7s/gpio/gpioCallbacks.cpp
View File

@ -1,8 +1,8 @@
#include "gpioCallbacks.h"
#include <devices/gpioIds.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw/hal/common/gpio/GpioCookie.h>
#include <fsfw/serviceinterface/ServiceInterface.h>

4
bsp_q7s/gpio/gpioCallbacks.h
View File

@ -1,8 +1,8 @@
#ifndef LINUX_GPIO_GPIOCALLBACKS_H_
#define LINUX_GPIO_GPIOCALLBACKS_H_
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw/hal/common/gpio/gpioDefinitions.h>
#include <fsfw/hal/common/gpio/GpioIF.h>
namespace gpioCallbacks {

111
bsp_q7s/memory/FileSystemHandler.cpp
View File

@ -1,9 +1,13 @@
#include "FileSystemHandler.h"
#include "bsp_q7s/core/CoreController.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/memory/GenericFileSystemMessage.h"
#include "fsfw/ipc/QueueFactory.h"
#include <cstring>
#include <fstream>
#include <filesystem>
FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler):
@ -24,9 +28,9 @@ ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
// Restart OBSW, hints at a memory leak
sif::error << "Allocation error in FileSystemHandler::performOperation"
<< e.what() << std::endl;
// TODO: If we trigger an event, it might not get sent because were restarting
// Set up an error file or a special flag in the scratch buffer.
// TODO: CoreController: Implement function to restart OBC
// Set up an error file or a special flag in the scratch buffer for these cases
triggerEvent(CoreController::ALLOC_FAILURE, 0 , 0);
CoreController::incrementAllocationFailureCount();
}
}
}
@ -63,6 +67,7 @@ void FileSystemHandler::fileSystemHandlerLoop() {
// This task will have a low priority and will run permanently in the background
// so we will just run in a permanent loop here and check file system
// messages permanently
opCounter++;
TaskFactory::instance()->delayTask(1000);
}
@ -75,7 +80,7 @@ void FileSystemHandler::fileSystemCheckup() {
(statusPair.first == sd::SdStatus::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
}
if((preferredSdCard == sd::SdCard::SLOT_1) and
else if((preferredSdCard == sd::SdCard::SLOT_1) and
(statusPair.second == sd::SdStatus::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
}
@ -87,15 +92,16 @@ void FileSystemHandler::fileSystemCheckup() {
else {
sdString = "1";
}
sif::warning << "FileSystemHandler::performOperation: Inconsistent" <<
" state detected. Preferred SD card is " << sdString <<
sif::warning << "FileSystemHandler::performOperation: "
"Inconsistent state detected" << std::endl;
sif::warning << "Preferred SD card is " << sdString <<
" but does not appear to be mounted. Attempting fix.." << std::endl;
// This function will appear to fix the inconsistent state
ReturnValue_t result = sdcMan->sanitizeState(&preferredSdCard, &statusPair);
ReturnValue_t result = sdcMan->sanitizeState(&statusPair, preferredSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
// Oh no.
// TODO: Trigger medium severity event
sif::error << "Fix failed" << std::endl;
triggerEvent(SdCardManager::SANITIZATION_FAILED, 0, 0);
sif::error << "FileSystemHandler::fileSystemCheckup: Sanitization failed" << std::endl;
}
}
}
@ -125,27 +131,70 @@ ReturnValue_t FileSystemHandler::appendToFile(const char *repositoryPath, const
// A double slash between repo and filename should not be an issue, so add it in any case
std::string fullPath = currentMountPrefix + std::string(repositoryPath) + "/" +
std::string(filename);
if(not std::filesystem::exists(fullPath)) {
return FILE_DOES_NOT_EXIST;
}
std::ofstream file(fullPath, std::ios_base::app|std::ios_base::out);
file.write(reinterpret_cast<const char*>(data), size);
if(not file.good()) {
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::createFile(const char *repositoryPath, const char *filename,
const uint8_t *data, size_t size, void *args) {
std::string fullPath;
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
if(useMountPrefix) {
fullPath += currentMountPrefix;
}
// A double slash between repo and filename should not be an issue, so add it in any case
std::string fullPath = currentMountPrefix + std::string(repositoryPath) + "/" +
std::string(filename);
fullPath += std::string(repositoryPath) + "/" + std::string(filename);
if(std::filesystem::exists(fullPath)) {
return FILE_ALREADY_EXISTS;
}
std::ofstream file(fullPath);
file.write(reinterpret_cast<const char*>(data), size);
if(not file.good()) {
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::deleteFile(const char *repositoryPath, const char *filename,
ReturnValue_t FileSystemHandler::removeFile(const char *repositoryPath, const char *filename,
void *args) {
std::string fullPath;
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
if(useMountPrefix) {
fullPath += currentMountPrefix;
}
// A double slash between repo and filename should not be an issue, so add it in any case
std::string fullPath = currentMountPrefix + std::string(repositoryPath) + "/" +
std::string(filename);
fullPath += std::string(repositoryPath) + "/" + std::string(filename);
if(not std::filesystem::exists(fullPath)) {
return FILE_DOES_NOT_EXIST;
}
int result = std::remove(fullPath.c_str());
if(result != 0) {
sif::warning << "FileSystemHandler::deleteFile: Failed with code " << result << std::endl;
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::createDirectory(const char *repositoryPath, void *args) {
std::string fullPath = currentMountPrefix + std::string(repositoryPath);
std::string fullPath;
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
if(useMountPrefix) {
fullPath += currentMountPrefix;
}
fullPath += std::string(repositoryPath);
if(std::filesystem::exists(fullPath)) {
return DIRECTORY_ALREADY_EXISTS;
}
@ -158,7 +207,14 @@ ReturnValue_t FileSystemHandler::createDirectory(const char *repositoryPath, voi
ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath,
bool deleteRecurively, void *args) {
std::string fullPath = currentMountPrefix + std::string(repositoryPath);
std::string fullPath;
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
if(useMountPrefix) {
fullPath += currentMountPrefix;
}
fullPath += std::string(repositoryPath);
if(not std::filesystem::exists(fullPath)) {
return DIRECTORY_DOES_NOT_EXIST;
}
@ -169,6 +225,15 @@ ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath,
}
else {
// Check error code. Most probably denied permissions because folder is not empty
sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
"code" << err.value() << ": " << strerror(err.value()) << std::endl;
if(err.value() == ENOTEMPTY) {
return DIRECTORY_NOT_EMPTY;
}
else {
return GENERIC_FILE_ERROR;
}
}
}
else {
@ -176,9 +241,23 @@ ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath,
return HasReturnvaluesIF::RETURN_OK;
}
else {
sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
"code" << err.value() << ": " << strerror(err.value()) << std::endl;
// Check error code
if(err.value() == ENOTEMPTY) {
return DIRECTORY_NOT_EMPTY;
}
else {
return GENERIC_FILE_ERROR;
}
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void FileSystemHandler::parseCfg(FsCommandCfg *cfg, bool& useMountPrefix) {
if(cfg != nullptr) {
useMountPrefix = cfg->useMountPrefix;
}
}

30
bsp_q7s/memory/FileSystemHandler.h
View File

@ -15,6 +15,12 @@ class FileSystemHandler: public SystemObject,
public ExecutableObjectIF,
public HasFileSystemIF {
public:
struct FsCommandCfg {
// Can be used to automatically use mount prefix of active SD card.
// Otherwise, the operator has to specify the full path to the mounted SD card as well.
bool useMountPrefix = false;
};
FileSystemHandler(object_id_t fileSystemHandler);
virtual~ FileSystemHandler();
@ -28,27 +34,29 @@ public:
*/
MessageQueueId_t getCommandQueue() const override;
private:
MessageQueueIF* mq = nullptr;
std::string currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
static constexpr uint32_t FS_MAX_QUEUE_SIZE = config::OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE;
SdCardManager* sdcMan = nullptr;
uint8_t opCounter = 0;
void fileSystemHandlerLoop();
void fileSystemCheckup();
ReturnValue_t appendToFile(const char* repositoryPath,
const char* filename, const uint8_t* data, size_t size,
uint16_t packetNumber, void* args = nullptr) override;
ReturnValue_t createFile(const char* repositoryPath,
const char* filename, const uint8_t* data = nullptr,
size_t size = 0, void* args = nullptr) override;
ReturnValue_t deleteFile(const char* repositoryPath,
ReturnValue_t removeFile(const char* repositoryPath,
const char* filename, void* args = nullptr) override;
ReturnValue_t createDirectory(const char* repositoryPath, void* args = nullptr) override;
ReturnValue_t removeDirectory(const char* repositoryPath, bool deleteRecurively = false,
void* args = nullptr) override;
private:
MessageQueueIF* mq = nullptr;
std::string currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
static constexpr uint32_t FS_MAX_QUEUE_SIZE = config::OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE;
SdCardManager* sdcMan = nullptr;
uint8_t opCounter = 0;
void fileSystemHandlerLoop();
void fileSystemCheckup();
void parseCfg(FsCommandCfg* cfg, bool& useMountPrefix);
};

53
bsp_q7s/memory/SdCardManager.cpp
View File

@ -32,8 +32,10 @@ SdCardManager* SdCardManager::instance() {
ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
SdStatusPair* statusPair) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
std::unique_ptr<SdStatusPair> sdStatusPtr;
if(statusPair == nullptr) {
statusPair = std::make_unique<SdStatusPair>().get();
sdStatusPtr = std::make_unique<SdStatusPair>();
statusPair = sdStatusPtr.get();
result = getSdCardActiveStatus(*statusPair);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
@ -54,6 +56,10 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
else if(sdCard == sd::SdCard::SLOT_1) {
targetStatus = statusPair->second;
}
else {
// Should not happen
targetStatus = sd::SdStatus::OFF;
}
auto switchCall = [&]() {
if(targetStatus == sd::SdStatus::ON) {
@ -212,6 +218,11 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
else if(sdCard == sd::SdCard::SLOT_1) {
mountPoint = SD_1_MOUNT_POINT;
}
if(not filesystem::exists(mountPoint)) {
sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint <<
"does not exist" << std::endl;
return UNMOUNT_ERROR;
}
if(filesystem::is_empty(mountPoint)) {
// The mount point will always exist, but if it is empty, that is strong hint that
// the SD card was not mounted properly. Still proceed with operation.
@ -226,26 +237,23 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SdCardManager::sanitizeState(sd::SdCard* prefSdCard, SdStatusPair* statusPair) {
if(prefSdCard == nullptr) {
prefSdCard = std::make_unique<sd::SdCard>(sd::SdCard::SLOT_0).get();
getPreferredSdCard(*prefSdCard);
ReturnValue_t SdCardManager::sanitizeState(SdStatusPair* statusPair, sd::SdCard prefSdCard) {
std::unique_ptr<SdStatusPair> sdStatusPtr;
if(prefSdCard == sd::SdCard::NONE) {
ReturnValue_t result = getPreferredSdCard(prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {}
}
if(statusPair == nullptr) {
statusPair = std::make_unique<SdStatusPair>().get();
sdStatusPtr = std::make_unique<SdStatusPair>();
statusPair = sdStatusPtr.get();
getSdCardActiveStatus(*statusPair);
}
auto sanitizerFunc = [&](sd::SdCard prefSdCard) {
if(statusPair->first == sd::SdStatus::ON) {
return mountSdCard(prefSdCard);
}
else {
return switchOnSdCard(prefSdCard, true, statusPair);
}
};
if(statusPair->first == sd::SdStatus::ON) {
return mountSdCard(prefSdCard);
}
return sanitizerFunc(*prefSdCard);
return switchOnSdCard(prefSdCard, true, statusPair);
}
void SdCardManager::processSdStatusLine(std::pair<sd::SdStatus, sd::SdStatus> &active,
@ -331,3 +339,18 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
result << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
std::string SdCardManager::getCurrentMountPrefix(sd::SdCard prefSdCard) {
if(prefSdCard == sd::SdCard::NONE) {
ReturnValue_t result = getPreferredSdCard(prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
return SD_0_MOUNT_POINT;
}
}
if(prefSdCard == sd::SdCard::SLOT_0) {
return SD_0_MOUNT_POINT;
}
else {
return SD_1_MOUNT_POINT;
}
}

22
bsp_q7s/memory/SdCardManager.h
View File

@ -3,12 +3,15 @@
#include "definitions.h"
#include "returnvalues/classIds.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/events/Event.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <cstdint>
#include <utility>
#include <string>
#include <optional>
class MutexIF;
@ -40,6 +43,10 @@ public:
static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 14);
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FILE_SYSTEM;
static constexpr Event SANITIZATION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
// C++17 does not support constexpr std::string yet
static constexpr char SD_0_DEV_NAME[] = "/dev/mmcblk0p1";
static constexpr char SD_1_DEV_NAME[] = "/dev/mmcblk1p1";
@ -137,14 +144,21 @@ public:
* mounted one, this function will sanitize the state by attempting to mount the
* currently preferred SD card. If the caller already has state information, it can be
* passed into the function.
* @param prefSdCard Preferred SD card captured with #getPreferredSdCard
* @param statusPair Current SD card status capture with #getSdCardActiveStatus
* @param prefSdCard Preferred SD card captured with #getPreferredSdCard
* @throws std::bad_alloc if one of the two arguments was a nullptr and an allocation failed
* @return
*/
ReturnValue_t sanitizeState(sd::SdCard* prefSdCard = nullptr,
SdStatusPair* statusPair = nullptr);
ReturnValue_t sanitizeState(SdStatusPair* statusPair = nullptr,
sd::SdCard prefSdCard = sd::SdCard::NONE);
/**
* If sd::SdCard::NONE is passed as an argument, this funtion will get the currently
* preferred SD card from the scratch buffer.
* @param prefSdCardPtr
* @return
*/
std::string getCurrentMountPrefix(sd::SdCard prefSdCardPtr = sd::SdCard::NONE);
private:
SdCardManager();
@ -153,6 +167,8 @@ private:
void processSdStatusLine(SdStatusPair& active, std::string& line, uint8_t& idx,
sd::SdCard& currentSd);
std::string currentPrefix;
static SdCardManager* factoryInstance;
};

7
bsp_q7s/memory/definitions.h
View File

@ -13,9 +13,10 @@ enum SdStatus: uint8_t {
};
enum SdCard: uint8_t {
SLOT_0,
SLOT_1,
BOTH
SLOT_0 = 0,
SLOT_1 = 1,
BOTH,
NONE
};
}

39
bsp_q7s/memory/scratchApi.cpp
View File

@ -5,7 +5,44 @@ ReturnValue_t scratch::writeString(std::string name, std::string string) {
oss << "xsc_scratch write " << name << " \"" << string << "\"";
int result = std::system(oss.str().c_str());
if(result != 0) {
utility::handleSystemError(result, "scratch::String");
utility::handleSystemError(result, "scratch::writeString");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t scratch::readString(std::string key, std::string &string) {
std::ifstream file;
std::string filename;
ReturnValue_t result = readToFile(key, file, filename);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
std::string line;
if (not std::getline(file, line)) {
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t pos = line.find("=");
if(pos == std::string::npos) {
sif::warning << "scratch::readNumber: Output file format invalid, "
"no \"=\" found" << std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
}
string = line.substr(pos + 1);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t scratch::clearValue(std::string key) {
std::ostringstream oss;
oss << "xsc_scratch clear " << key;
int result = std::system(oss.str().c_str());
if(result != 0) {
utility::handleSystemError(result, "scratch::clearValue");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;

104
bsp_q7s/memory/scratchApi.h
View File

@ -4,6 +4,7 @@
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "linux/utility/utility.h"
#include "returnvalues/classIds.h"
#include <iostream>
#include <fstream>
@ -17,15 +18,86 @@
namespace scratch {
static constexpr char PREFERED_SDC_KEY[] = "PREFSD";
static constexpr char ALLOC_FAILURE_COUNT[] = "ALLOCERR";
static constexpr uint8_t INTERFACE_ID = CLASS_ID::SCRATCH_BUFFER;
static constexpr ReturnValue_t KEY_NOT_FOUND = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
ReturnValue_t clearValue(std::string key);
/**
* Write a string to the scratch buffer
* @param key
* @param string String to write
* @return
*/
ReturnValue_t writeString(std::string key, std::string string);
/**
* Read a string from the scratch buffer
* @param key
* @param string Will be set to read string
* @return
*/
ReturnValue_t readString(std::string key, std::string& string);
/**
* Write a number to the scratch buffer
* @tparam T
* @tparam
* @param key
* @param num Number. Template allows to set signed, unsigned and floating point numbers
* @return
*/
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t writeNumber(std::string key, T num) noexcept;
/**
* Read a number from the scratch buffer.
* @tparam T
* @tparam
* @param name
* @param num
* @return
*/
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t readNumber(std::string key, T& num) noexcept;
// Anonymous namespace
namespace {
static uint8_t counter = 0;
ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& filename) {
using namespace std;
filename = "/tmp/sro" + std::to_string(counter++);
ostringstream oss;
oss << "xsc_scratch read " << name << " > " << filename;
int result = std::system(oss.str().c_str());
if(result != 0) {
if(result == 256) {
sif::warning << "scratch::readNumber: Key " << name << " does not exist" << std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
}
else {
utility::handleSystemError(result, "scratch::readNumber");
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
}
}
file.open(filename);
return HasReturnvaluesIF::RETURN_OK;
}
} // End of anonymous namespace
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t writeNumber(std::string name, T num) noexcept {
inline ReturnValue_t writeNumber(std::string key, T num) noexcept {
std::ostringstream oss;
oss << "xsc_scratch write " << name << " " << num;
oss << "xsc_scratch write " << key << " " << std::to_string(num);
int result = std::system(oss.str().c_str());
if(result != 0) {
utility::handleSystemError(result, "scratch::writeNumber");
@ -35,24 +107,30 @@ inline ReturnValue_t writeNumber(std::string name, T num) noexcept {
}
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t readNumber(std::string name, T& num) noexcept {
inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
using namespace std;
string filename = "/tmp/sro" + std::to_string(counter++);
ostringstream oss;
oss << "xsc_scratch read " << name << " > " << filename;
int result = std::system(oss.str().c_str());
if(result != 0) {
utility::handleSystemError(result, "scratch::writeNumber");
return HasReturnvaluesIF::RETURN_FAILED;
ifstream file;
std::string filename;
ReturnValue_t result = readToFile(key, file, filename);
if(result != HasReturnvaluesIF::RETURN_OK) {
std::remove(filename.c_str());
return result;
}
ifstream file(filename);
string line;
if (not std::getline(file, line)) {
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t pos = line.find("=");
if(pos == string::npos) {
sif::warning << "scratch::readNumber: Output file format invalid, "
"no \"=\" found" << std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
}
std::string valueAsString = line.substr(pos + 1);
try {
num = std::stoi(valueAsString);
@ -65,8 +143,6 @@ inline ReturnValue_t readNumber(std::string name, T& num) noexcept {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t writeString(std::string name, std::string string);
}
#endif /* BSP_Q7S_MEMORY_SCRATCHAPI_H_ */

2
bsp_q7s/spi/Q7sSpiComIF.h
View File

@ -1,7 +1,7 @@
#ifndef BSP_Q7S_SPI_Q7SSPICOMIF_H_
#define BSP_Q7S_SPI_Q7SSPICOMIF_H_
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw/hal/linux/spi/SpiComIF.h>
/**

4
bsp_q7s/spiCallbacks/rwSpiCallback.cpp
View File

@ -1,8 +1,8 @@
#include <bsp_q7s/spiCallbacks/rwSpiCallback.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <mission/devices/RwHandler.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
#include <fsfw/hal/linux/spi/SpiCookie.h>
#include <fsfw/hal/linux/UnixFileGuard.h>
#include "devices/gpioIds.h"
namespace rwSpiCallback {

4
bsp_q7s/spiCallbacks/rwSpiCallback.h
View File

@ -2,8 +2,8 @@
#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>
#include <fsfw/hal/common/gpio/GpioCookie.h>
namespace rwSpiCallback {

49
cmake/BBBCrossCompileConfig.cmake
View File

@ -1,20 +1,22 @@
# BBB_ROOTFS should point to the local directory which contains all the
# LINUX_ROOTFS should point to the local directory which contains all the
# libraries and includes from the target raspi.
# The following command can be used to do this, replace <ip-address> and the
# local <rootfs-path> accordingly:
# rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
# RASPBIAN_ROOTFS needs to be passed to the CMake command or defined in the
# LINUX_ROOTFS needs to be passed to the CMake command or defined in the
# application CMakeLists.txt before loading the toolchain file.
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
if(NOT DEFINED ENV{BBB_ROOTFS})
message(FATAL_ERROR
"Define the BBB_ROOTFS variable to point to the Beagle Bone Black rootfs."
)
if(NOT DEFINED ENV{LINUX_ROOTFS})
# Sysroot has not been cached yet and was not set in environment either
if(NOT SYSROOT_PATH)
message(FATAL_ERROR
"Define the LINUX_ROOTFS variable to point to the Raspberry Pi rootfs."
)
endif()
else()
set(SYSROOT_PATH "$ENV{BBB_ROOTFS}" CACHE FILEPATH "BBB root filesystem path")
message(STATUS "Beagle Bone Black sysroot: ${SYSROOT_PATH}")
set(SYSROOT_PATH "$ENV{LINUX_ROOTFS}" CACHE PATH "Local linux root filesystem path")
message(STATUS "Raspberry Pi sysroot: ${SYSROOT_PATH}")
endif()
if(NOT DEFINED ENV{CROSS_COMPILE})
@ -31,6 +33,15 @@ else()
)
endif()
# Generally, the debian roots will be a multiarch rootfs where some libraries are put
# into a folder named "arm-linux-gnueabihf". The user can override the folder name if this is
# not the case
if(NOT ENV{MULTIARCH_FOLDER_NAME})
set(MULTIARCH_FOLDER_NAME "arm-linux-gnueabihf")
else()
set(MUTLIARCH_FOLDER_NAME $ENV{MULTIARCH_FOLDER_NAME})
endif()
message(STATUS "Using sysroot path: ${SYSROOT_PATH}")
set(CROSS_COMPILE_CC "${CROSS_COMPILE}-gcc")
@ -44,8 +55,11 @@ set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
# At the very least, cross compile gcc and g++ have to be set!
find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} REQUIRED)
find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} REQUIRED)
# Useful utilities, not strictly necessary
find_program(CMAKE_SIZE ${CROSS_COMPILE_SIZE})
find_program(CMAKE_OBJCOPY ${CROSS_COMPILE_OBJCOPY})
set(CMAKE_CROSSCOMPILING TRUE)
set(CMAKE_SYSROOT "${SYSROOT_PATH}")
@ -54,16 +68,12 @@ set(CMAKE_SYSROOT "${SYSROOT_PATH}")
set(CMAKE_SYSTEM_NAME "Linux")
set(CMAKE_SYSTEM_PROCESSOR "arm")
# Define the compiler
set(CMAKE_C_COMPILER ${CROSS_COMPILE_CC})
set(CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX})
# List of library dirs where LD has to look. Pass them directly through gcc.
# LD_LIBRARY_PATH is not evaluated by arm-*-ld
set(LIB_DIRS
"${SYSROOT_PATH}/lib/${CROSS_COMPILE}"
"${SYSROOT_PATH}/lib/${MUTLIARCH_FOLDER_NAME}"
"${SYSROOT_PATH}/usr/local/lib"
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
"${SYSROOT_PATH}/usr/lib/${MUTLIARCH_FOLDER_NAME}"
"${SYSROOT_PATH}/usr/lib"
)
# You can additionally check the linker paths if you add the
@ -73,11 +83,6 @@ foreach(LIB ${LIB_DIRS})
set(COMMON_FLAGS "${COMMON_FLAGS} -L${LIB} -Wl,-rpath-link,${LIB}")
endforeach()
set(CMAKE_PREFIX_PATH
"${CMAKE_PREFIX_PATH}"
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
)
set(CMAKE_C_FLAGS
"-march=armv7-a -mtune=cortex-a8 -mfpu=neon -mfloat-abi=hard ${COMMON_FLAGS}"
CACHE STRING "Flags for Beagle Bone Black"

6
cmake/HardwareOsPreConfig.cmake
View File

@ -1,13 +1,13 @@
function(pre_source_hw_os_config)
# FreeRTOS
if(${OS_FSFW} MATCHES freertos)
if(FSFW_OSAL MATCHES freertos)
message(FATAL_ERROR "No FreeRTOS support implemented yet.")
# RTEMS
elseif(${OS_FSFW} STREQUAL rtems)
elseif(FSFW_OSAL STREQUAL rtems)
add_definitions(-DRTEMS)
message(FATAL_ERROR "No RTEMS support implemented yet.")
elseif(${OS_FSFW} STREQUAL linux)
elseif(FSFW_OSAL STREQUAL linux)
add_definitions(-DUNIX -DLINUX)
find_package(Threads REQUIRED)
# Hosted

24
cmake/PreProjectConfig.cmake
View File

@ -2,31 +2,31 @@ function(pre_project_config)
# Basic input sanitization
if(DEFINED TGT_BSP)
if(${TGT_BSP} MATCHES "arm/raspberrypi" AND NOT ${OS_FSFW} MATCHES linux)
if(${TGT_BSP} MATCHES "arm/raspberrypi" AND NOT FSFW_OSAL MATCHES linux)
message(STATUS "FSFW OSAL invalid for specified target BSP ${TGT_BSP}!")
message(STATUS "Setting valid OS_FSFW: linux")
set(OS_FSFW "linux")
message(STATUS "Setting valid FSFW_OSAL: linux")
set(FSFW_OSAL "linux")
endif()
endif()
# Disable compiler checks for cross-compiling.
if(${OS_FSFW} STREQUAL linux AND TGT_BSP)
if(${TGT_BSP} MATCHES "arm/q7s")
if(FSFW_OSAL MATCHES linux AND TGT_BSP)
if(TGT_BSP MATCHES "arm/q7s")
set(CMAKE_TOOLCHAIN_FILE
"${CMAKE_SCRIPT_PATH}/Q7SCrossCompileConfig.cmake"
PARENT_SCOPE
)
elseif (${TGT_BSP} MATCHES "arm/raspberrypi")
if(NOT DEFINED ENV{RASPBIAN_ROOTFS})
if(NOT DEFINED RASPBIAN_ROOTFS)
message(WARNING "No RASPBIAN_ROOTFS environmental or CMake variable set!")
set(ENV{RASPBIAN_ROOTFS} "$ENV{HOME}/raspberrypi/rootfs")
elseif(TGT_BSP MATCHES "arm/raspberrypi")
if(NOT DEFINED ENV{LINUX_ROOTFS})
if(NOT DEFINED LINUX_ROOTFS)
message(WARNING "No LINUX_ROOTFS environmental or CMake variable set!")
set(ENV{LINUX_ROOTFS} "$ENV{HOME}/raspberrypi/rootfs")
else()
set(ENV{RASPBIAN_ROOTFS} "${RASPBIAN_ROOTFS}")
set(ENV{LINUX_ROOTFS} "${LINUX_ROOTFS}")
endif()
else()
message(STATUS
"RASPBIAN_ROOTFS from environmental variables used: $ENV{RASPBIAN_ROOTFS}"
"LINUX_ROOTFS from environmental variables used: $ENV{LINUX_ROOTFS}"
)
endif()

18
cmake/Q7SCrossCompileConfig.cmake
View File

@ -1,10 +1,11 @@
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
if(NOT DEFINED ENV{Q7S_SYSROOT})
# message(FATAL_ERROR
# "Define the Q7S_ROOTFS variable to "
# "point to the raspbian rootfs."
# )
# Sysroot has not been cached yet and was not set in environment either
if(NOT DEFINED SYSROOT_PATH)
message(FATAL_ERROR
"Define the Q7S_ROOTFS variable to point to the Q7S rootfs."
)
endif()
else()
set(SYSROOT_PATH "$ENV{Q7S_SYSROOT}" CACHE PATH "Q7S root filesystem path")
endif()
@ -36,8 +37,11 @@ set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
# At the very least, cross compile gcc and g++ have to be set!
find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} REQUIRED)
find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} REQUIRED)
# Useful utilities, not strictly necessary
find_program(CMAKE_SIZE ${CROSS_COMPILE_SIZE})
find_program(CMAKE_OBJCOPY ${CROSS_COMPILE_OBJCOPY})
set(CMAKE_CROSSCOMPILING TRUE)
set(CMAKE_SYSROOT "${SYSROOT_PATH}")

74
cmake/RPiCrossCompileConfig.cmake
View File

@ -1,7 +1,7 @@
# Based on https://github.com/Pro/raspi-toolchain but rewritten completely.
# Adapted for the FSFW Example
if(NOT $ENV{RASPBERRY_VERSION})
if(NOT DEFINED ENV{RASPBERRY_VERSION})
message(STATUS "Raspberry Pi version not specified, setting version 4!")
set(RASPBERRY_VERSION 4)
else()
@ -9,23 +9,25 @@ else()
endif()
# RASPBIAN_ROOTFS should point to the local directory which contains all the
# LINUX_ROOTFS should point to the local directory which contains all the
# libraries and includes from the target raspi.
# The following command can be used to do this, replace <ip-address> and the
# local <rootfs-path> accordingly:
# rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
# RASPBIAN_ROOTFS needs to be passed to the CMake command or defined in the
# LINUX_ROOTFS needs to be passed to the CMake command or defined in the
# application CMakeLists.txt before loading the toolchain file.
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
if(NOT DEFINED ENV{RASPBIAN_ROOTFS})
message(FATAL_ERROR
"Define the RASPBIAN_ROOTFS variable to "
"point to the raspbian rootfs."
)
if(NOT DEFINED ENV{LINUX_ROOTFS})
# Sysroot has not been cached yet and was not set in environment either
if(NOT SYSROOT_PATH)
message(FATAL_ERROR
"Define the LINUX_ROOTFS variable to point to the Raspberry Pi rootfs."
)
endif()
else()
set(SYSROOT_PATH "$ENV{RASPBIAN_ROOTFS}" CACHE FILEPATH "RPi root filesystem path")
set(SYSROOT_PATH "$ENV{LINUX_ROOTFS}" CACHE PATH "Local linux root filesystem path")
message(STATUS "Raspberry Pi sysroot: ${SYSROOT_PATH}")
endif()
if(NOT DEFINED ENV{CROSS_COMPILE})
@ -42,6 +44,15 @@ else()
)
endif()
# Generally, the debian roots will be a multiarch rootfs where some libraries are put
# into a folder named "arm-linux-gnueabihf". The user can override the folder name if this is
# not the case
if(NOT ENV{MULTIARCH_FOLDER_NAME})
set(MULTIARCH_FOLDER_NAME "arm-linux-gnueabihf")
else()
set(MUTLIARCH_FOLDER_NAME $ENV{MULTIARCH_FOLDER_NAME})
endif()
message(STATUS "Using sysroot path: ${SYSROOT_PATH}")
set(CROSS_COMPILE_CC "${CROSS_COMPILE}-gcc")
@ -55,8 +66,11 @@ set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
# At the very least, cross compile gcc and g++ have to be set!
find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} REQUIRED)
find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} REQUIRED)
# Useful utilities, not strictly necessary
find_program(CMAKE_SIZE ${CROSS_COMPILE_SIZE})
find_program(CMAKE_OBJCOPY ${CROSS_COMPILE_OBJCOPY})
set(CMAKE_CROSSCOMPILING TRUE)
set(CMAKE_SYSROOT "${SYSROOT_PATH}")
@ -69,22 +83,16 @@ else()
set(CMAKE_SYSTEM_PROCESSOR "arm")
endif()
# Define the compiler
set(CMAKE_C_COMPILER ${CROSS_COMPILE_CC})
set(CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX})
# List of library dirs where LD has to look. Pass them directly through gcc.
# LD_LIBRARY_PATH is not evaluated by arm-*-ld
set(LIB_DIRS
"/opt/cross-pi-gcc/arm-linux-gnueabihf/lib"
"/opt/cross-pi-gcc/lib"
"${SYSROOT_PATH}/opt/vc/lib"
"${SYSROOT_PATH}/lib/${CROSS_COMPILE}"
"${SYSROOT_PATH}/lib/${MULTIARCH_FOLDER_NAME}"
"${SYSROOT_PATH}/usr/local/lib"
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
"${SYSROOT_PATH}/usr/lib/${MULTIARCH_FOLDER_NAME}"
"${SYSROOT_PATH}/usr/lib"
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}/blas"
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}/lapack"
"${SYSROOT_PATH}/usr/lib/${MULTIARCH_FOLDER_NAME}/blas"
"${SYSROOT_PATH}/usr/lib/${MULTIARCH_FOLDER_NAME}/lapack"
)
# You can additionally check the linker paths if you add the
# flags ' -Xlinker --verbose'
@ -93,43 +101,38 @@ foreach(LIB ${LIB_DIRS})
set(COMMON_FLAGS "${COMMON_FLAGS} -L${LIB} -Wl,-rpath-link,${LIB}")
endforeach()
set(CMAKE_PREFIX_PATH
"${CMAKE_PREFIX_PATH}"
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
)
if(RASPBERRY_VERSION VERSION_GREATER 3)
set(CMAKE_C_FLAGS
"-mcpu=cortex-a72 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}"
CACHE STRING "CPP flags for Raspberry PI 4"
CACHE STRING "Flags for Raspberry Pi 4"
)
set(CMAKE_CXX_FLAGS
"${CMAKE_C_FLAGS}"
CACHE STRING "C flags for Raspberry PI 4"
CACHE STRING "Flags for Raspberry Pi 4"
)
elseif(RASPBERRY_VERSION VERSION_GREATER 2)
set(CMAKE_C_FLAGS
"-mcpu=cortex-a53 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}"
CACHE STRING "C flags for Raspberry PI 3"
CACHE STRING "Flags for Raspberry Pi 3"
)
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}"
CACHE STRING "CPP flags for Raspberry PI 3"
CACHE STRING "Flags for Raspberry Pi 3"
)
elseif(RASPBERRY_VERSION VERSION_GREATER 1)
set(CMAKE_C_FLAGS
"-mcpu=cortex-a7 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}"
CACHE STRING "C flags for Raspberry PI 2"
CACHE STRING "Flags for Raspberry Pi 2"
)
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}"
CACHE STRING "CPP flags for Raspberry PI 2"
CACHE STRING "Flags for Raspberry Pi 2"
)
else()
set(CMAKE_C_FLAGS
"-mcpu=arm1176jzf-s -mfpu=vfp -mfloat-abi=hard ${COMMON_FLAGS}"
CACHE STRING "C flags for Raspberry PI 1 B+ Zero"
CACHE STRING "Flags for Raspberry Pi 1 B+ Zero"
)
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}"
CACHE STRING "CPP flags for Raspberry PI 1 B+ Zero"
CACHE STRING "Flags for Raspberry PI 1 B+ Zero"
)
endif()
@ -137,7 +140,6 @@ set(CMAKE_FIND_ROOT_PATH
"${CMAKE_INSTALL_PREFIX};${CMAKE_PREFIX_PATH};${CMAKE_SYSROOT}"
)
# search for programs in the build host directories
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
# for libraries and headers in the target directories

2
cmake/scripts/Q7S/ninja_debug_cfg.sh
View File

@ -28,6 +28,6 @@ fi
echo "Running command (without the leading +):"
set -x # Print command
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
-l"${build_dir}"
-l "${build_dir}"
# set +x

33
cmake/scripts/Q7S/ninja_release_cfg.sh Executable file
View File

@ -0,0 +1,33 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/q7s"
build_dir="build-Release-Q7S"
build_generator="Ninja"
if [ "${OS}" = "Windows_NT" ]; then
python="py"
# Could be other OS but this works for now.
else
python="python3"
fi
echo "Running command (without the leading +):"
set -x # Print command
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
-l"${build_dir}"
# set +x

2
cmake/scripts/cmake_build_config.py
View File

@ -98,7 +98,7 @@ def main():
print(f"Navigating into build directory: {build_path}")
os.chdir(build_folder)
cmake_command = f"cmake {generator_cmake_arg} -DOS_FSFW=\"{osal}\" " \
cmake_command = f"cmake {generator_cmake_arg} -DFSFW_OSAL=\"{osal}\" " \
f"-DCMAKE_BUILD_TYPE=\"{cmake_build_type}\" {cmake_target_cfg_cmd} " \
f"{define_string} {source_location}"
# Remove redundant spaces

2
common/config/OBSWVersion.h
View File

@ -4,7 +4,7 @@
const char* const SW_NAME = "eive";
#define SW_VERSION 1
#define SW_SUBVERSION 3
#define SW_SUBVERSION 4
#define SW_SUBSUBVERSION 0
#endif /* COMMON_CONFIG_OBSWVERSION_H_ */

4
common/config/commonClassIds.h
View File

@ -14,7 +14,9 @@ enum commonClassIds: uint8_t {
SYRLINKS_HANDLER, //SYRLINKS
IMTQ_HANDLER, //IMTQ
RW_HANDLER, //Reaction Wheels
PLOC_HANDLER, //PLOC
STR_HANDLER, //Star tracker
PLOC_MPSOC_HANDLER, //PLOC MPSoC
PLOC_SUPERVISOR_HANDLER, //PLOC Supervisor
SUS_HANDLER, //SUSS
CCSDS_IP_CORE_BRIDGE, // IP Core interface
COMMON_CLASS_ID_END // [EXPORT] : [END]

14
common/config/commonObjects.h
View File

@ -10,6 +10,7 @@ enum commonObjects: uint32_t {
PUS_PACKET_DISTRIBUTOR = 0x50000200,
UDP_BRIDGE = 0x50000300,
UDP_POLLING_TASK = 0x50000400,
FILE_SYSTEM_HANDLER = 0x50000500,
/* 0x43 ('C') for Controllers */
THERMAL_CONTROLLER = 0x43400001,
@ -33,7 +34,8 @@ enum commonObjects: uint32_t {
GYRO_3_L3G_HANDLER = 0x44120313,
IMTQ_HANDLER = 0x44140014,
PLOC_HANDLER = 0x44330015,
PLOC_MPSOC_HANDLER = 0x44330015,
PLOC_SUPERVISOR_HANDLER = 0x44330016,
/**
* Not yet specified which pt1000 will measure which device/location in the satellite.
@ -73,10 +75,12 @@ enum commonObjects: uint32_t {
GPS0_HANDLER = 0x44130045,
GPS1_HANDLER = 0x44130146,
RW1 = 0x44210001,
RW2 = 0x44210002,
RW3 = 0x44210003,
RW4 = 0x44210004
RW1 = 0x44120001,
RW2 = 0x44120002,
RW3 = 0x44120003,
RW4 = 0x44120004,
START_TRACKER = 0x44130001
};
}

5
common/config/commonSubsystemIds.h
View File

@ -11,9 +11,12 @@ enum: uint8_t {
PCDU_HANDLER = 108,
HEATER_HANDLER = 109,
SA_DEPL_HANDLER = 110,
PLOC_HANDLER = 111,
PLOC_MPSOC_HANDLER = 111,
IMTQ_HANDLER = 112,
RW_HANDLER = 113,
STR_HANDLER = 114,
PLOC_SUPERVISOR_HANDLER = 115,
FILE_SYSTEM = 116,
COMMON_SUBSYSTEM_ID_END
};
}

2
common/config/spiConf.h
View File

@ -2,7 +2,7 @@
#define COMMON_CONFIG_SPICONF_H_
#include <cstdint>
#include <fsfw_hal/linux/spi/spiDefinitions.h>
#include <fsfw/hal/linux/spi/spiDefinitions.h>
/**
* SPI configuration will be contained here to let the device handlers remain independent

BIN
doc/XSC-1542-6025-i_Q7RevB_User_Manual.pdf Normal file
View File

Binary file not shown.

0
doc/Q7S-user-manual.pdf → doc/deprecated-Q7S-user-manual14042020.pdf
View File

2
fsfw

@ -1 +1 @@
Subproject commit da8a4470734808bed4d872e47c192af694382c41
Subproject commit b83259592a1f0ae5af20b00d1aef813fa26cd350

1
fsfw_hal

@ -1 +0,0 @@
Subproject commit 8ff09c95a69f1f43fec6104d6cce1e788b2b870d

12
generators/bsp_q7s_events.csv
View File

@ -77,10 +77,10 @@
8901;CLOCK_SET_FAILURE;LOW; ;../../fsfw/pus/Service9TimeManagement.h
9700;TEST;INFO; ;../../fsfw/pus/Service17Test.h
10600;CHANGE_OF_SETUP_PARAMETER;LOW; ;../../mission/devices/MGMHandlerLIS3MDL.h
11101;MEMORY_READ_RPT_CRC_FAILURE;LOW; ;../../mission/devices/PlocHandler.h
11102;ACK_FAILURE;LOW; ;../../mission/devices/PlocHandler.h
11103;EXE_FAILURE;LOW; ;../../mission/devices/PlocHandler.h
11104;CRC_FAILURE_EVENT;LOW; ;../../mission/devices/PlocHandler.h
11101;MEMORY_READ_RPT_CRC_FAILURE;LOW; ;../../mission/devices/PlocMPSoCHandler.h
11102;ACK_FAILURE;LOW; ;../../mission/devices/PlocMPSoCHandler.h
11103;EXE_FAILURE;LOW; ;../../mission/devices/PlocMPSoCHandler.h
11104;CRC_FAILURE_EVENT;LOW; ;../../mission/devices/PlocMPSoCHandler.h
11201;SELF_TEST_I2C_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h
11202;SELF_TEST_SPI_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h
11203;SELF_TEST_ADC_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h
@ -90,3 +90,7 @@
11207;SELF_TEST_COIL_CURRENT_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h
11208;INVALID_ERROR_BYTE;LOW; ;../../mission/devices/IMTQHandler.h
11301;ERROR_STATE;HIGH; ;../../mission/devices/RwHandler.h
11501;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW; ;../../mission/devices/PlocSupervisorHandler.h
11502;SUPV_ACK_FAILURE;LOW; ;../../mission/devices/PlocSupervisorHandler.h
11503;SUPV_EXE_FAILURE;LOW; ;../../mission/devices/PlocSupervisorHandler.h
11504;SUPV_CRC_FAILURE_EVENT;LOW; ;../../mission/devices/PlocSupervisorHandler.h

1 2200 STORE_SEND_WRITE_FAILED LOW ../../fsfw/tmstorage/TmStoreBackendIF.h
77 8901 CLOCK_SET_FAILURE LOW ../../fsfw/pus/Service9TimeManagement.h
78 9700 TEST INFO ../../fsfw/pus/Service17Test.h
79 10600 CHANGE_OF_SETUP_PARAMETER LOW ../../mission/devices/MGMHandlerLIS3MDL.h
80 11101 MEMORY_READ_RPT_CRC_FAILURE LOW ../../mission/devices/PlocHandler.h ../../mission/devices/PlocMPSoCHandler.h
81 11102 ACK_FAILURE LOW ../../mission/devices/PlocHandler.h ../../mission/devices/PlocMPSoCHandler.h
82 11103 EXE_FAILURE LOW ../../mission/devices/PlocHandler.h ../../mission/devices/PlocMPSoCHandler.h
83 11104 CRC_FAILURE_EVENT LOW ../../mission/devices/PlocHandler.h ../../mission/devices/PlocMPSoCHandler.h
84 11201 SELF_TEST_I2C_FAILURE LOW ../../mission/devices/IMTQHandler.h
85 11202 SELF_TEST_SPI_FAILURE LOW ../../mission/devices/IMTQHandler.h
86 11203 SELF_TEST_ADC_FAILURE LOW ../../mission/devices/IMTQHandler.h
90 11207 SELF_TEST_COIL_CURRENT_FAILURE LOW ../../mission/devices/IMTQHandler.h
91 11208 INVALID_ERROR_BYTE LOW ../../mission/devices/IMTQHandler.h
92 11301 ERROR_STATE HIGH ../../mission/devices/RwHandler.h
93 11501 SUPV_MEMORY_READ_RPT_CRC_FAILURE LOW ../../mission/devices/PlocSupervisorHandler.h
94 11502 SUPV_ACK_FAILURE LOW ../../mission/devices/PlocSupervisorHandler.h
95 11503 SUPV_EXE_FAILURE LOW ../../mission/devices/PlocSupervisorHandler.h
96 11504 SUPV_CRC_FAILURE_EVENT LOW ../../mission/devices/PlocSupervisorHandler.h

12
generators/bsp_q7s_objects.csv
View File

@ -2,6 +2,10 @@
0x43000003;CORE_CONTROLLER
0x43100002;ACS_CONTROLLER
0x43400001;THERMAL_CONTROLLER
0x44120001;RW1
0x44120002;RW2
0x44120003;RW3
0x44120004;RW4
0x44120006;MGM_0_LIS3_HANDLER
0x44120010;GYRO_0_ADIS_HANDLER
0x44120032;SUS_1
@ -23,20 +27,18 @@
0x44120212;GYRO_2_ADIS_HANDLER
0x44120309;MGM_3_RM3100_HANDLER
0x44120313;GYRO_3_L3G_HANDLER
0x44130001;START_TRACKER
0x44130045;GPS0_HANDLER
0x44130146;GPS1_HANDLER
0x44140014;IMTQ_HANDLER
0x442000A1;PCDU_HANDLER
0x44210001;RW1
0x44210002;RW2
0x44210003;RW3
0x44210004;RW4
0x44250000;P60DOCK_HANDLER
0x44250001;PDU1_HANDLER
0x44250002;PDU2_HANDLER
0x44250003;ACU_HANDLER
0x443200A5;RAD_SENSOR
0x44330015;PLOC_HANDLER
0x44330015;PLOC_MPSOC_HANDLER
0x44330016;PLOC_SUPERVISOR_HANDLER
0x444100A2;SOLAR_ARRAY_DEPL_HANDLER
0x444100A4;HEATER_HANDLER
0x44420004;TMP1075_HANDLER_1

1 0x00005060 P60DOCK_TEST_TASK
2 0x43000003 CORE_CONTROLLER
3 0x43100002 ACS_CONTROLLER
4 0x43400001 THERMAL_CONTROLLER
5 0x44120001 RW1
6 0x44120002 RW2
7 0x44120003 RW3
8 0x44120004 RW4
9 0x44120006 MGM_0_LIS3_HANDLER
10 0x44120010 GYRO_0_ADIS_HANDLER
11 0x44120032 SUS_1
27 0x44120212 GYRO_2_ADIS_HANDLER
28 0x44120309 MGM_3_RM3100_HANDLER
29 0x44120313 GYRO_3_L3G_HANDLER
30 0x44130001 START_TRACKER
31 0x44130045 GPS0_HANDLER
32 0x44130146 GPS1_HANDLER
33 0x44140014 IMTQ_HANDLER
34 0x442000A1 PCDU_HANDLER
0x44210001 RW1
0x44210002 RW2
0x44210003 RW3
0x44210004 RW4
35 0x44250000 P60DOCK_HANDLER
36 0x44250001 PDU1_HANDLER
37 0x44250002 PDU2_HANDLER
38 0x44250003 ACU_HANDLER
39 0x443200A5 RAD_SENSOR
40 0x44330015 PLOC_HANDLER PLOC_MPSOC_HANDLER
41 0x44330016 PLOC_SUPERVISOR_HANDLER
42 0x444100A2 SOLAR_ARRAY_DEPL_HANDLER
43 0x444100A4 HEATER_HANDLER
44 0x44420004 TMP1075_HANDLER_1

16
generators/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 92 translations.
* @brief Auto-generated event translation file. Contains 96 translations.
* @details
* Generated on: 2021-06-29 16:20:09
* Generated on: 2021-07-12 15:20:38
*/
#include "translateEvents.h"
@ -97,6 +97,10 @@ const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
const char *ERROR_STATE_STRING = "ERROR_STATE";
const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
const char * translateEvents(Event event) {
switch( (event & 0xffff) ) {
@ -284,6 +288,14 @@ const char * translateEvents(Event event) {
return INVALID_ERROR_BYTE_STRING;
case(11301):
return ERROR_STATE_STRING;
case(11501):
return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
case(11502):
return SUPV_ACK_FAILURE_STRING;
case(11503):
return SUPV_EXE_FAILURE_STRING;
case(11504):
return SUPV_CRC_FAILURE_EVENT_STRING;
default:
return "UNKNOWN_EVENT";
}

38
generators/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 100 translations.
* Generated on: 2021-06-29 16:19:57
* Contains 102 translations.
* Generated on: 2021-07-10 16:22:55
*/
#include "translateObjects.h"
@ -10,6 +10,10 @@ const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK";
const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
const char *RW1_STRING = "RW1";
const char *RW2_STRING = "RW2";
const char *RW3_STRING = "RW3";
const char *RW4_STRING = "RW4";
const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
const char *SUS_1_STRING = "SUS_1";
@ -31,20 +35,18 @@ const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER";
const char *GYRO_2_ADIS_HANDLER_STRING = "GYRO_2_ADIS_HANDLER";
const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
const char *START_TRACKER_STRING = "START_TRACKER";
const char *GPS0_HANDLER_STRING = "GPS0_HANDLER";
const char *GPS1_HANDLER_STRING = "GPS1_HANDLER";
const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
const char *RW1_STRING = "RW1";
const char *RW2_STRING = "RW2";
const char *RW3_STRING = "RW3";
const char *RW4_STRING = "RW4";
const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER";
const char *PDU1_HANDLER_STRING = "PDU1_HANDLER";
const char *PDU2_HANDLER_STRING = "PDU2_HANDLER";
const char *ACU_HANDLER_STRING = "ACU_HANDLER";
const char *RAD_SENSOR_STRING = "RAD_SENSOR";
const char *PLOC_HANDLER_STRING = "PLOC_HANDLER";
const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1";
@ -117,6 +119,14 @@ const char* translateObject(object_id_t object) {
return ACS_CONTROLLER_STRING;
case 0x43400001:
return THERMAL_CONTROLLER_STRING;
case 0x44120001:
return RW1_STRING;
case 0x44120002:
return RW2_STRING;
case 0x44120003:
return RW3_STRING;
case 0x44120004:
return RW4_STRING;
case 0x44120006:
return MGM_0_LIS3_HANDLER_STRING;
case 0x44120010:
@ -159,6 +169,8 @@ const char* translateObject(object_id_t object) {
return MGM_3_RM3100_HANDLER_STRING;
case 0x44120313:
return GYRO_3_L3G_HANDLER_STRING;
case 0x44130001:
return START_TRACKER_STRING;
case 0x44130045:
return GPS0_HANDLER_STRING;
case 0x44130146:
@ -167,14 +179,6 @@ const char* translateObject(object_id_t object) {
return IMTQ_HANDLER_STRING;
case 0x442000A1:
return PCDU_HANDLER_STRING;
case 0x44210001:
return RW1_STRING;
case 0x44210002:
return RW2_STRING;
case 0x44210003:
return RW3_STRING;
case 0x44210004:
return RW4_STRING;
case 0x44250000:
return P60DOCK_HANDLER_STRING;
case 0x44250001:
@ -186,7 +190,9 @@ const char* translateObject(object_id_t object) {
case 0x443200A5:
return RAD_SENSOR_STRING;
case 0x44330015:
return PLOC_HANDLER_STRING;
return PLOC_MPSOC_HANDLER_STRING;
case 0x44330016:
return PLOC_SUPERVISOR_HANDLER_STRING;
case 0x444100A2:
return SOLAR_ARRAY_DEPL_HANDLER_STRING;
case 0x444100A4:

4
linux/boardtest/LibgpiodTest.h
View File

@ -2,8 +2,8 @@
#define TEST_TESTTASKS_LIBGPIODTEST_H_
#include "TestTask.h"
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/hal/common/gpio/GpioIF.h>
#include <fsfw/hal/common/gpio/GpioCookie.h>
#include <fsfw/objectmanager/SystemObject.h>
/**

8
linux/boardtest/SpiTestClass.cpp
View File

@ -7,10 +7,10 @@
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw_hal/linux/utility.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/hal/linux/utility.h>
#include <fsfw/hal/linux/UnixFileGuard.h>
#include <fsfw/hal/common/gpio/gpioDefinitions.h>
#include <fsfw/hal/common/gpio/GpioCookie.h>
#include <linux/spi/spidev.h>
#include <fcntl.h>

4
linux/boardtest/SpiTestClass.h
View File

@ -1,8 +1,8 @@
#ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
#define LINUX_BOARDTEST_SPITESTCLASS_H_
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <fsfw/hal/common/gpio/GpioIF.h>
#include <fsfw/hal/linux/spi/SpiCookie.h>
#include <test/testtasks/TestTask.h>
#include <vector>

2
linux/devices/HeaterHandler.cpp
View File

@ -4,7 +4,7 @@
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/hal/common/gpio/GpioCookie.h>
HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, uint8_t mainLineSwitch_) :

2
linux/devices/HeaterHandler.h
View File

@ -11,7 +11,7 @@
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/timemanager/Countdown.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw/hal/common/gpio/GpioIF.h>
#include <unordered_map>
/**

2
linux/devices/SolarArrayDeploymentHandler.cpp
View File

@ -3,7 +3,7 @@
#include <devices/powerSwitcherList.h>
#include <devices/gpioIds.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/hal/common/gpio/GpioCookie.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/objectmanager/ObjectManager.h>

2
linux/devices/SolarArrayDeploymentHandler.h
View File

@ -9,7 +9,7 @@
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/timemanager/Countdown.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw/hal/common/gpio/GpioIF.h>
#include <unordered_map>
/**

2
linux/devices/SusHandler.cpp
View File

@ -2,7 +2,7 @@
#include "OBSWConfig.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw/hal/linux/spi/SpiComIF.h>
SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
LinuxLibgpioIF* gpioComIF, gpioId_t chipSelectId) :

2
linux/devices/SusHandler.h
View File

@ -3,7 +3,7 @@
#include "devicedefinitions/SusDefinitions.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
/**
* @brief This is the device handler class for the SUS sensor. The sensor is

2
linux/fsfwconfig/FSFWConfig.h.in
View File

@ -72,6 +72,6 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
}
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 1
#endif /* CONFIG_FSFWCONFIG_H_ */

16
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -21,15 +21,18 @@ debugging. */
#define OBSW_ADD_TEST_CODE 1
#define OBSW_ADD_TEST_PST 1
#define OBSW_ADD_GPS 0
#define OBSW_ADD_STAR_TRACKER 0
#define TEST_LIBGPIOD 0
#define TEST_RADIATION_SENSOR_HANDLER 0
#define TEST_SUS_HANDLER 1
#define TEST_SUS_HANDLER 0
#define TEST_PLOC_HANDLER 0
#define TEST_CCSDS_BRIDGE 0
#define PERFORM_PTME_TEST 0
#define ADD_PLOC_SUPERVISOR 1
#define ADD_PLOC_MPSOC 0
#define TE0720 0
#define BOARD_TE0720 0
#define TE0720_HEATER_TEST 0
#define P60DOCK_DEBUG 0
@ -40,11 +43,14 @@ debugging. */
#define IMQT_DEBUG 0
#define ADIS16507_DEBUG 1
#define L3GD20_GYRO_DEBUG 0
#define DEBUG_RAD_SENSOR 1
#define DEBUG_RAD_SENSOR 0
#define DEBUG_SUS 1
#define DEBUG_RTD 1
#define IMTQ_DEBUG 1
#define RW_DEBUG 1
#define RW_DEBUG 0
#define START_TRACKER_DEBUG 0
#define PLOC_MPSOC_DEBUG 0
#define PLOC_SUPERVISOR_DEBUG 1
// Leave at one as the BSP is linux. Used by the ADIS16507 device handler
#define OBSW_ADIS16507_LINUX_COM_IF 1
@ -52,7 +58,7 @@ debugging. */
#include "OBSWVersion.h"
/* Can be used to switch device to NORMAL mode immediately */
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 0
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
#ifdef __cplusplus

2
linux/fsfwconfig/devices/gpioIds.h
View File

@ -1,7 +1,7 @@
#ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_
#define FSFWCONFIG_DEVICES_GPIOIDS_H_
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw/hal/common/gpio/GpioIF.h>
namespace gpioIds {
enum gpioId_t {

2
linux/fsfwconfig/devices/powerSwitcherList.h
View File

@ -33,7 +33,7 @@ namespace pcduSwitches {
static const uint8_t INIT_STATE_Q7S = ON;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
static const uint8_t INIT_STATE_RW = OFF;
#if TE0720 == 1
#if BOARD_TE0720 == 1
/* Because the TE0720 is not connected to the PCDU, this switch is always on */
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
#else

3
linux/fsfwconfig/events/subsystemIdRanges.h
View File

@ -12,7 +12,8 @@
*/
namespace SUBSYSTEM_ID {
enum: uint8_t {
SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END
SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END,
CORE = 116,
};
}

16
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 92 translations.
* @brief Auto-generated event translation file. Contains 96 translations.
* @details
* Generated on: 2021-06-29 16:20:09
* Generated on: 2021-07-12 15:20:38
*/
#include "translateEvents.h"
@ -97,6 +97,10 @@ const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
const char *ERROR_STATE_STRING = "ERROR_STATE";
const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
const char * translateEvents(Event event) {
switch( (event & 0xffff) ) {
@ -284,6 +288,14 @@ const char * translateEvents(Event event) {
return INVALID_ERROR_BYTE_STRING;
case(11301):
return ERROR_STATE_STRING;
case(11501):
return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
case(11502):
return SUPV_ACK_FAILURE_STRING;
case(11503):
return SUPV_EXE_FAILURE_STRING;
case(11504):
return SUPV_CRC_FAILURE_EVENT_STRING;
default:
return "UNKNOWN_EVENT";
}

38
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 100 translations.
* Generated on: 2021-06-29 16:19:57
* Contains 102 translations.
* Generated on: 2021-07-10 16:22:55
*/
#include "translateObjects.h"
@ -10,6 +10,10 @@ const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK";
const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
const char *RW1_STRING = "RW1";
const char *RW2_STRING = "RW2";
const char *RW3_STRING = "RW3";
const char *RW4_STRING = "RW4";
const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
const char *SUS_1_STRING = "SUS_1";
@ -31,20 +35,18 @@ const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER";
const char *GYRO_2_ADIS_HANDLER_STRING = "GYRO_2_ADIS_HANDLER";
const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
const char *START_TRACKER_STRING = "START_TRACKER";
const char *GPS0_HANDLER_STRING = "GPS0_HANDLER";
const char *GPS1_HANDLER_STRING = "GPS1_HANDLER";
const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
const char *RW1_STRING = "RW1";
const char *RW2_STRING = "RW2";
const char *RW3_STRING = "RW3";
const char *RW4_STRING = "RW4";
const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER";
const char *PDU1_HANDLER_STRING = "PDU1_HANDLER";
const char *PDU2_HANDLER_STRING = "PDU2_HANDLER";
const char *ACU_HANDLER_STRING = "ACU_HANDLER";
const char *RAD_SENSOR_STRING = "RAD_SENSOR";
const char *PLOC_HANDLER_STRING = "PLOC_HANDLER";
const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1";
@ -117,6 +119,14 @@ const char* translateObject(object_id_t object) {
return ACS_CONTROLLER_STRING;
case 0x43400001:
return THERMAL_CONTROLLER_STRING;
case 0x44120001:
return RW1_STRING;
case 0x44120002:
return RW2_STRING;
case 0x44120003:
return RW3_STRING;
case 0x44120004:
return RW4_STRING;
case 0x44120006:
return MGM_0_LIS3_HANDLER_STRING;
case 0x44120010:
@ -159,6 +169,8 @@ const char* translateObject(object_id_t object) {
return MGM_3_RM3100_HANDLER_STRING;
case 0x44120313:
return GYRO_3_L3G_HANDLER_STRING;
case 0x44130001:
return START_TRACKER_STRING;
case 0x44130045:
return GPS0_HANDLER_STRING;
case 0x44130146:
@ -167,14 +179,6 @@ const char* translateObject(object_id_t object) {
return IMTQ_HANDLER_STRING;
case 0x442000A1:
return PCDU_HANDLER_STRING;
case 0x44210001:
return RW1_STRING;
case 0x44210002:
return RW2_STRING;
case 0x44210003:
return RW3_STRING;
case 0x44210004:
return RW4_STRING;
case 0x44250000:
return P60DOCK_HANDLER_STRING;
case 0x44250001:
@ -186,7 +190,9 @@ const char* translateObject(object_id_t object) {
case 0x443200A5:
return RAD_SENSOR_STRING;
case 0x44330015:
return PLOC_HANDLER_STRING;
return PLOC_MPSOC_HANDLER_STRING;
case 0x44330016:
return PLOC_SUPERVISOR_HANDLER_STRING;
case 0x444100A2:
return SOLAR_ARRAY_DEPL_HANDLER_STRING;
case 0x444100A4:

75
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -449,10 +449,36 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0,
#if ADD_PLOC_MPSOC == 1
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
#endif
#if ADD_PLOC_SUPERVISOR == 1
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
#endif
#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
#endif
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
@ -460,10 +486,9 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::PERFORM_OPERATION);
#endif
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
@ -471,10 +496,10 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::SEND_WRITE);
#endif
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
#endif
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
@ -482,10 +507,10 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::GET_WRITE);
#endif
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
#endif
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
@ -493,10 +518,10 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::SEND_READ);
#endif
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
@ -504,6 +529,14 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
thisSequence->addSlot(objects::START_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::START_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::START_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::START_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::START_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "UART PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
@ -670,16 +703,16 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
return HasReturnvaluesIF::RETURN_OK;
}
#if TE7020 == 1
#if BOARD_TE7020 == 1
ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
#if TEST_PLOC_HANDLER == 1
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#if TEST_PLOC_MPSOC_HANDLER == 1
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if TEST_RADIATION_SENSOR_HANDLER == 1
@ -713,10 +746,18 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::SUS_1, length * 0.915, DeviceHandlerIF::GET_READ);
#endif
#if ADD_PLOC_SUPERVISOR == 1
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Initialization of TE0720 PST failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
#endif /* TE7020 == 1 */
#endif /* BOARD_TE7020 == 1 */

2
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
View File

@ -55,7 +55,7 @@ ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
*/
ReturnValue_t pstTest(FixedTimeslotTaskIF* thisSequence);
#if TE7020 == 1
#if TE0720 == 1
/**
* @brief This polling sequence will be created when the software is compiled for the TE0720.
*/

1
linux/fsfwconfig/returnvalues/classIds.h
View File

@ -14,6 +14,7 @@ enum {
CLASS_ID_START = COMMON_CLASS_ID_END,
SA_DEPL_HANDLER, //SADPL
SD_CARD_MANAGER, //SDMA
SCRATCH_BUFFER, //SCBU
CLASS_ID_END // [EXPORT] : [END]
};
}

9
linux/obc/CCSDSIPCoreBridge.h
View File

@ -1,11 +1,12 @@
#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 <string.h>
#include "OBSWConfig.h"
#include <fsfw/tmtcservices/TmTcBridge.h>
#include <fsfw/hal/common/gpio/gpioDefinitions.h>
#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
#include <cstring>
/**
* @brief This class handles the interfacing to the telemetry (PTME) and telecommand (PDEC) IP

4
linux/utility/utility.cpp
View File

@ -3,9 +3,11 @@
#include "utility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <cstring>
void utility::handleSystemError(int retcode, std::string function) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << function << ": System call failed with code " << retcode;
sif::warning << function << ": System call failed with code " << retcode << ": " <<
strerror(retcode) << std::endl;
#endif
}

30
misc/eclipse/.cproject
View File

@ -254,7 +254,7 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851." name="/" resourcePath="">
<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1971474557" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1813444167" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@ -566,7 +566,7 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689." name="/" resourcePath="">
<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1439714522" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1064018737" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@ -648,6 +648,7 @@
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.1527860624" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths.1772224733" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/inc}&quot;"/>
</option>
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.1331264991" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
</tool>
@ -657,6 +658,7 @@
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/common/config}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/inc}&quot;"/>
</option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1143219558" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
<listOptionValue builtIn="false" value="LINUX=1"/>
@ -671,6 +673,7 @@
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/common/config}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/inc}&quot;"/>
</option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1199844227" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
<listOptionValue builtIn="false" value="LINUX=1"/>
@ -802,11 +805,13 @@
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.1492082603" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.1972256057" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.200467200" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
<builder arguments="--build . -j" buildPath="${workspace_loc:/eive_obsw/build-Release-Q7S}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1351628857" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/build-Release-Q7S}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1351628857" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.978063851" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.92793277" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths.1389893710" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/inc}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
</option>
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.2127363958" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
</tool>
@ -814,6 +819,8 @@
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.include.paths.1810457326" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.include.paths" useByScannerDiscovery="true" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive_obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/inc}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
</option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1774225921" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
<listOptionValue builtIn="false" value="LINUX=1"/>
@ -823,8 +830,9 @@
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.281959373" name="GNU Arm Cross C++ Compiler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler">
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.include.paths.1282228801" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.include.paths" useByScannerDiscovery="true" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive_obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT}/usr/include&quot;"/>
<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/inc}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
</option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.41651526" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
<listOptionValue builtIn="false" value="LINUX=1"/>
@ -1032,12 +1040,19 @@
<configuration configurationName="eive-q7s-simple">
<resource resourceType="PROJECT" workspacePath="/eive-obsw"/>
</configuration>
<configuration configurationName="eive-linux-host-debug"/>
<configuration configurationName="eive-q7s-release-win">
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
</configuration>
<configuration configurationName="eive-mingw-release"/>
<configuration configurationName="eive-rpi-release-win"/>
<configuration configurationName="Default">
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
</configuration>
<configuration configurationName="eive-rpi-debug-win"/>
<configuration configurationName="eive-q7s-debug-win"/>
<configuration configurationName="eive-linux-host-debug"/>
<configuration configurationName="eive-q7s-release"/>
<configuration configurationName="eive-rpi-release"/>
<configuration configurationName="eive-q7s-debug">
<resource resourceType="PROJECT" workspacePath="/eive-obsw"/>
</configuration>
@ -1045,11 +1060,6 @@
<configuration configurationName="eive-mingw-debug">
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
</configuration>
<configuration configurationName="Default">
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
</configuration>
<configuration configurationName="eive-rpi-debug-win"/>
<configuration configurationName="eive-q7s-debug-win"/>
<configuration configurationName="eive-rpi-debug"/>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings">

1
mission/CMakeLists.txt
View File

@ -1,3 +1,4 @@
add_subdirectory(core)
add_subdirectory(devices)
add_subdirectory(utility)
add_subdirectory(memory)

2
mission/core/GenericFactory.cpp
View File

@ -7,7 +7,7 @@
#include <fsfw/events/EventManager.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/internalError/InternalErrorReporter.h>
#include <fsfw/internalerror/InternalErrorReporter.h>
#include <fsfw/pus/CService200ModeCommanding.h>
#include <fsfw/pus/Service17Test.h>
#include <fsfw/pus/Service1TelecommandVerification.h>

4
mission/devices/CMakeLists.txt
View File

@ -12,10 +12,12 @@ target_sources(${TARGET_NAME} PUBLIC
SyrlinksHkHandler.cpp
Max31865PT1000Handler.cpp
IMTQHandler.cpp
PlocHandler.cpp
PlocMPSoCHandler.cpp
PlocSupervisorHandler.cpp
RadiationSensorHandler.cpp
GyroADIS16507Handler.cpp
RwHandler.cpp
StarTrackerHandler.cpp
)

8
mission/devices/GyroADIS16507Handler.cpp
View File

@ -4,10 +4,10 @@
#include "GyroADIS16507Handler.h"
#if OBSW_ADIS16507_LINUX_COM_IF == 1
#include "fsfw_hal/linux/utility.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw/hal/linux/utility.h"
#include "fsfw/hal/linux/spi/SpiCookie.h"
#include "fsfw/hal/linux/spi/SpiComIF.h"
#include "fsfw/hal/linux/UnixFileGuard.h"
#include <sys/ioctl.h>
#include <unistd.h>
#endif

2
mission/devices/PCDUHandler.cpp
View File

@ -329,7 +329,7 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool &localDat
pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH1 }));
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_RW, new PoolEntry<uint8_t>( {
pcduSwitches::INIT_STATE_RW }));
#if TE0720 == 1
#if BOARD_TE0720 == 1
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( { 1 }));
#else
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( {pcduSwitches::INIT_STATE_TCS_BOARD_8V_HEATER_IN}));

2
mission/devices/PDU2Handler.cpp
View File

@ -265,7 +265,7 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool(
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_Q7S, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH1, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_RW, new PoolEntry<uint8_t>( { 0 }));
#if TE0720 == 1
#if BOARD_TE0720 == 1
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( { 1 }));
#else
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( { 0 }));

236
mission/devices/PlocHandler.cpp → mission/devices/PlocMPSoCHandler.cpp
View File

@ -1,66 +1,66 @@
#include "PlocHandler.h"
#include "PlocMPSoCHandler.h"
#include "OBSWConfig.h"
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>
PlocHandler::PlocHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
DeviceHandlerBase(objectId, comIF, comCookie) {
if (comCookie == NULL) {
sif::error << "PlocHandler: Invalid com cookie" << std::endl;
sif::error << "PlocMPSoCHandler: Invalid com cookie" << std::endl;
}
}
PlocHandler::~PlocHandler() {
PlocMPSoCHandler::~PlocMPSoCHandler() {
}
void PlocHandler::doStartUp(){
void PlocMPSoCHandler::doStartUp(){
if(mode == _MODE_START_UP){
setMode(MODE_ON);
}
}
void PlocHandler::doShutDown(){
void PlocMPSoCHandler::doShutDown(){
}
ReturnValue_t PlocHandler::buildNormalDeviceCommand(
ReturnValue_t PlocMPSoCHandler::buildNormalDeviceCommand(
DeviceCommandId_t * id) {
return RETURN_OK;
}
ReturnValue_t PlocHandler::buildTransitionDeviceCommand(
ReturnValue_t PlocMPSoCHandler::buildTransitionDeviceCommand(
DeviceCommandId_t * id){
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocHandler::buildCommandFromCommand(
ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(PLOC::TC_MEM_WRITE): {
case(PLOC_MPSOC::TC_MEM_WRITE): {
return prepareTcMemWriteCommand(commandData, commandDataLen);
}
case(PLOC::TC_MEM_READ): {
case(PLOC_MPSOC::TC_MEM_READ): {
return prepareTcMemReadCommand(commandData, commandDataLen);
}
default:
sif::debug << "PlocHandler::buildCommandFromCommand: Command not implemented" << std::endl;
sif::debug << "PlocMPSoCHandler::buildCommandFromCommand: Command not implemented" << std::endl;
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
void PlocHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(PLOC::TC_MEM_WRITE);
this->insertInCommandMap(PLOC::TC_MEM_READ);
this->insertInReplyMap(PLOC::ACK_REPORT, 1, nullptr, PLOC::SIZE_ACK_REPORT);
this->insertInReplyMap(PLOC::EXE_REPORT, 3, nullptr, PLOC::SIZE_EXE_REPORT);
this->insertInReplyMap(PLOC::TM_MEMORY_READ_REPORT, 2, nullptr, PLOC::SIZE_TM_MEM_READ_REPORT);
void PlocMPSoCHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(PLOC_MPSOC::TC_MEM_WRITE);
this->insertInCommandMap(PLOC_MPSOC::TC_MEM_READ);
this->insertInReplyMap(PLOC_MPSOC::ACK_REPORT, 1, nullptr, PLOC_MPSOC::SIZE_ACK_REPORT);
this->insertInReplyMap(PLOC_MPSOC::EXE_REPORT, 3, nullptr, PLOC_MPSOC::SIZE_EXE_REPORT);
this->insertInReplyMap(PLOC_MPSOC::TM_MEMORY_READ_REPORT, 2, nullptr, PLOC_MPSOC::SIZE_TM_MEM_READ_REPORT);
}
ReturnValue_t PlocHandler::scanForReply(const uint8_t *start,
ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t *start,
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
ReturnValue_t result = RETURN_OK;
@ -68,28 +68,28 @@ ReturnValue_t PlocHandler::scanForReply(const uint8_t *start,
uint16_t apid = (*(start) << 8 | *(start + 1)) & APID_MASK;
switch(apid) {
case(PLOC::APID_ACK_SUCCESS):
*foundLen = PLOC::SIZE_ACK_REPORT;
*foundId = PLOC::ACK_REPORT;
case(PLOC_MPSOC::APID_ACK_SUCCESS):
*foundLen = PLOC_MPSOC::SIZE_ACK_REPORT;
*foundId = PLOC_MPSOC::ACK_REPORT;
break;
case(PLOC::APID_ACK_FAILURE):
*foundLen = PLOC::SIZE_ACK_REPORT;
*foundId = PLOC::ACK_REPORT;
case(PLOC_MPSOC::APID_ACK_FAILURE):
*foundLen = PLOC_MPSOC::SIZE_ACK_REPORT;
*foundId = PLOC_MPSOC::ACK_REPORT;
break;
case(PLOC::APID_TM_MEMORY_READ_REPORT):
*foundLen = PLOC::SIZE_TM_MEM_READ_REPORT;
*foundId = PLOC::TM_MEMORY_READ_REPORT;
case(PLOC_MPSOC::APID_TM_MEMORY_READ_REPORT):
*foundLen = PLOC_MPSOC::SIZE_TM_MEM_READ_REPORT;
*foundId = PLOC_MPSOC::TM_MEMORY_READ_REPORT;
break;
case(PLOC::APID_EXE_SUCCESS):
*foundLen = PLOC::SIZE_EXE_REPORT;
*foundId = PLOC::EXE_REPORT;
case(PLOC_MPSOC::APID_EXE_SUCCESS):
*foundLen = PLOC_MPSOC::SIZE_EXE_REPORT;
*foundId = PLOC_MPSOC::EXE_REPORT;
break;
case(PLOC::APID_EXE_FAILURE):
*foundLen = PLOC::SIZE_EXE_REPORT;
*foundId = PLOC::EXE_REPORT;
case(PLOC_MPSOC::APID_EXE_FAILURE):
*foundLen = PLOC_MPSOC::SIZE_EXE_REPORT;
*foundId = PLOC_MPSOC::EXE_REPORT;
break;
default: {
sif::debug << "PlocHandler::scanForReply: Reply has invalid apid" << std::endl;
sif::debug << "PlocMPSoCHandler::scanForReply: Reply has invalid apid" << std::endl;
*foundLen = remainingSize;
return INVALID_APID;
}
@ -104,26 +104,26 @@ ReturnValue_t PlocHandler::scanForReply(const uint8_t *start,
return result;
}
ReturnValue_t PlocHandler::interpretDeviceReply(DeviceCommandId_t id,
ReturnValue_t PlocMPSoCHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
ReturnValue_t result = RETURN_OK;
switch (id) {
case PLOC::ACK_REPORT: {
case PLOC_MPSOC::ACK_REPORT: {
result = handleAckReport(packet);
break;
}
case (PLOC::TM_MEMORY_READ_REPORT): {
case (PLOC_MPSOC::TM_MEMORY_READ_REPORT): {
result = handleMemoryReadReport(packet);
break;
}
case (PLOC::EXE_REPORT): {
case (PLOC_MPSOC::EXE_REPORT): {
result = handleExecutionReport(packet);
break;
}
default: {
sif::debug << "PlocHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
sif::debug << "PlocMPSoCHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
@ -131,62 +131,62 @@ ReturnValue_t PlocHandler::interpretDeviceReply(DeviceCommandId_t id,
return result;
}
void PlocHandler::setNormalDatapoolEntriesInvalid(){
void PlocMPSoCHandler::setNormalDatapoolEntriesInvalid(){
}
uint32_t PlocHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
uint32_t PlocMPSoCHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
return 500;
}
ReturnValue_t PlocHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
ReturnValue_t PlocMPSoCHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}
void PlocHandler::setModeNormal() {
void PlocMPSoCHandler::setModeNormal() {
mode = MODE_NORMAL;
}
ReturnValue_t PlocHandler::prepareTcMemWriteCommand(const uint8_t * commandData,
ReturnValue_t PlocMPSoCHandler::prepareTcMemWriteCommand(const uint8_t * commandData,
size_t commandDataLen) {
const uint32_t memoryAddress = *(commandData) << 24 | *(commandData + 1) << 16
| *(commandData + 2) << 8 | *(commandData + 3);
const uint32_t memoryData = *(commandData + 4) << 24 | *(commandData + 5) << 16
| *(commandData + 6) << 8 | *(commandData + 7);
packetSequenceCount = (packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK;
PLOC::TcMemWrite tcMemWrite(memoryAddress, memoryData, packetSequenceCount);
if (tcMemWrite.getFullSize() > PLOC::MAX_COMMAND_SIZE) {
sif::debug << "PlocHandler::prepareTcMemWriteCommand: Command too big" << std::endl;
PLOC_MPSOC::TcMemWrite tcMemWrite(memoryAddress, memoryData, packetSequenceCount);
if (tcMemWrite.getFullSize() > PLOC_MPSOC::MAX_COMMAND_SIZE) {
sif::debug << "PlocMPSoCHandler::prepareTcMemWriteCommand: Command too big" << std::endl;
return RETURN_FAILED;
}
memcpy(commandBuffer, tcMemWrite.getWholeData(), tcMemWrite.getFullSize());
rawPacket = commandBuffer;
rawPacketLen = tcMemWrite.getFullSize();
nextReplyId = PLOC::ACK_REPORT;
nextReplyId = PLOC_MPSOC::ACK_REPORT;
return RETURN_OK;
}
ReturnValue_t PlocHandler::prepareTcMemReadCommand(const uint8_t * commandData,
ReturnValue_t PlocMPSoCHandler::prepareTcMemReadCommand(const uint8_t * commandData,
size_t commandDataLen) {
const uint32_t memoryAddress = *(commandData) << 24 | *(commandData + 1) << 16
| *(commandData + 2) << 8 | *(commandData + 3);
packetSequenceCount = (packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK;
PLOC::TcMemRead tcMemRead(memoryAddress, packetSequenceCount);
if (tcMemRead.getFullSize() > PLOC::MAX_COMMAND_SIZE) {
sif::debug << "PlocHandler::prepareTcMemReadCommand: Command too big" << std::endl;
PLOC_MPSOC::TcMemRead tcMemRead(memoryAddress, packetSequenceCount);
if (tcMemRead.getFullSize() > PLOC_MPSOC::MAX_COMMAND_SIZE) {
sif::debug << "PlocMPSoCHandler::prepareTcMemReadCommand: Command too big" << std::endl;
return RETURN_FAILED;
}
memcpy(commandBuffer, tcMemRead.getWholeData(), tcMemRead.getFullSize());
rawPacket = commandBuffer;
rawPacketLen = tcMemRead.getFullSize();
nextReplyId = PLOC::ACK_REPORT;
nextReplyId = PLOC_MPSOC::ACK_REPORT;
return RETURN_OK;
}
ReturnValue_t PlocHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
ReturnValue_t PlocMPSoCHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);
@ -199,17 +199,17 @@ ReturnValue_t PlocHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
return RETURN_OK;
}
ReturnValue_t PlocHandler::handleAckReport(const uint8_t* data) {
ReturnValue_t PlocMPSoCHandler::handleAckReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC::SIZE_ACK_REPORT);
result = verifyPacket(data, PLOC_MPSOC::SIZE_ACK_REPORT);
if(result == CRC_FAILURE) {
sif::error << "PlocHandler::handleAckReport: CRC failure" << std::endl;
nextReplyId = PLOC::NONE;
replyRawReplyIfnotWiretapped(data, PLOC::SIZE_ACK_REPORT);
sif::error << "PlocMPSoCHandler::handleAckReport: CRC failure" << std::endl;
nextReplyId = PLOC_MPSOC::NONE;
replyRawReplyIfnotWiretapped(data, PLOC_MPSOC::SIZE_ACK_REPORT);
triggerEvent(CRC_FAILURE_EVENT);
sendFailureReport(PLOC::ACK_REPORT, CRC_FAILURE);
sendFailureReport(PLOC_MPSOC::ACK_REPORT, CRC_FAILURE);
disableAllReplies();
return IGNORE_REPLY_DATA;
}
@ -217,25 +217,25 @@ ReturnValue_t PlocHandler::handleAckReport(const uint8_t* data) {
uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
switch(apid) {
case PLOC::APID_ACK_FAILURE: {
case PLOC_MPSOC::APID_ACK_FAILURE: {
//TODO: Interpretation of status field in acknowledgment report
sif::debug << "PlocHandler::handleAckReport: Received Ack failure report" << std::endl;
sif::debug << "PlocMPSoCHandler::handleAckReport: Received Ack failure report" << std::endl;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(ACK_FAILURE, commandId);
}
sendFailureReport(PLOC::ACK_REPORT, RECEIVED_ACK_FAILURE);
sendFailureReport(PLOC_MPSOC::ACK_REPORT, RECEIVED_ACK_FAILURE);
disableAllReplies();
nextReplyId = PLOC::NONE;
nextReplyId = PLOC_MPSOC::NONE;
result = IGNORE_REPLY_DATA;
break;
}
case PLOC::APID_ACK_SUCCESS: {
case PLOC_MPSOC::APID_ACK_SUCCESS: {
setNextReplyId();
break;
}
default: {
sif::debug << "PlocHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
sif::debug << "PlocMPSoCHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
result = RETURN_FAILED;
break;
}
@ -244,71 +244,71 @@ ReturnValue_t PlocHandler::handleAckReport(const uint8_t* data) {
return result;
}
ReturnValue_t PlocHandler::handleExecutionReport(const uint8_t* data) {
ReturnValue_t PlocMPSoCHandler::handleExecutionReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC::SIZE_EXE_REPORT);
result = verifyPacket(data, PLOC_MPSOC::SIZE_EXE_REPORT);
if(result == CRC_FAILURE) {
sif::error << "PlocHandler::handleExecutionReport: CRC failure" << std::endl;
nextReplyId = PLOC::NONE;
sif::error << "PlocMPSoCHandler::handleExecutionReport: CRC failure" << std::endl;
nextReplyId = PLOC_MPSOC::NONE;
return result;
}
uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
switch (apid) {
case (PLOC::APID_EXE_SUCCESS): {
case (PLOC_MPSOC::APID_EXE_SUCCESS): {
break;
}
case (PLOC::APID_EXE_FAILURE): {
case (PLOC_MPSOC::APID_EXE_FAILURE): {
//TODO: Interpretation of status field in execution report
sif::error << "PlocHandler::handleExecutionReport: Received execution failure report"
sif::error << "PlocMPSoCHandler::handleExecutionReport: Received execution failure report"
<< std::endl;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(EXE_FAILURE, commandId);
}
else {
sif::debug << "PlocHandler::handleExecutionReport: Unknown command id" << std::endl;
sif::debug << "PlocMPSoCHandler::handleExecutionReport: Unknown command id" << std::endl;
}
sendFailureReport(PLOC::EXE_REPORT, RECEIVED_EXE_FAILURE);
sendFailureReport(PLOC_MPSOC::EXE_REPORT, RECEIVED_EXE_FAILURE);
disableExeReportReply();
result = IGNORE_REPLY_DATA;
break;
}
default: {
sif::error << "PlocHandler::handleExecutionReport: Unknown APID" << std::endl;
sif::error << "PlocMPSoCHandler::handleExecutionReport: Unknown APID" << std::endl;
result = RETURN_FAILED;
break;
}
}
nextReplyId = PLOC::NONE;
nextReplyId = PLOC_MPSOC::NONE;
return result;
}
ReturnValue_t PlocHandler::handleMemoryReadReport(const uint8_t* data) {
ReturnValue_t PlocMPSoCHandler::handleMemoryReadReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC::SIZE_TM_MEM_READ_REPORT);
result = verifyPacket(data, PLOC_MPSOC::SIZE_TM_MEM_READ_REPORT);
if(result == CRC_FAILURE) {
sif::error << "PlocHandler::handleMemoryReadReport: Memory read report has invalid crc"
sif::error << "PlocMPSoCHandler::handleMemoryReadReport: Memory read report has invalid crc"
<< std::endl;
}
/** Send data to commanding queue */
handleDeviceTM(data + PLOC::DATA_FIELD_OFFSET, PLOC::SIZE_MEM_READ_REPORT_DATA,
PLOC::TM_MEMORY_READ_REPORT);
handleDeviceTM(data + PLOC_MPSOC::DATA_FIELD_OFFSET, PLOC_MPSOC::SIZE_MEM_READ_REPORT_DATA,
PLOC_MPSOC::TM_MEMORY_READ_REPORT);
nextReplyId = PLOC::EXE_REPORT;
nextReplyId = PLOC_MPSOC::EXE_REPORT;
return result;
}
ReturnValue_t PlocHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies, bool useAlternateId,
DeviceCommandId_t alternateReplyID) {
@ -317,21 +317,21 @@ ReturnValue_t PlocHandler::enableReplyInReplyMap(DeviceCommandMap::iterator comm
uint8_t enabledReplies = 0;
switch (command->first) {
case PLOC::TC_MEM_WRITE:
case PLOC_MPSOC::TC_MEM_WRITE:
enabledReplies = 2;
break;
case PLOC::TC_MEM_READ: {
case PLOC_MPSOC::TC_MEM_READ: {
enabledReplies = 3;
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
PLOC::TM_MEMORY_READ_REPORT);
PLOC_MPSOC::TM_MEMORY_READ_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocHandler::enableReplyInReplyMap: Reply with id "
<< PLOC::TM_MEMORY_READ_REPORT << " not in replyMap" << std::endl;
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
<< PLOC_MPSOC::TM_MEMORY_READ_REPORT << " not in replyMap" << std::endl;
}
break;
}
default:
sif::debug << "PlocHandler::enableReplyInReplyMap: Unknown command id" << std::endl;
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Unknown command id" << std::endl;
break;
}
@ -340,38 +340,38 @@ ReturnValue_t PlocHandler::enableReplyInReplyMap(DeviceCommandMap::iterator comm
* replies will be enabled here.
*/
result = DeviceHandlerBase::enableReplyInReplyMap(command,
enabledReplies, true, PLOC::ACK_REPORT);
enabledReplies, true, PLOC_MPSOC::ACK_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocHandler::enableReplyInReplyMap: Reply with id " << PLOC::ACK_REPORT
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " << PLOC_MPSOC::ACK_REPORT
<< " not in replyMap" << std::endl;
}
result = DeviceHandlerBase::enableReplyInReplyMap(command,
enabledReplies, true, PLOC::EXE_REPORT);
enabledReplies, true, PLOC_MPSOC::EXE_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocHandler::enableReplyInReplyMap: Reply with id " << PLOC::EXE_REPORT
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " << PLOC_MPSOC::EXE_REPORT
<< " not in replyMap" << std::endl;
}
return RETURN_OK;
}
void PlocHandler::setNextReplyId() {
void PlocMPSoCHandler::setNextReplyId() {
switch(getPendingCommand()) {
case PLOC::TC_MEM_READ:
nextReplyId = PLOC::TM_MEMORY_READ_REPORT;
case PLOC_MPSOC::TC_MEM_READ:
nextReplyId = PLOC_MPSOC::TM_MEMORY_READ_REPORT;
break;
default:
/* If no telemetry is expected the next reply is always the execution report */
nextReplyId = PLOC::EXE_REPORT;
nextReplyId = PLOC_MPSOC::EXE_REPORT;
break;
}
}
size_t PlocHandler::getNextReplyLength(DeviceCommandId_t commandId){
size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId){
size_t replyLen = 0;
if (nextReplyId == PLOC::NONE) {
if (nextReplyId == PLOC_MPSOC::NONE) {
return replyLen;
}
@ -384,14 +384,14 @@ size_t PlocHandler::getNextReplyLength(DeviceCommandId_t commandId){
replyLen = iter->second.replyLen;
}
else {
sif::debug << "PlocHandler::getNextReplyLength: No entry for reply with reply id "
sif::debug << "PlocMPSoCHandler::getNextReplyLength: No entry for reply with reply id "
<< std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
}
return replyLen;
}
void PlocHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
void PlocMPSoCHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
ReturnValue_t result = RETURN_OK;
@ -402,7 +402,7 @@ void PlocHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCom
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
sif::debug << "PlocHandler::handleDeviceTM: Unknown reply id" << std::endl;
sif::debug << "PlocMPSoCHandler::handleDeviceTM: Unknown reply id" << std::endl;
return;
}
MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
@ -413,16 +413,16 @@ void PlocHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCom
result = actionHelper.reportData(queueId, replyId, data, dataSize);
if (result != RETURN_OK) {
sif::debug << "PlocHandler::handleDeviceTM: Failed to report data" << std::endl;
sif::debug << "PlocMPSoCHandler::handleDeviceTM: Failed to report data" << std::endl;
}
}
void PlocHandler::disableAllReplies() {
void PlocMPSoCHandler::disableAllReplies() {
DeviceReplyMap::iterator iter;
/* Disable ack reply */
iter = deviceReplyMap.find(PLOC::ACK_REPORT);
iter = deviceReplyMap.find(PLOC_MPSOC::ACK_REPORT);
DeviceReplyInfo *info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
@ -431,17 +431,17 @@ void PlocHandler::disableAllReplies() {
/* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
switch (commandId) {
case PLOC::TC_MEM_WRITE:
case PLOC_MPSOC::TC_MEM_WRITE:
break;
case PLOC::TC_MEM_READ: {
iter = deviceReplyMap.find(PLOC::TM_MEMORY_READ_REPORT);
case PLOC_MPSOC::TC_MEM_READ: {
iter = deviceReplyMap.find(PLOC_MPSOC::TM_MEMORY_READ_REPORT);
info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
break;
}
default: {
sif::debug << "PlocHandler::disableAllReplies: Unknown command id" << commandId
sif::debug << "PlocMPSoCHandler::disableAllReplies: Unknown command id" << commandId
<< std::endl;
break;
}
@ -451,19 +451,19 @@ void PlocHandler::disableAllReplies() {
disableExeReportReply();
}
void PlocHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
void PlocMPSoCHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
DeviceReplyIter iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
sif::debug << "PlocHandler::sendFailureReport: Reply not in reply map" << std::endl;
sif::debug << "PlocMPSoCHandler::sendFailureReport: Reply not in reply map" << std::endl;
return;
}
DeviceCommandInfo* info = &(iter->second.command->second);
if (info == nullptr) {
sif::debug << "PlocHandler::sendFailureReport: Reply has no active command" << std::endl;
sif::debug << "PlocMPSoCHandler::sendFailureReport: Reply has no active command" << std::endl;
return;
}
@ -473,8 +473,8 @@ void PlocHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t sta
info->isExecuting = false;
}
void PlocHandler::disableExeReportReply() {
DeviceReplyIter iter = deviceReplyMap.find(PLOC::EXE_REPORT);
void PlocMPSoCHandler::disableExeReportReply() {
DeviceReplyIter iter = deviceReplyMap.find(PLOC_MPSOC::EXE_REPORT);
DeviceReplyInfo *info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
@ -482,12 +482,12 @@ void PlocHandler::disableExeReportReply() {
info->command->second.expectedReplies = 0;
}
ReturnValue_t PlocHandler::checkPacketSequenceCount(const uint8_t* data) {
ReturnValue_t PlocMPSoCHandler::checkPacketSequenceCount(const uint8_t* data) {
uint16_t receivedSequenceCount = (*(data + 2) << 8 | *(data + 3)) & PACKET_SEQUENCE_COUNT_MASK;
uint16_t expectedPacketSequenceCount = ((packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK);
if (receivedSequenceCount != expectedPacketSequenceCount) {
sif::debug
<< "PlocHandler::checkPacketSequenceCount: Packet sequence count mismatch. "
<< "PlocMPSoCHandler::checkPacketSequenceCount: Packet sequence count mismatch. "
<< std::endl;
sif::debug << "Received sequence count: " << receivedSequenceCount << ". OBSW sequence "
<< "count: " << expectedPacketSequenceCount << std::endl;

27
mission/devices/PlocHandler.h → mission/devices/PlocMPSoCHandler.h
View File

@ -1,25 +1,28 @@
#ifndef MISSION_DEVICES_PLOCHANDLER_H_
#define MISSION_DEVICES_PLOCHANDLER_H_
#ifndef MISSION_DEVICES_PLOCMPSOCHANDLER_H_
#define MISSION_DEVICES_PLOCMPSOCHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/PlocDefinitions.h>
#include <mission/devices/devicedefinitions/PlocMPSoCDefinitions.h>
#include <cstring>
/**
* @brief This is the device handler for the PLOC.
* @brief This is the device handler for the MPSoC which is programmed by the ILH of the
* university of stuttgart.
*
* @details
* The PLOC uses the space packet protocol for communication. To each command the PLOC
* answers with at least one acknowledgment and one execution report.
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_Commands
* ILH ICD: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
* Arbeitsdaten/08_Used%20Components/PLOC&fileid=940960
* @author J. Meier
*/
class PlocHandler: public DeviceHandlerBase {
class PlocMPSoCHandler: public DeviceHandlerBase {
public:
PlocHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
virtual ~PlocHandler();
PlocMPSoCHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
virtual ~PlocMPSoCHandler();
/**
* @brief Sets mode to MODE_NORMAL. Can be used for debugging.
@ -49,14 +52,14 @@ protected:
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_HANDLER;
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HANDLER;
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0); //!> Space Packet received from PLOC has invalid CRC
static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1); //!> Received ACK failure reply from PLOC
static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2); //!> Received execution failure reply from PLOC
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3); //!> Received space packet with invalid APID from PLOC
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_HANDLER;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
static const Event MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW); //!> PLOC crc failure in telemetry packet
static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW); //!> PLOC receive acknowledgment failure report
@ -66,7 +69,7 @@ private:
static const uint16_t APID_MASK = 0x7FF;
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
uint8_t commandBuffer[PLOC::MAX_COMMAND_SIZE];
uint8_t commandBuffer[PLOC_MPSOC::MAX_COMMAND_SIZE];
/**
* @brief This object is incremented each time a packet is sent or received. By checking the
@ -85,7 +88,7 @@ private:
* because the PLOC sends as reply to each command at least one acknowledgment and execution
* report.
*/
DeviceCommandId_t nextReplyId = PLOC::NONE;
DeviceCommandId_t nextReplyId = PLOC_MPSOC::NONE;
/**
* @brief This function fills the commandBuffer to initiate the write memory command.
@ -200,4 +203,4 @@ private:
ReturnValue_t checkPacketSequenceCount(const uint8_t* data);
};
#endif /* MISSION_DEVICES_PLOCHANDLER_H_ */
#endif /* MISSION_DEVICES_PLOCMPSOCHANDLER_H_ */

646
mission/devices/PlocSupervisorHandler.cpp Normal file
View File

@ -0,0 +1,646 @@
#include "PlocSupervisorHandler.h"
#include "OBSWConfig.h"
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/timemanager/Clock.h>
PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF * comCookie) :
DeviceHandlerBase(objectId, uartComIFid, comCookie), hkset(this) {
if (comCookie == NULL) {
sif::error << "PlocSupervisorHandler: Invalid com cookie" << std::endl;
}
}
PlocSupervisorHandler::~PlocSupervisorHandler() {
}
ReturnValue_t PlocSupervisorHandler::initialize() {
ReturnValue_t result = RETURN_OK;
result = DeviceHandlerBase::initialize();
if (result != RETURN_OK) {
return result;
}
uartComIf = dynamic_cast<UartComIF*>(communicationInterface);
if (uartComIf == nullptr) {
sif::warning << "PlocSupervisorHandler::initialize: Invalid uart com if" << std::endl;
return INVALID_UART_COM_IF;
}
return result;
}
void PlocSupervisorHandler::doStartUp(){
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
}
void PlocSupervisorHandler::doShutDown(){
}
ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(
DeviceCommandId_t * id) {
return NOTHING_TO_SEND;
}
ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(
DeviceCommandId_t * id){
return NOTHING_TO_SEND;
}
ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
size_t commandDataLen) {
ReturnValue_t result = RETURN_FAILED;
switch(deviceCommand) {
case(PLOC_SPV::GET_HK_REPORT): {
prepareEmptyCmd(PLOC_SPV::APID_GET_HK_REPORT);
result = RETURN_OK;
break;
}
case(PLOC_SPV::RESTART_MPSOC): {
prepareEmptyCmd(PLOC_SPV::APID_RESTART_MPSOC);
result = RETURN_OK;
break;
}
case(PLOC_SPV::START_MPSOC): {
prepareEmptyCmd(PLOC_SPV::APID_START_MPSOC);
result = RETURN_OK;
break;
}
case(PLOC_SPV::SHUTDOWN_MPSOC): {
prepareEmptyCmd(PLOC_SPV::APID_SHUTWOWN_MPSOC);
result = RETURN_OK;
break;
}
case(PLOC_SPV::SEL_MPSOC_BOOT_IMAGE): {
prepareSelBootImageCmd(commandData);
result = RETURN_OK;
break;
}
case(PLOC_SPV::RESET_MPSOC): {
prepareEmptyCmd(PLOC_SPV::APID_RESET_MPSOC);
result = RETURN_OK;
break;
}
case(PLOC_SPV::SET_TIME_REF): {
result = prepareSetTimeRefCmd();
break;
}
case(PLOC_SPV::SET_BOOT_TIMEOUT): {
prepareSetBootTimeoutCmd(commandData);
result = RETURN_OK;
break;
}
case(PLOC_SPV::SET_MAX_RESTART_TRIES): {
prepareRestartTriesCmd(commandData);
result = RETURN_OK;
break;
}
case(PLOC_SPV::DISABLE_PERIOIC_HK_TRANSMISSION): {
prepareDisableHk();
result = RETURN_OK;
break;
}
default:
sif::debug << "PlocSupervisorHandler::buildCommandFromCommand: Command not implemented"
<< std::endl;
result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
break;
}
if (result == RETURN_OK) {
/**
* Flushing the receive buffer to make sure there are no data left from a faulty reply.
*/
uartComIf->flushUartRxBuffer(comCookie);
}
return result;
}
void PlocSupervisorHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(PLOC_SPV::GET_HK_REPORT);
this->insertInCommandMap(PLOC_SPV::RESTART_MPSOC);
this->insertInCommandMap(PLOC_SPV::START_MPSOC);
this->insertInCommandMap(PLOC_SPV::SHUTDOWN_MPSOC);
this->insertInCommandMap(PLOC_SPV::SEL_MPSOC_BOOT_IMAGE);
this->insertInCommandMap(PLOC_SPV::SET_BOOT_TIMEOUT);
this->insertInCommandMap(PLOC_SPV::SET_MAX_RESTART_TRIES);
this->insertInCommandMap(PLOC_SPV::RESET_MPSOC);
this->insertInCommandMap(PLOC_SPV::SET_TIME_REF);
this->insertInCommandMap(PLOC_SPV::DISABLE_PERIOIC_HK_TRANSMISSION);
this->insertInReplyMap(PLOC_SPV::ACK_REPORT, 3, nullptr, PLOC_SPV::SIZE_ACK_REPORT);
this->insertInReplyMap(PLOC_SPV::EXE_REPORT, 3, nullptr, PLOC_SPV::SIZE_EXE_REPORT);
this->insertInReplyMap(PLOC_SPV::HK_REPORT, 3, nullptr, PLOC_SPV::SIZE_HK_REPORT);
}
ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t *start,
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
ReturnValue_t result = RETURN_OK;
uint16_t apid = (*(start) << 8 | *(start + 1)) & APID_MASK;
switch(apid) {
case(PLOC_SPV::APID_ACK_SUCCESS):
*foundLen = PLOC_SPV::SIZE_ACK_REPORT;
*foundId = PLOC_SPV::ACK_REPORT;
break;
case(PLOC_SPV::APID_ACK_FAILURE):
*foundLen = PLOC_SPV::SIZE_ACK_REPORT;
*foundId = PLOC_SPV::ACK_REPORT;
break;
case(PLOC_SPV::APID_HK_REPORT):
*foundLen = PLOC_SPV::SIZE_HK_REPORT;
*foundId = PLOC_SPV::HK_REPORT;
break;
case(PLOC_SPV::APID_EXE_SUCCESS):
*foundLen = PLOC_SPV::SIZE_EXE_REPORT;
*foundId = PLOC_SPV::EXE_REPORT;
break;
case(PLOC_SPV::APID_EXE_FAILURE):
*foundLen = PLOC_SPV::SIZE_EXE_REPORT;
*foundId = PLOC_SPV::EXE_REPORT;
break;
default: {
sif::debug << "PlocSupervisorHandler::scanForReply: Reply has invalid apid" << std::endl;
*foundLen = remainingSize;
return INVALID_APID;
}
}
return result;
}
ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
ReturnValue_t result = RETURN_OK;
switch (id) {
case PLOC_SPV::ACK_REPORT: {
result = handleAckReport(packet);
break;
}
case (PLOC_SPV::HK_REPORT): {
result = handleHkReport(packet);
break;
}
case (PLOC_SPV::EXE_REPORT): {
result = handleExecutionReport(packet);
break;
}
default: {
sif::debug << "PlocSupervisorHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return result;
}
void PlocSupervisorHandler::setNormalDatapoolEntriesInvalid(){
}
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 }));
localDataPoolMap.emplace(PLOC_SPV::SOC_STATE, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::NVM0_1_STATE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::NVM3_STATE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::MISSION_IO_STATE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::FMC_STATE, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::NUM_TCS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::UPTIME, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::CPULOAD, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::AVAILABLEHEAP, new PoolEntry<uint32_t>( { 0 }));
return HasReturnvaluesIF::RETURN_OK;
}
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);
if (receivedCrc != recalculatedCrc) {
return CRC_FAILURE;
}
return RETURN_OK;
}
ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_ACK_REPORT);
if(result == CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleAckReport: CRC failure" << std::endl;
nextReplyId = PLOC_SPV::NONE;
replyRawReplyIfnotWiretapped(data, PLOC_SPV::SIZE_ACK_REPORT);
triggerEvent(SUPV_CRC_FAILURE_EVENT);
sendFailureReport(PLOC_SPV::ACK_REPORT, CRC_FAILURE);
disableAllReplies();
return RETURN_OK;
}
uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
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;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(SUPV_ACK_FAILURE, commandId);
}
sendFailureReport(PLOC_SPV::ACK_REPORT, RECEIVED_ACK_FAILURE);
disableAllReplies();
nextReplyId = PLOC_SPV::NONE;
result = IGNORE_REPLY_DATA;
break;
}
case PLOC_SPV::APID_ACK_SUCCESS: {
setNextReplyId();
break;
}
default: {
sif::debug << "PlocSupervisorHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
result = RETURN_FAILED;
break;
}
}
return result;
}
ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_EXE_REPORT);
if(result == CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleExecutionReport: CRC failure" << std::endl;
nextReplyId = PLOC_SPV::NONE;
return result;
}
uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
switch (apid) {
case (PLOC_SPV::APID_EXE_SUCCESS): {
break;
}
case (PLOC_SPV::APID_EXE_FAILURE): {
//TODO: Interpretation of status field in execution 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;
}
sendFailureReport(PLOC_SPV::EXE_REPORT, RECEIVED_EXE_FAILURE);
disableExeReportReply();
result = IGNORE_REPLY_DATA;
break;
}
default: {
sif::error << "PlocSupervisorHandler::handleExecutionReport: Unknown APID" << std::endl;
result = RETURN_FAILED;
break;
}
}
nextReplyId = PLOC_SPV::NONE;
return result;
}
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;
}
uint16_t offset = PLOC_SPV::DATA_FIELD_OFFSET;
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);
offset += 4;
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);
offset += 4;
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);
offset += 4;
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);
offset += 4;
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;
hkset.nvm3_state = *(data + offset);
offset += 1;
hkset.missionIoState = *(data + offset);
offset += 1;
hkset.fmcState = *(data + offset);
offset += 1;
nextReplyId = PLOC_SPV::EXE_REPORT;
#if OBSW_VERBOSE_LEVEL >= 1 && PLOC_SUPERVISOR_DEBUG == 1
sif::info << "PlocSupervisorHandler::handleHkReport: temp_ps: " << hkset.tempPs << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: temp_pl: " << hkset.tempPl << std::endl;
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: 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;
sif::info << "PlocSupervisorHandler::handleHkReport: nvm0_1_state: "
<< static_cast<unsigned int>(hkset.nvm0_1_state.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: nvm3_state: "
<< static_cast<unsigned int>(hkset.nvm3_state.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: missoin_io_state: "
<< static_cast<unsigned int>(hkset.missionIoState.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: fmc_state: "
<< static_cast<unsigned int>(hkset.fmcState.value) << std::endl;
#endif
return result;
}
ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies, bool useAlternateId,
DeviceCommandId_t alternateReplyID) {
ReturnValue_t result = RETURN_OK;
uint8_t enabledReplies = 0;
switch (command->first) {
case PLOC_SPV::GET_HK_REPORT: {
enabledReplies = 3;
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
PLOC_SPV::HK_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
<< PLOC_SPV::HK_REPORT << " not in replyMap" << std::endl;
}
break;
}
case PLOC_SPV::RESTART_MPSOC:
case PLOC_SPV::START_MPSOC:
case PLOC_SPV::SHUTDOWN_MPSOC:
case PLOC_SPV::SEL_MPSOC_BOOT_IMAGE:
case PLOC_SPV::SET_BOOT_TIMEOUT:
case PLOC_SPV::SET_MAX_RESTART_TRIES:
case PLOC_SPV::RESET_MPSOC:
case PLOC_SPV::SET_TIME_REF:
enabledReplies = 2;
break;
default:
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Unknown command id" << std::endl;
break;
}
/**
* 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);
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);
if (result != RETURN_OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
<< PLOC_SPV::EXE_REPORT << " not in replyMap" << std::endl;
}
return RETURN_OK;
}
void PlocSupervisorHandler::setNextReplyId() {
switch(getPendingCommand()) {
case PLOC_SPV::GET_HK_REPORT:
nextReplyId = PLOC_SPV::HK_REPORT;
break;
default:
/* If no telemetry is expected the next reply is always the execution report */
nextReplyId = PLOC_SPV::EXE_REPORT;
break;
}
}
size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId){
size_t replyLen = 0;
if (nextReplyId == PLOC_SPV::NONE) {
return replyLen;
}
DeviceReplyIter iter = deviceReplyMap.find(nextReplyId);
if (iter != deviceReplyMap.end()) {
if (iter->second.delayCycles == 0) {
/* Reply inactive */
return replyLen;
}
replyLen = iter->second.replyLen;
}
else {
sif::debug << "PlocSupervisorHandler::getNextReplyLength: No entry for reply with reply id "
<< std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
}
return replyLen;
}
void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
ReturnValue_t result = RETURN_OK;
if (wiretappingMode == RAW) {
/* Data already sent in doGetRead() */
return;
}
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
sif::debug << "PlocSupervisorHandler::handleDeviceTM: Unknown reply id" << std::endl;
return;
}
MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
if (queueId == NO_COMMANDER) {
return;
}
result = actionHelper.reportData(queueId, replyId, data, dataSize);
if (result != RETURN_OK) {
sif::debug << "PlocSupervisorHandler::handleDeviceTM: Failed to report data" << std::endl;
}
}
void PlocSupervisorHandler::prepareEmptyCmd(uint16_t apid) {
PLOC_SPV::EmptyPacket packet(apid);
memcpy(commandBuffer, packet.getWholeData(), packet.getFullSize());
rawPacket = commandBuffer;
rawPacketLen = packet.getFullSize();
nextReplyId = PLOC_SPV::ACK_REPORT;
}
void PlocSupervisorHandler::prepareSelBootImageCmd(const uint8_t * commandData) {
PLOC_SPV::MPSoCBootSelect packet(*commandData, *(commandData + 1), *(commandData + 2),
*(commandData + 3));
memcpy(commandBuffer, packet.getWholeData(), packet.getFullSize());
rawPacket = commandBuffer;
rawPacketLen = packet.getFullSize();
nextReplyId = PLOC_SPV::ACK_REPORT;
}
ReturnValue_t PlocSupervisorHandler::prepareSetTimeRefCmd() {
Clock::TimeOfDay_t time;
ReturnValue_t result = Clock::getDateAndTime(&time);
if (result != RETURN_OK) {
sif::warning << "PlocSupervisorHandler::prepareSetTimeRefCmd: Failed to get current time"
<< std::endl;
return GET_TIME_FAILURE;
}
PLOC_SPV::SetTimeRef packet(&time);
memcpy(commandBuffer, packet.getWholeData(), packet.getFullSize());
rawPacket = commandBuffer;
rawPacketLen = packet.getFullSize();
nextReplyId = PLOC_SPV::ACK_REPORT;
return RETURN_OK;
}
void PlocSupervisorHandler::prepareDisableHk() {
PLOC_SPV::DisablePeriodicHkTransmission packet;
memcpy(commandBuffer, packet.getWholeData(), packet.getFullSize());
rawPacket = commandBuffer;
rawPacketLen = packet.getFullSize();
nextReplyId = PLOC_SPV::ACK_REPORT;
}
void PlocSupervisorHandler::prepareSetBootTimeoutCmd(const uint8_t * commandData) {
uint32_t timeout = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
| *(commandData + 3);
PLOC_SPV::SetBootTimeout packet(timeout);
memcpy(commandBuffer, packet.getWholeData(), packet.getFullSize());
rawPacket = commandBuffer;
rawPacketLen = packet.getFullSize();
nextReplyId = PLOC_SPV::ACK_REPORT;
}
void PlocSupervisorHandler::prepareRestartTriesCmd(const uint8_t * commandData) {
uint8_t restartTries = *(commandData);
PLOC_SPV::SetRestartTries packet(restartTries);
memcpy(commandBuffer, packet.getWholeData(), packet.getFullSize());
rawPacket = commandBuffer;
rawPacketLen = packet.getFullSize();
nextReplyId = PLOC_SPV::ACK_REPORT;
}
void PlocSupervisorHandler::disableAllReplies() {
DeviceReplyMap::iterator iter;
/* Disable ack reply */
iter = deviceReplyMap.find(PLOC_SPV::ACK_REPORT);
DeviceReplyInfo *info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
DeviceCommandId_t commandId = getPendingCommand();
/* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
switch (commandId) {
case PLOC_SPV::GET_HK_REPORT: {
iter = deviceReplyMap.find(PLOC_SPV::GET_HK_REPORT);
info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
break;
}
default: {
break;
}
}
/* We must always disable the execution report reply here */
disableExeReportReply();
}
void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
DeviceReplyIter iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply not in reply map" << std::endl;
return;
}
DeviceCommandInfo* info = &(iter->second.command->second);
if (info == nullptr) {
sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply has no active command" << std::endl;
return;
}
if (info->sendReplyTo != NO_COMMANDER) {
actionHelper.finish(false, info->sendReplyTo, iter->first, status);
}
info->isExecuting = false;
}
void PlocSupervisorHandler::disableExeReportReply() {
DeviceReplyIter iter = deviceReplyMap.find(PLOC_SPV::EXE_REPORT);
DeviceReplyInfo *info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
/* Expected replies is set to one here. The value will set to 0 in replyToReply() */
info->command->second.expectedReplies = 1;
}

213
mission/devices/PlocSupervisorHandler.h Normal file
View File

@ -0,0 +1,213 @@
#ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/PlocSupervisorDefinitions.h>
#include <cstring>
#include <fsfw/hal/linux/uart/UartComIF.h>
/**
* @brief This is the device handler for the supervisor of the PLOC which is programmed by
* Thales.
*
* @details The PLOC uses the space packet protocol for communication. To each command the PLOC
* answers with at least one acknowledgment and one execution report.
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_Commands
* ILH ICD: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
* Arbeitsdaten/08_Used%20Components/PLOC&fileid=940960
* @author J. Meier
*/
class PlocSupervisorHandler: public DeviceHandlerBase {
public:
PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF * comCookie);
virtual ~PlocSupervisorHandler();
virtual ReturnValue_t initialize() override;
protected:
void doStartUp() override;
void doShutDown() override;
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;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies = 1, bool useAlternateId = false,
DeviceCommandId_t alternateReplyID = 0) override;
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
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC supervisor
static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Received execution failure reply from PLOC supervisor
static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC supervisor
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Failed to read current system time
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);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
//! [EXPORT] : [COMMENT] PLOC supervrisor crc failure in telemetry packet
static const Event SUPV_MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
static const Event SUPV_ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC received execution failure report
static const Event SUPV_EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC supervisor reply has invalid crc
static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW);
static const uint16_t APID_MASK = 0x7FF;
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
uint8_t commandBuffer[PLOC_SPV::MAX_COMMAND_SIZE];
/**
* @brief This object is incremented each time a packet is sent or received. By checking the
* packet sequence count of a received packet, no packets can be lost without noticing
* it. Only the least significant 14 bits represent the packet sequence count in a
* space packet. Thus the maximum value amounts to 16383 (0x3FFF).
* @note Normally this should never happen because the PLOC replies are always sent in a
* fixed order. However, the PLOC software checks this value and will return an ACK
* failure report in case the sequence count is not incremented with each transferred
* space packet.
*/
uint16_t packetSequenceCount = 0x3FFF;
/**
* This variable is used to store the id of the next reply to receive. This is necessary
* because the PLOC sends as reply to each command at least one acknowledgment and execution
* report.
*/
DeviceCommandId_t nextReplyId = PLOC_SPV::NONE;
PLOC_SPV::HkSet hkset;
UartComIF* uartComIf = nullptr;
/**
* @brief This function checks the crc of the received PLOC reply.
*
* @param start Pointer to the first byte of the reply.
* @param foundLen Pointer to the length of the whole packet.
*
* @return RETURN_OK if CRC is ok, otherwise CRC_FAILURE.
*/
ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
/**
* @brief This function handles the acknowledgment report.
*
* @param data Pointer to the data holding the acknowledgment report.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleAckReport(const uint8_t* data);
/**
* @brief This function handles the data of a execution report.
*
* @param data Pointer to the received data packet.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleExecutionReport(const uint8_t* data);
/**
* @brief This function handles the housekeeping report. This means verifying the CRC of the
* reply and filling the appropriate dataset.
*
* @param data Pointer to the data buffer holding the housekeeping read report.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleHkReport(const uint8_t* data);
/**
* @brief Depending on the current active command, this function sets the reply id of the
* next reply after a successful acknowledgment report has been received. This is
* required by the function getNextReplyLength() to identify the length of the next
* reply to read.
*/
void setNextReplyId();
/**
* @brief This function handles action message replies in case the telemetry has been
* requested by another object.
*
* @param data Pointer to the telemetry data.
* @param dataSize Size of telemetry in bytes.
* @param replyId Id of the reply. This will be added to the ActionMessage.
*/
void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
/**
* @brief This function prepares a space packet which does not transport any data in the
* packet data field apart from the crc.
*/
void prepareEmptyCmd(uint16_t apid);
/**
* @brief This function initializes the space packet to select the boot image of the MPSoC.
*/
void prepareSelBootImageCmd(const uint8_t * commandData);
void prepareDisableHk();
/**
* @brief This function fills the commandBuffer with the data to update the time of the
* PLOC supervisor.
*/
ReturnValue_t prepareSetTimeRefCmd();
/**
* @brief This function fills the commandBuffer with the data to change the boot timeout
* value in the PLOC supervisor.
*/
void prepareSetBootTimeoutCmd(const uint8_t * commandData);
void prepareRestartTriesCmd(const uint8_t * commandData);
/**
* @brief In case an acknowledgment failure reply has been received this function disables
* all previously enabled commands and resets the exepected replies variable of an
* active command.
*/
void disableAllReplies();
/**
* @brief This function sends a failure report if the active action was commanded by an other
* object.
*
* @param replyId The id of the reply which signals a failure.
* @param status A status byte which gives information about the failure type.
*/
void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
/**
* @brief This function disables the execution report reply. Within this function also the
* the variable expectedReplies of an active command will be set to 0.
*/
void disableExeReportReply();
};
#endif /* MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_ */

64
mission/devices/RadiationSensorHandler.cpp
View File

@ -58,7 +58,7 @@ ReturnValue_t RadiationSensorHandler::buildTransitionDeviceCommand(
*id = RAD_SENSOR::WRITE_SETUP;
}
else {
return HasReturnvaluesIF::RETURN_OK;
return NOTHING_TO_SEND;
}
return buildCommandFromCommand(*id, nullptr, 0);
}
@ -84,15 +84,19 @@ ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(
}
case(RAD_SENSOR::READ_CONVERSIONS): {
cmdBuffer[0] = RAD_SENSOR::DUMMY_BYTE;
cmdBuffer[1] = RAD_SENSOR::DUMMY_BYTE;
cmdBuffer[2] = RAD_SENSOR::DUMMY_BYTE;
cmdBuffer[3] = RAD_SENSOR::DUMMY_BYTE;
cmdBuffer[4] = RAD_SENSOR::DUMMY_BYTE;
cmdBuffer[5] = RAD_SENSOR::DUMMY_BYTE;
std::memset(cmdBuffer, RAD_SENSOR::DUMMY_BYTE, RAD_SENSOR::READ_SIZE);
rawPacket = cmdBuffer;
rawPacketLen = RAD_SENSOR::READ_SIZE;
return RETURN_OK;
}
// case(RAD_SENSOR::AIN0_AND_TMP_CONVERSION): {
// /* First the fifo will be reset here */
// cmdBuffer[0] = RAD_SENSOR::RESET_DEFINITION;
// cmdBuffer[1] = RAD_SENSOR::CONVERSION_DEFINITION;
// rawPacket = cmdBuffer;
// rawPacketLen = 2;
// return RETURN_OK;
// }
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
@ -109,7 +113,17 @@ void RadiationSensorHandler::fillCommandAndReplyMap() {
ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start,
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
*foundId = this->getPendingCommand();
switch (*foundId) {
case RAD_SENSOR::START_CONVERSION:
case RAD_SENSOR::WRITE_SETUP:
return IGNORE_REPLY_DATA;
default:
break;
}
*foundLen = remainingSize;
return HasReturnvaluesIF::RETURN_OK;
}
@ -117,16 +131,36 @@ ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
switch (id) {
case RAD_SENSOR::READ_CONVERSIONS: {
uint8_t offset = 0;
PoolReadGuard readSet(&dataset);
dataset.temperatureCelcius = (*(packet) << 8 | *(packet + 1)) * 0.125;
dataset.channel0 = (*(packet + 2) << 8 | *(packet + 3));
dataset.channel1 = (*(packet + 4) << 8 | *(packet + 5));
dataset.temperatureCelcius = (*(packet + offset) << 8 | *(packet + offset + 1)) * 0.125;
offset += 2;
dataset.ain0 = (*(packet + offset) << 8 | *(packet + offset +1));
offset += 2;
dataset.ain1 = (*(packet + offset) << 8 | *(packet + offset + 1));
offset += 6;
dataset.ain4 = (*(packet + offset) << 8 | *(packet + offset + 1));
offset += 2;
dataset.ain5 = (*(packet + offset) << 8 | *(packet + offset + 1));
offset += 2;
dataset.ain6 = (*(packet + offset) << 8 | *(packet + offset + 1));
offset += 2;
dataset.ain7 = (*(packet + offset) << 8 | *(packet + offset + 1));
#if OBSW_VERBOSE_LEVEL >= 1 && DEBUG_RAD_SENSOR
sif::info << "Radiation sensor temperature: " << dataset.temperatureCelcius << " °C"
<< std::endl;
sif::info << "Radiation sensor temperature ADC value channel 0: " << dataset.channel0
sif::info << "Radiation sensor ADC value channel 0: " << dataset.ain0
<< std::endl;
sif::info << "Radiation sensor temperature ADC value channel 1: " << dataset.channel1
sif::info << "Radiation sensor ADC value channel 1: " << dataset.ain1
<< std::endl;
sif::info << "Radiation sensor ADC value channel 4: " << dataset.ain4
<< std::endl;
sif::info << "Radiation sensor ADC value channel 5: " << dataset.ain5
<< std::endl;
sif::info << "Radiation sensor ADC value channel 6: " << dataset.ain6
<< std::endl;
sif::info << "Radiation sensor ADC value channel 7: " << dataset.ain7
<< std::endl;
#endif
break;
@ -151,8 +185,12 @@ uint32_t RadiationSensorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t mo
ReturnValue_t RadiationSensorHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(RAD_SENSOR::TEMPERATURE_C, new PoolEntry<float>( { 0.0 }));
localDataPoolMap.emplace(RAD_SENSOR::CHANNEL_0, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(RAD_SENSOR::CHANNEL_1, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(RAD_SENSOR::AIN0, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(RAD_SENSOR::AIN1, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(RAD_SENSOR::AIN4, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(RAD_SENSOR::AIN5, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(RAD_SENSOR::AIN6, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(RAD_SENSOR::AIN7, new PoolEntry<uint16_t>( { 0 }));
return HasReturnvaluesIF::RETURN_OK;
}

18
mission/devices/RwHandler.cpp
View File

@ -60,7 +60,7 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
internalState = InternalState::GET_RESET_STATUS;
break;
default:
sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid communication step"
sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid internal step"
<< std::endl;
break;
}
@ -176,8 +176,7 @@ ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize
break;
}
case (static_cast<uint8_t>(RwDefinitions::GET_TM)): {
// *foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
*foundLen = 91;
*foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
*foundId = RwDefinitions::GET_TM;
break;
}
@ -264,6 +263,8 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::PRESSURE, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry<int32_t>( { 0 }));
@ -407,7 +408,12 @@ void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
tmDataset.mcuTemperature = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
offset += 8;
tmDataset.pressureSensorTemperature = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.pressure = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.rwState = *(packet + offset);
offset += 1;
tmDataset.rwClcMode = *(packet + offset);
@ -470,6 +476,10 @@ void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
<< static_cast<unsigned int>(tmDataset.lastResetStatus.value) << std::endl;
sif::info << "RwHandler::handleTemperatureReply: MCU temperature: " << tmDataset.mcuTemperature
<< std::endl;
sif::info << "RwHandler::handleTemperatureReply: Pressure sensor temperature: "
<< tmDataset.pressureSensorTemperature << std::endl;
sif::info << "RwHandler::handleTemperatureReply: Pressure "
<< tmDataset.pressure << std::endl;
sif::info << "RwHandler::handleTemperatureReply: State: "
<< static_cast<unsigned int>(tmDataset.rwState.value) << std::endl;
sif::info << "RwHandler::handleTemperatureReply: CLC mode: "

2
mission/devices/RwHandler.h
View File

@ -3,7 +3,7 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/RwDefinitions.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
#include <string.h>
/**

216
mission/devices/StarTrackerHandler.cpp Normal file
View File

@ -0,0 +1,216 @@
#include "StarTrackerHandler.h"
#include "OBSWConfig.h"
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>
extern "C" {
#include <thirdparty/arcsec_star_tracker/client/generated/telemetry.h>
#include "common/misc.h"
}
StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
CookieIF * comCookie) :
DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this) {
if (comCookie == NULL) {
sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
}
slipInit();
}
StarTrackerHandler::~StarTrackerHandler() {
}
void StarTrackerHandler::doStartUp() {
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
}
void StarTrackerHandler::doShutDown() {
}
ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
switch (internalState) {
case InternalState::TEMPERATURE_REQUEST:
*id = StarTracker::REQ_TEMPERATURE;
break;
default:
sif::debug << "StarTrackerHandler::buildNormalDeviceCommand: Invalid internal step"
<< std::endl;
break;
}
return buildCommandFromCommand(*id, NULL, 0);
}
ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) {
return NOTHING_TO_SEND;
}
ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t * commandData, size_t commandDataLen) {
switch (deviceCommand) {
case (StarTracker::REQ_TEMPERATURE): {
prepareTemperatureRequest();
return RETURN_OK;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
void StarTrackerHandler::fillCommandAndReplyMap() {
/** Reply lengths are unknown because of the slip encoding. Thus always maximum reply size
* is specified */
this->insertInCommandAndReplyMap(StarTracker::REQ_TEMPERATURE, 1, &temperatureSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
}
ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) {
uint32_t decodedLength = 0;
for (size_t idx = 0; idx < remainingSize; idx++) {
enum arc_dec_result decResult = arc_transport_decode_body(*(start + idx), &slipInfo,
decodedFrame, &decodedLength);
switch (decResult) {
case ARC_DEC_INPROGRESS: {
continue;
}
case ARC_DEC_ASYNC: {
sif::debug << "StarTrackerHandler::scanForReply: Received asychronous tm" << std::endl;
/** No asynchronous replies are expected as of now */
return RETURN_FAILED;
}
case ARC_DEC_ERROR_FRAME_SHORT:
return REPLY_TOO_SHORT;
case ARC_DEC_ERROR_CHECKSUM:
return CRC_FAILURE;
case ARC_DEC_SYNC: {
/** Reset length of SLIP struct for next frame */
slipInfo.length = 0;
break;
}
default:
sif::debug << "StarTrackerHandler::scanForReply: Unknown result code" << std::endl;
break;
}
}
switch (decodedFrame[1]) {
case (static_cast<uint8_t>(StarTracker::REQ_TEMPERATURE)): {
*foundLen = decodedLength;
*foundId = StarTracker::REQ_TEMPERATURE;
break;
}
default: {
sif::debug << "StarTrackerHandler::scanForReply: Reply contains invalid reply id"
<< std::endl;
return RETURN_FAILED;
break;
}
}
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
switch (id) {
case (StarTracker::REQ_TEMPERATURE): {
handleTemperatureTm();
break;
}
default: {
sif::debug << "StarTrackerHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return RETURN_OK;
}
void StarTrackerHandler::setNormalDatapoolEntriesInvalid() {
}
uint32_t StarTrackerHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 5000;
}
ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(StarTracker::STATUS, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::TICKS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::TIME, new PoolEntry<uint64_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::MCU_TEMPERATURE, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::CMOS_TEMPERATURE, new PoolEntry<float>( { 0 }));
return RETURN_OK;
}
size_t StarTrackerHandler::getNextReplyLength(DeviceCommandId_t commandId){
return StarTracker::MAX_FRAME_SIZE;
}
void StarTrackerHandler::slipInit() {
slipInfo.buffer = rxBuffer;
slipInfo.maxlength = StarTracker::MAX_FRAME_SIZE;
slipInfo.length = 0;
slipInfo.unescape_next = 0;
slipInfo.prev_state = SLIP_COMPLETE;
}
void StarTrackerHandler::prepareTemperatureRequest() {
uint32_t length = 0;
arc_tm_pack_temperature_req(commandBuffer, &length);
uint32_t encLength = 0;
arc_transport_encode_body(commandBuffer, length, encBuffer, &encLength);
rawPacket = encBuffer;
rawPacketLen = encLength;
}
void StarTrackerHandler::handleTemperatureTm() {
PoolReadGuard rg(&temperatureSet);
uint32_t offset = 1;
temperatureSet.status = *(decodedFrame + offset);
offset += 1;
if(temperatureSet.status.value != 0) {
sif::warning << "StarTrackerHandler::handleTemperatureTm: Reply error: "
<< static_cast<unsigned int>(temperatureSet.status.value) << std::endl;
triggerEvent(TM_REPLY_ERROR, temperatureSet.status.value);
}
temperatureSet.ticks = *(decodedFrame + offset) << 24
| *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
| *(decodedFrame + offset + 3);
offset += 4;
temperatureSet.time = static_cast<uint64_t>(*(decodedFrame + offset)) << 56
| static_cast<uint64_t>(*(decodedFrame + offset + 1)) << 48
| static_cast<uint64_t>(*(decodedFrame + offset + 2)) << 40
| static_cast<uint64_t>(*(decodedFrame + offset + 3)) << 32
| *(decodedFrame + offset + 4) << 24 | *(decodedFrame + offset + 5) << 16
| *(decodedFrame + offset + 6) << 8 | *(decodedFrame + offset + 7);
offset += 8;
temperatureSet.mcuTemperature = *(decodedFrame + offset) << 24
| *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
| *(decodedFrame + offset + 3);
offset += 4;
temperatureSet.cmosTemperature = *(decodedFrame + offset) << 24
| *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
| *(decodedFrame + offset + 3);
#if OBSW_VERBOSE_LEVEL >= 1 && START_TRACKER_DEBUG == 1
sif::info << "StarTrackerHandler::handleTemperatureTm: MCU Temperature: "
<< temperatureSet.mcuTemperature << " °C" << std::endl;
sif::info << "StarTrackerHandler::handleTemperatureTm: CMOS Temperature: "
<< temperatureSet.mcuTemperature << " °C" << std::endl;
#endif
}

100
mission/devices/StarTrackerHandler.h Normal file
View File

@ -0,0 +1,100 @@
#ifndef MISSION_DEVICES_STARTRACKERHANDLER_H_
#define MISSION_DEVICES_STARTRACKERHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/StarTrackerDefinitions.h>
#include <thirdparty/arcsec_star_tracker/common/SLIP.h>
/**
* @brief This is the device handler for the star tracker from arcsec.
*
* @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
* Arbeitsdaten/08_Used%20Components/ArcSec_KULeuven_Startracker/
* Sagitta%201.0%20Datapack&fileid=659181
*
* @author J. Meier
*/
class StarTrackerHandler: public DeviceHandlerBase {
public:
/**
* @brief Constructor
*
* @param objectId
* @param comIF
* @param comCookie
* @param gpioComIF Pointer to gpio communication interface
* @param enablePin GPIO connected to the enable pin of the reaction wheels. Must be pulled
* to high to enable the device.
*/
StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
virtual ~StarTrackerHandler();
protected:
void doStartUp() override;
void doShutDown() override;
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;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
/**
* @brief Overwritten here to always read all available data from the UartComIF.
*/
virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] Received reply is too short
static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xB0);
//! [EXPORT] : [COMMENT] Received reply with invalid CRC
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xB0);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] Result code of tm reply indicates an error
static const ReturnValue_t TM_REPLY_ERROR = MAKE_RETURN_CODE(0xA0);
//! P1: TM id
StarTracker::TemperatureSet temperatureSet;
uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
uint8_t rxBuffer[StarTracker::MAX_FRAME_SIZE];
uint8_t decodedFrame[StarTracker::MAX_FRAME_SIZE];
/** Size of buffer derived from the egse source code */
uint8_t encBuffer[StarTracker::MAX_FRAME_SIZE * 2 + 2];
slip_decode_state slipInfo;
enum class InternalState {
TEMPERATURE_REQUEST
};
InternalState internalState = InternalState::TEMPERATURE_REQUEST;
/**
* @brief This function initializes the serial link ip protocol struct slipInfo.
*/
void slipInit();
void prepareTemperatureRequest();
/**
* @brief This function handles the telemetry reply of a temperature request.
*/
void handleTemperatureTm();
};
#endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */

8
mission/devices/devicedefinitions/PlocDefinitions.h → mission/devices/devicedefinitions/PlocMPSoCDefinitions.h
View File

@ -1,11 +1,11 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_PLOCDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_PLOCDEFINITIONS_H_
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_
#include <fsfw/tmtcpacket/SpacePacket.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/serialize/SerializeAdapter.h>
namespace PLOC {
namespace PLOC_MPSOC {
static const DeviceCommandId_t NONE = 0x0;
static const DeviceCommandId_t TC_MEM_WRITE = 0x1;
@ -169,4 +169,4 @@ namespace PLOC {
}
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCDEFINITIONS_H_ */
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_ */

397
mission/devices/devicedefinitions/PlocSupervisorDefinitions.h Normal file
View File

@ -0,0 +1,397 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_PLOCSVPDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_PLOCSVPDEFINITIONS_H_
#include <fsfw/tmtcpacket/SpacePacket.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/serialize/SerializeAdapter.h>
#include <fsfw/timemanager/Clock.h>
namespace PLOC_SPV {
/** Command IDs */
static const DeviceCommandId_t NONE = 0;
static const DeviceCommandId_t GET_HK_REPORT = 1;
static const DeviceCommandId_t RESTART_MPSOC = 2;
static const DeviceCommandId_t START_MPSOC = 3;
static const DeviceCommandId_t SHUTDOWN_MPSOC = 4;
static const DeviceCommandId_t SEL_MPSOC_BOOT_IMAGE = 5;
static const DeviceCommandId_t SET_BOOT_TIMEOUT = 6;
static const DeviceCommandId_t SET_MAX_RESTART_TRIES = 7;
static const DeviceCommandId_t RESET_MPSOC = 8;
static const DeviceCommandId_t SET_TIME_REF = 9;
static const DeviceCommandId_t DISABLE_PERIOIC_HK_TRANSMISSION = 10;
/** Reply IDs */
static const DeviceCommandId_t ACK_REPORT = 50;
static const DeviceCommandId_t EXE_REPORT = 51;
static const DeviceCommandId_t HK_REPORT = 52;
static const uint16_t SIZE_ACK_REPORT = 14;
static const uint16_t SIZE_EXE_REPORT = 14;
static const uint16_t SIZE_HK_REPORT = 48;
/**
* SpacePacket apids of telemetry packets
*/
static const uint16_t APID_ACK_SUCCESS = 0x200;
static const uint16_t APID_ACK_FAILURE = 0x201;
static const uint16_t APID_EXE_SUCCESS = 0x202;
static const uint16_t APID_EXE_FAILURE = 0x203;
static const uint16_t APID_HK_REPORT = 0x204;
static const uint16_t APID_BOOT_STATUS_REPORT = 0x205;
static const uint16_t APID_UPDATE_STATUS_REPORT = 0x206;
static const uint16_t APID_WDG_STATUS_REPORT = 0x207;
static const uint16_t APID_LATCHUP_STATUS_REPORT = 0x208;
static const uint16_t APID_SOC_SYSMON = 0x209;
static const uint16_t APID_MRAM = 0x20A;
static const uint16_t APID_SRAM = 0x20B;
static const uint16_t APID_NOR_DATA = 0x20C;
static const uint16_t APID_DATA_LOGGER_DATA = 0x20D;
/**
* APIDs of telecommand packets
*/
static const uint16_t APID_RESTART_MPSOC = 0xA0;
static const uint16_t APID_START_MPSOC = 0xA1;
static const uint16_t APID_SHUTWOWN_MPSOC = 0xA2;
static const uint16_t APID_SEL_MPSOC_BOOT_IMAGE = 0xA3;
static const uint16_t APID_SET_BOOT_TIMEOUT = 0xA4;
static const uint16_t APID_SET_MAX_RESTART_TRIES = 0xA5;
static const uint16_t APID_RESET_MPSOC = 0xA6;
static const uint16_t APID_GET_BOOT_STATUS_RPT = 0xA8;
static const uint16_t APID_UPDATE_AVAILABLE = 0xB0;
static const uint16_t APID_UPDATE_IMAGE_DATA = 0xB1;
static const uint16_t APID_UPDATE_VERIFY = 0xB2;
static const uint16_t APID_WTD_ENABLE = 0xC0;
static const uint16_t APID_WTD_CONFIG_TIMEOUT = 0xC1;
static const uint16_t APID_SET_TIME_REF = 0xC2;
static const uint16_t APID_DISABLE_HK = 0xC3;
static const uint16_t APID_GET_HK_REPORT = 0xC6;
/** Offset from first byte in Space packet to first byte of data field */
static const uint8_t DATA_FIELD_OFFSET = 6;
/**
* Space packet length for fixed size packets. This is the size of the whole packet data
* field. For the length field in the space packet this size will be substracted by one.
*/
static const uint16_t LENGTH_EMPTY_TC = 2; // Only CRC will be transported with the data field
/** This is the maximum length of a space packet as defined by the TAS ICD */
static const size_t MAX_REPLY_SIZE = 1024;
static const size_t MAX_COMMAND_SIZE = 1024;
enum SequenceFlags {
CONTINUED_PKT = 0b00, FIRST_PKT = 0b01, LAST_PKT = 0b10, STANDALONE_PKT = 0b11
};
enum PoolIds
: lp_id_t {
NUM_TMS,
TEMP_PS,
TEMP_PL,
SOC_STATE,
NVM0_1_STATE,
NVM3_STATE,
MISSION_IO_STATE,
FMC_STATE,
NUM_TCS,
TEMP_SUP,
UPTIME,
CPULOAD,
AVAILABLEHEAP
};
static const uint8_t HK_SET_ENTRIES = 13;
static const uint32_t HK_SET_ID = HK_REPORT;
/**
* @brief With this class a space packet can be created which does not contain any data.
*/
class EmptyPacket: public SpacePacket {
public:
/**
* @brief Constructor
*
* @param apid The APID to set in the space packet.
*
* @note Sequence count of empty packet is always 1.
*/
EmptyPacket(uint16_t apid) :
SpacePacket(LENGTH_EMPTY_TC - 1, true, apid, 1) {
calcCrc();
}
private:
/**
* @brief CRC calculation which involves only the header in an empty packet
*/
void calcCrc() {
/* Calculate crc */
uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, sizeof(CCSDSPrimaryHeader));
/* Add crc to packet data field of space packet */
size_t serializedSize = 0;
uint8_t* crcPos = this->localData.fields.buffer;
SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
SerializeIF::Endianness::BIG);
}
};
/**
* @brief This class can be used to generate the space packet selecting the boot image of
* of the MPSoC.
*/
class MPSoCBootSelect: public SpacePacket {
public:
/**
* @brief Constructor
*
* @param mem The memory to boot from: NVM0 (0), NVM1 (1)
* @param bp0 Partition pin 0
* @param bp1 Partition pin 1
* @param bp2 Partition pin 2
*/
MPSoCBootSelect(uint8_t mem, uint8_t bp0, uint8_t bp1, uint8_t bp2) :
SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SEL_MPSOC_BOOT_IMAGE,
DEFAULT_SEQUENCE_COUNT), mem(mem), bp0(bp0), bp1(bp1), bp2(bp2) {
initPacket();
}
private:
static const uint16_t DATA_FIELD_LENGTH = 6;
static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
static const uint8_t MEM_OFFSET = 0;
static const uint8_t BP0_OFFSET = 1;
static const uint8_t BP1_OFFSET = 2;
static const uint8_t BP2_OFFSET = 3;
static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
uint8_t mem = 0;
uint8_t bp0 = 0;
uint8_t bp1 = 0;
uint8_t bp2 = 0;
void initPacket() {
uint8_t* data_field_start = this->localData.fields.buffer;
std::memcpy(data_field_start + MEM_OFFSET, &mem, sizeof(mem));
std::memcpy(data_field_start + BP0_OFFSET, &bp0, sizeof(bp0));
std::memcpy(data_field_start + BP1_OFFSET, &bp1, sizeof(bp1));
std::memcpy(data_field_start + BP2_OFFSET, &bp2, sizeof(bp2));
/* Calculate crc */
uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
/* Add crc to packet data field of space packet */
size_t serializedSize = 0;
uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
SerializeIF::Endianness::BIG);
}
};
/**
* @brief This class generates the space packet to update the time of the PLOC supervisor.
*/
class SetTimeRef: public SpacePacket {
public:
SetTimeRef(Clock::TimeOfDay_t* time) :
SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_TIME_REF, DEFAULT_SEQUENCE_COUNT) {
initPacket(time);
}
private:
static const uint16_t DATA_FIELD_LENGTH = 34;
static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
void initPacket(Clock::TimeOfDay_t* time) {
size_t serializedSize = 0;
uint8_t* data_field_ptr = this->localData.fields.buffer;
SerializeAdapter::serialize<uint32_t>(&time->second, &data_field_ptr, &serializedSize,
sizeof(time->second), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint32_t>(&time->minute, &data_field_ptr, &serializedSize,
sizeof(time->minute), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint32_t>(&time->hour, &data_field_ptr, &serializedSize,
sizeof(time->hour), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint32_t>(&time->day, &data_field_ptr, &serializedSize,
sizeof(time->day), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint32_t>(&time->month, &data_field_ptr, &serializedSize,
sizeof(time->month), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint32_t>(&time->year, &data_field_ptr, &serializedSize,
sizeof(time->year), SerializeIF::Endianness::BIG);
serializedSize = 0;
uint32_t milliseconds = time->usecond / 1000;
SerializeAdapter::serialize<uint32_t>(&milliseconds, &data_field_ptr, &serializedSize,
sizeof(milliseconds), SerializeIF::Endianness::BIG);
serializedSize = 0;
uint32_t isSet = 0xFFFFFFFF;
SerializeAdapter::serialize<uint32_t>(&isSet, &data_field_ptr, &serializedSize,
sizeof(isSet), SerializeIF::Endianness::BIG);
serializedSize = 0;
/* Calculate crc */
uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
SerializeAdapter::serialize<uint16_t>(&crc, &data_field_ptr, &serializedSize, sizeof(crc),
SerializeIF::Endianness::BIG);
}
};
/**
* @brief This class can be used to generate the set boot timout command.
*/
class SetBootTimeout: public SpacePacket {
public:
/**
* @brief Constructor
*
* @param timeout The boot timeout in milliseconds.
*/
SetBootTimeout(uint32_t timeout) :
SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_BOOT_TIMEOUT, 1), timeout(timeout) {
initPacket();
}
private:
uint32_t timeout = 0;
/** boot timeout value (uint32_t) and crc (uint16_t) */
static const uint16_t DATA_FIELD_LENGTH = 6;
void initPacket() {
size_t serializedSize = 0;
uint8_t* data_field_ptr = this->localData.fields.buffer;
SerializeAdapter::serialize<uint32_t>(&timeout, &data_field_ptr, &serializedSize,
sizeof(timeout), SerializeIF::Endianness::BIG);
/* Calculate crc */
uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
/* Add crc to packet data field of space packet */
serializedSize = 0;
SerializeAdapter::serialize<uint16_t>(&crc, &data_field_ptr, &serializedSize, sizeof(crc),
SerializeIF::Endianness::BIG);
}
};
/**
* @brief This class can be used to generate the space packet to set the maximum boot tries.
*/
class SetRestartTries: public SpacePacket {
public:
/**
* @brief Constructor
*
* @param restartTries Maximum restart tries to set.
*/
SetRestartTries(uint8_t restartTries) :
SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_MAX_RESTART_TRIES, 1), restartTries(
restartTries) {
initPacket();
}
private:
uint8_t restartTries = 0;
/** Restart tries value (uint8_t) and crc (uint16_t) */
static const uint16_t DATA_FIELD_LENGTH = 3;
void initPacket() {
uint8_t* data_field_ptr = this->localData.fields.buffer;
*data_field_ptr = restartTries;
uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
size_t serializedSize = 0;
uint8_t* crcPtr = data_field_ptr + 1;
SerializeAdapter::serialize<uint16_t>(&crc, &crcPtr, &serializedSize, sizeof(crc),
SerializeIF::Endianness::BIG);
}
};
/**
* @brief With this class the space packet can be generated to disable to periodic transmission
* of housekeeping data. Normally, this will be disabled by default. However, adding this
* command can be useful for debugging.
*/
class DisablePeriodicHkTransmission: public SpacePacket {
public:
/**
* @brief Constructor
*/
DisablePeriodicHkTransmission() :
SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_DISABLE_HK, 1) {
initPacket();
}
private:
uint8_t disableHk = 0;
/** Restart tries value (uint8_t) and crc (uint16_t) */
static const uint16_t DATA_FIELD_LENGTH = 3;
void initPacket() {
uint8_t* data_field_ptr = this->localData.fields.buffer;
*data_field_ptr = disableHk;
uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
size_t serializedSize = 0;
uint8_t* crcPtr = data_field_ptr + 1;
SerializeAdapter::serialize<uint16_t>(&crc, &crcPtr, &serializedSize, sizeof(crc),
SerializeIF::Endianness::BIG);
}
};
/**
* @brief This dataset to store the housekeeping data of the supervisor.
*/
class HkSet: public StaticLocalDataSet<HK_SET_ENTRIES> {
public:
HkSet(HasLocalDataPoolIF* owner) :
StaticLocalDataSet(owner, HK_SET_ID) {
}
HkSet(object_id_t objectId) :
StaticLocalDataSet(sid_t(objectId, HK_SET_ID)) {
}
lp_var_t<uint32_t> numTms = lp_var_t<uint32_t>(sid.objectId, PoolIds::NUM_TMS, this);
lp_var_t<uint32_t> tempPs = lp_var_t<uint32_t>(sid.objectId, PoolIds::TEMP_PS, this);
lp_var_t<uint32_t> tempPl = lp_var_t<uint32_t>(sid.objectId, PoolIds::TEMP_PS, this);
lp_var_t<uint32_t> socState = lp_var_t<uint32_t>(sid.objectId, PoolIds::SOC_STATE, this);
lp_var_t<uint8_t> nvm0_1_state = lp_var_t<uint8_t>(sid.objectId, PoolIds::NVM0_1_STATE, this);
lp_var_t<uint8_t> nvm3_state = lp_var_t<uint8_t>(sid.objectId, PoolIds::NVM3_STATE, this);
lp_var_t<uint8_t> missionIoState = lp_var_t<uint8_t>(sid.objectId, PoolIds::MISSION_IO_STATE,
this);
lp_var_t<uint8_t> fmcState = lp_var_t<uint8_t>(sid.objectId, PoolIds::FMC_STATE, this);
lp_var_t<uint32_t> numTcs = lp_var_t<uint32_t>(sid.objectId, PoolIds::NUM_TCS, this);
lp_var_t<uint32_t> tempSup = lp_var_t<uint32_t>(sid.objectId, PoolIds::TEMP_SUP, this);
lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, PoolIds::UPTIME, this);
lp_var_t<uint32_t> cpuLoad = lp_var_t<uint32_t>(sid.objectId, PoolIds::CPULOAD, this);
lp_var_t<uint32_t> availableHeap = lp_var_t<uint32_t>(sid.objectId, PoolIds::AVAILABLEHEAP,
this);
};
}
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCSVPDEFINITIONS_H_ */

28
mission/devices/devicedefinitions/RadSensorDefinitions.h
View File

@ -30,10 +30,11 @@ namespace RAD_SENSOR {
* conversions to perform.
* @details Bit0: 1 - Enables temperature conversion
* Bit2 (SCAN1) and Bit1 (SCAN0): 0b00 (channel conversion from 0 to N)
* Bit6 - Bit3 defines N: 0b0001 (N = 1)
* Bit6 - Bit3 defines N: 0b0111 (N = 7)
* Bit7: Always 1. Tells the ADC that this is the conversion register.
*/
static const uint8_t CONVERSION_DEFINITION = 0b10001001;
static const uint8_t CONVERSION_DEFINITION = 0b10111001;
// static const uint8_t CONVERSION_DEFINITION = 0b10111111;
/**
* @brief Writing this value resets the fifo of the MAX1227.
@ -44,18 +45,23 @@ namespace RAD_SENSOR {
static const uint8_t RAD_SENSOR_DATA_SET_ID = READ_CONVERSIONS;
static const uint8_t DATASET_ENTRIES = 7;
/**
* One temperature value, conversion of channel 0 and conversion of channel 1
* One temperature value and conversions for AIN0 - AIN7
*/
static const uint8_t READ_SIZE = 6;
static const uint8_t READ_SIZE = 18;
enum Max1227PoolIds: lp_id_t {
TEMPERATURE_C,
CHANNEL_0,
CHANNEL_1,
AIN0,
AIN1,
AIN4,
AIN5,
AIN6,
AIN7,
};
class RadSensorDataset: public StaticLocalDataSet<sizeof(float)> {
class RadSensorDataset: public StaticLocalDataSet<DATASET_ENTRIES> {
public:
RadSensorDataset(HasLocalDataPoolIF* owner) :
@ -67,8 +73,12 @@ public:
}
lp_var_t<float> temperatureCelcius = lp_var_t<float>(sid.objectId, TEMPERATURE_C, this);
lp_var_t<uint16_t> channel0 = lp_var_t<uint16_t>(sid.objectId, CHANNEL_0, this);
lp_var_t<uint16_t> channel1 = lp_var_t<uint16_t>(sid.objectId, CHANNEL_1, this);
lp_var_t<uint16_t> ain0 = lp_var_t<uint16_t>(sid.objectId, AIN0, this);
lp_var_t<uint16_t> ain1 = lp_var_t<uint16_t>(sid.objectId, AIN1, this);
lp_var_t<uint16_t> ain4 = lp_var_t<uint16_t>(sid.objectId, AIN4, this);
lp_var_t<uint16_t> ain5 = lp_var_t<uint16_t>(sid.objectId, AIN5, this);
lp_var_t<uint16_t> ain6 = lp_var_t<uint16_t>(sid.objectId, AIN6, this);
lp_var_t<uint16_t> ain7 = lp_var_t<uint16_t>(sid.objectId, AIN7, this);
};
}

10
mission/devices/devicedefinitions/RwDefinitions.h
View File

@ -20,6 +20,8 @@ enum PoolIds: lp_id_t {
CURRRENT_RESET_STATUS,
TM_LAST_RESET_STATUS,
TM_MCU_TEMPERATURE,
PRESSURE_SENSOR_TEMPERATURE,
PRESSURE,
TM_RW_STATE,
TM_CLC_MODE,
TM_RW_CURR_SPEED,
@ -83,7 +85,7 @@ static const size_t SIZE_GET_RW_STATUS = 14;
static const size_t SIZE_SET_SPEED_REPLY = 4;
static const size_t SIZE_GET_TEMPERATURE_REPLY = 8;
/** Max size when requesting telemetry */
static const size_t SIZE_GET_TELEMETRY_REPLY = 83;
static const size_t SIZE_GET_TELEMETRY_REPLY = 91;
/** Set speed command has maximum size */
static const size_t MAX_CMD_SIZE = 9;
@ -96,7 +98,7 @@ static const size_t MAX_REPLY_SIZE = 2 * SIZE_GET_TELEMETRY_REPLY;
static const uint8_t LAST_RESET_ENTRIES = 2;
static const uint8_t TEMPERATURE_SET_ENTRIES = 1;
static const uint8_t STATUS_SET_ENTRIES = 4;
static const uint8_t TM_SET_ENTRIES = 22;
static const uint8_t TM_SET_ENTRIES = 24;
/**
* @brief This dataset can be used to store the temperature of a reaction wheel.
@ -184,6 +186,10 @@ public:
PoolIds::TM_LAST_RESET_STATUS, this);
lp_var_t<int32_t> mcuTemperature = lp_var_t<int32_t>(sid.objectId,
PoolIds::TM_MCU_TEMPERATURE, this);
lp_var_t<float> pressureSensorTemperature = lp_var_t<float>(sid.objectId,
PoolIds::PRESSURE_SENSOR_TEMPERATURE, this);
lp_var_t<float> pressure = lp_var_t<float>(sid.objectId,
PoolIds::PRESSURE, this);
lp_var_t<uint8_t> rwState = lp_var_t<uint8_t>(sid.objectId,
PoolIds::TM_RW_STATE, this);
lp_var_t<uint8_t> rwClcMode = lp_var_t<uint8_t>(sid.objectId,

64
mission/devices/devicedefinitions/StarTrackerDefinitions.h Normal file
View File

@ -0,0 +1,64 @@
#ifndef MISSION_STARTRACKER_DEFINITIONS_H_
#define MISSION_STARTRACKER_DEFINITIONS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include "objects/systemObjectList.h"
namespace StarTracker {
/** This is the address of the star tracker */
static const uint8_t ADDRESS = 33;
enum PoolIds: lp_id_t {
STATUS,
TICKS,
TIME,
MCU_TEMPERATURE,
CMOS_TEMPERATURE
};
static const DeviceCommandId_t REQ_TEMPERATURE = 25;
static const uint32_t TEMPERATURE_SET_ID = REQ_TEMPERATURE;
/** Max size of unencoded frame */
static const size_t MAX_FRAME_SIZE = 1200;
static const uint8_t TEMPERATURE_SET_ENTRIES = 5;
/**
* @brief This dataset can be used to store the temperature of a reaction wheel.
*/
class TemperatureSet:
public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
public:
TemperatureSet(HasLocalDataPoolIF* owner):
StaticLocalDataSet(owner, TEMPERATURE_SET_ID) {
}
TemperatureSet(object_id_t objectId):
StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) {
}
lp_var_t<uint8_t> status = lp_var_t<uint8_t>(sid.objectId,
PoolIds::STATUS, this);
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId,
PoolIds::TICKS, this);
/** Unix time in microseconds */
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId,
PoolIds::TIME, this);
lp_var_t<float> mcuTemperature = lp_var_t<float>(sid.objectId,
PoolIds::MCU_TEMPERATURE, this);
lp_var_t<float> cmosTemperature = lp_var_t<float>(sid.objectId,
PoolIds::CMOS_TEMPERATURE, this);
};
}
#endif /* MISSION_STARTRACKER_DEFINITIONS_H_ */

5
mission/memory/CMakeLists.txt Normal file
View File

@ -0,0 +1,5 @@
target_sources(${TARGET_NAME} PUBLIC
NVMParameterBase.cpp
)

50
mission/memory/NVMParameterBase.cpp Normal file
View File

@ -0,0 +1,50 @@
#include "NVMParameterBase.h"
#include "fsfw/memory/HasFileSystemIF.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <fstream>
NVMParameterBase::NVMParameterBase(std::string fullName): fullName(fullName) {
}
ReturnValue_t NVMParameterBase::readJsonFile() {
if(std::filesystem::exists(fullName)) {
// Read JSON file content into object
std::ifstream i(fullName);
i >> json;
return HasReturnvaluesIF::RETURN_OK;
}
return HasFileSystemIF::FILE_DOES_NOT_EXIST;
}
ReturnValue_t NVMParameterBase::writeJsonFile() {
std::ofstream o(fullName);
o << std::setw(4) << json;
return HasReturnvaluesIF::RETURN_OK;
}
void NVMParameterBase::setFullName(std::string fullName) {
this->fullName = fullName;
}
std::string NVMParameterBase::getFullName() const {
return fullName;
}
bool NVMParameterBase::getJsonFileExists() {
return std::filesystem::exists(fullName);
}
void NVMParameterBase::printKeys() const {
sif::info << "Printing keys for JSON file " << fullName << std::endl;
for(const auto& key: keys) {
sif::info << key << std::endl;
}
}
void NVMParameterBase::print() const {
sif::info << "Printing JSON file " << fullName << std::endl;
for(const auto& key: keys) {
sif::info << key << ": " << json[key] << std::endl;
}
}

69
mission/memory/NVMParameterBase.h Normal file
View File

@ -0,0 +1,69 @@
#ifndef BSP_Q7S_CORE_NVMPARAMS_NVMPARAMIF_H_
#define BSP_Q7S_CORE_NVMPARAMS_NVMPARAMIF_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <nlohmann/json.hpp>
#include <string>
#include <filesystem>
class NVMParameterBase {
public:
virtual~ NVMParameterBase() {}
NVMParameterBase(std::string fullName);
bool getJsonFileExists();
/**
* Returns RETURN_OK on successfull read and HasFileSystemIF::FILE_DOES_NOT_EXIST if
* file does not exist yet.
* @return
*/
virtual ReturnValue_t readJsonFile();
virtual ReturnValue_t writeJsonFile();
void setFullName(std::string fullName);
std::string getFullName() const;
template<typename T>
ReturnValue_t insertValue(std::string key, T value);
template<typename T>
ReturnValue_t setValue(std::string key, T value);
template<typename T>
T getValue(std::string key) const;
void printKeys() const;
void print() const;
private:
nlohmann::json json;
std::vector<std::string> keys;
std::string fullName;
};
template<typename T>
inline ReturnValue_t NVMParameterBase::insertValue(std::string key, T value) {
// Check whether key already exists. If it does not, insert it
if (std::find(keys.begin(), keys.end(), key) == keys.end()) {
keys.push_back(key);
}
json[key] = value;
return HasReturnvaluesIF::RETURN_OK;
}
template<typename T>
inline ReturnValue_t NVMParameterBase::setValue(std::string key, T value) {
json[key] = value;
return HasReturnvaluesIF::RETURN_OK;
}
template<typename T>
inline T NVMParameterBase::getValue(std::string key) const {
return json[key];
}
#endif /* BSP_Q7S_CORE_NVMPARAMS_NVMPARAMIF_H_ */

1
test/CMakeLists.txt Normal file
View File

@ -0,0 +1 @@
add_subdirectory(testtasks)

26
test/DummyParameter.h Normal file
View File

@ -0,0 +1,26 @@
#ifndef BSP_Q7S_CORE_NVMPARAMS_PARAMETERDEFINITIONS_H_
#define BSP_Q7S_CORE_NVMPARAMS_PARAMETERDEFINITIONS_H_
#include "mission/memory/NVMParameterBase.h"
#include <nlohmann/json.hpp>
#include <filesystem>
class DummyParameter: public NVMParameterBase {
public:
static constexpr char DUMMY_KEY_PARAM_1[] = "dummy1";
static constexpr char DUMMY_KEY_PARAM_2[] = "dummy2";
DummyParameter(std::string mountPrefix, std::string jsonFileName):
NVMParameterBase(mountPrefix + "/conf/" + jsonFileName),
mountPrefix(mountPrefix) {
insertValue(DUMMY_KEY_PARAM_1, 1);
insertValue(DUMMY_KEY_PARAM_2, "blablub");
}
private:
std::string mountPrefix;
};
#endif /* BSP_Q7S_CORE_NVMPARAMS_PARAMETERDEFINITIONS_H_ */

1
thirdparty/arcsec_star_tracker vendored Submodule

@ -0,0 +1 @@
Subproject commit f596c53315f1f81facb28faec3150612a5ad2ca0

1
thirdparty/json vendored Submodule

@ -0,0 +1 @@
Subproject commit fb1ee4f94b426a398969b2c96df9784be8e007e6