fixed merge conflicts

This commit is contained in:
Jakob Meier 2021-01-08 10:05:36 +01:00
commit 5c307a3eb4
18 changed files with 671 additions and 166 deletions

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@ -19,8 +19,6 @@ if(NOT OS_FSFW)
set(OS_FSFW host CACHE STRING "OS for the FSFW.")
endif()
set_property(CACHE OS_FSFW PROPERTY STRINGS host linux)
# Perform steps like loading toolchain files where applicable.
include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
pre_project_config()
@ -91,6 +89,8 @@ add_subdirectory(${MISSION_PATH})
# Post-Sources preparation
################################################################################
set_property(CACHE OS_FSFW PROPERTY STRINGS host linux)
# Add libraries for all sources.
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_FSFW_NAME}

364
README.md
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@ -16,55 +16,149 @@ Target systems:
* Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git
* Host System
* Generic software components which are not dependant on hardware can also
be run. All host code is contained in the hosted folder
be run on a host system. All host code is contained in the `bsp_hosted` folder
* Tested for Linux (Ubuntu 20.04) and Windows 10
* Raspberry Pi
* EIVE OBC can be built for Raspberry Pi as well (either directly on Raspberry Pi or by installing a cross compiler)
The steps in the primary README are related to the main OBC target Q7S.
The CMake build system can be used to generate build systems as well (see helper scripts in `cmake/scripts`:
- Linux (Raspberry Pi): Using the `bsp_rpi` BSP folder, and a very similar cross-compiler.
For running the software on a Raspberry Pi, it is recommended to follow the steps specified in
[the fsfw example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example/src/branch/mueller/master/doc/README-rpi.md#top) and
using the TCF agent to have a similar set-up process also required for the Q7S.
- Linux Host: Uses the `bsp_hosted` BSP folder and the CMake Unix Makefiles generator.
- Windows Host: Uses the `bsp_hosted` BSP folder, the CMake MinGW Makefiles generator and MSYS2.
## Setting up development environment
### Installing Vivado the the Xilinx development tools
It's also possible to perform debugging with a normal Eclipse installation by installing
the TCF plugin. Still, it is necessary to install Vivado to get the toolchain for generating
C++ applications. Alternatively you can download the toolchain
[from the cloud](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Arbeitsdaten/08_Used%20Components/Q7S/Toolchain&fileid=422486).
* Install Vivado 2018.2 and Xilinx SDK from https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/vivado-design-tools/archive.html.
Install the Vivado Design Suite - HLx Editions - 2018.2 Full Product Installation instead of the updates. It is recommended to use the installer
Install the Vivado Design Suite - HLx Editions - 2018.2 Full Product Installation instead of the updates. It is recommended to use the installer.
* Install settings. In the Devices selection, it is sufficient to pick SoC &rarr; Zynq-7000: <br>
<img src="./doc/img/xilinx-install.PNG" width="50%"> <br>
<img src="./doc/img/vivado-edition.png" width="50%"> <br>
<img src="./doc/img/vivado-hl-design.png" width="50%"> <br>
<img src="./doc/img/xilinx-install.PNG" width="50%"> <br>
* For supported OS refer to https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_2/ug973-vivado-release-notes-install-license.pdf
* Add path of linux cross-compiler to environment variables SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin
* Install make (only on windows, SDK on Linux can use the make installed with the SDK)
* Add path of linux cross-compiler to permanent environment variables (`.profile` file in Linux):
`<XilinxInstallation>\SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin`
or set up path each time before debugging.
### Installing make on Windows
1. Install NodeJS LTS
2. Install xpm
```sh
npm install --global xpm
```
### Installing CMake and MSYS2 on Windows
3. Install Windows build tools (after installation also linux commands like mkdir can be used from windows)
1. Install [MSYS2](https://www.msys2.org/) and [CMake](https://cmake.org/download/) first.
```sh
xpm install --global @xpack-dev-tools/windows-build-tools@latest
```
2. Open the MinGW64 console. It is recommended to set up aliases in `.bashrc` to navigate to the
software repository quickly
3. Run the following commands in MinGW64
## Building the software
```sh
pacman -Syuuu
```
It is recommended to install the full base development toolchain
```sh
pacman -S base-devel
```
It is also possible to only install required packages
```sh
pacman -S mingw-w64-x86_64-cmake mingw-w64-x86_64-make mingw-w64-x86_64-gcc mingw-w64-x86_64-gdb python3
```
### Installing CMake on Linux
1. Run the following command
```sh
sudo apt-get install cmake
````
## Building the software with CMake
When using Windows, run theses steps in MSYS2.
1. Clone the repository with
```sh
git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git
```
```sh
git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git
```
2. Update all the submodules
```sh
git submodule init
git submodule sync
git submodule update
```
3. Open Xilinx SDK 2018.2
4. Import project
```sh
git submodule init
git submodule sync
git submodule update
```
3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version`.
It is recommended to run the shell script `win_path_helper_xilinx_tools.sh` in `cmake/scripts/Q7S`
or to set up the [PATH and the CROSS_COMPILE variable permanently](https://unix.stackexchange.com/questions/26047/how-to-correctly-add-a-path-to-path)
in the `.profile` file.
4. Run the CMake configuration to create the build system in a `Debug` folder.
Navigate into the `eive_obsw` folder first.
```sh
cd cmake/scripts/Q7S
./create_cmake_debug.sh
cd ../../..
```
This will invoke a Python script which in turn invokes CMake with the correct
arguments to configure CMake for Q7S cross-compilation.
5. Build the software with
```sh
cd Debug
cmake --build . -j
```
## Setting up default Eclipse for Q7S projects - TCF agent
The [TCF agent](https://wiki.eclipse.org/TCF) can be used to perform remote debugging on the Q7S.
1. Install the TCF agent plugin in Eclipse from the [releases](https://www.eclipse.org/tcf/downloads.php). Go to Help &rarr; Install New Software and use the download page, for example https://download.eclipse.org/tools/tcf/releases/1.6/1.6.2/ to search for the plugin and install it.
2. Go to Window &rarr; Perspective &rarr; Open Perspective and open the **Target Explorer Perspective**.
Here, the Q7S should show up if the local port forwarding was set up as explained previously.
3. A launch configuration was provided, but it might be necessary to adapt it for your own needs. Alternatively:
- Create a new **TCF Remote Application** by pressing the cogs button at the top or going to Run &rarr; Debug Configurations &rarr; Remote Application and creating a new one there.
- Set up the correct image in the main tab (it might be necessary to send the image to the Q7S manually once) and file transfer properties
- It is also recommended to link the correct Eclipse project.
After that, comfortable remote debugging should be possible with the Debug button.
A build configuration and a shell helper script has been provided to set up the path variables and build the Q7S binary
on Windows, but a launch configuration needs to be newly created because the IP address and path settings differ
from machine to machine.
## Building in Xilinx SDK 2018.2
1. Open Xilinx SDK 2018.2
2. Import project
* File &rarr; Import &rarr; C/C++ &rarr; Existing Code as Makefile Project
5. Set build command. Replace \<target\> with either debug or release.
3. Set build command. Replace \<target\> with either debug or release.
* When on Linux right click project &rarr; Properties &rarr; C/C++ Build &rarr; Set build command to `make <target> -j`
* -j causes the compiler to use all available cores
* The target is used to either compile the debug or the optimized release build.
@ -73,79 +167,53 @@ git submodule update
* Target name: all
* Uncheck "Same as the target name"
* Uncheck "Use builder settings"
* As build command type: `make -j <target> WINDOWS=1`
6. Run build command by double clicking the created target or by right clicking
* As build command type: `cmake --build .`
* In the Behaviour tab, you can enable build acceleration
4. Run build command by double clicking the created target or by right clicking
the project folder and selecting Build Project.
## Debugging the software (when workstation is directly conncected to Q7S)
1. Assign static IP address to Q7S
* Open serial console of Q7S (Accessible via the micro-USB of the PIM, see also Q7S user maunal chapter 10.3)
* Baudrate 115200
* Login to Q7S:
* user: root
* pw: root
* Set IP address and netmask with
```sh
## TCF-Agent
1. On reboot, some steps have to be taken on the Q7S. Set static IP address and netmask
```sh
ifconfig eth0 192.168.133.10
ifconfig eth0 netmask 255.255.255.0
```
2. Connect Q7S to workstation via ethernet
3. Make sure the netmask of the ehternet interface of the workstation matches the netmask of the Q7S
* When IP address is set to 192.168.133.10 and the netmask is 255.255.255.0, an example IP address for the workstation
is 192.168.133.2
4. Run tcf-agent on Q7S
* Tcf-agent is not yet integrated in the rootfs of the Q7S. Therefore build tcf-agent manually
```sh
git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
cd org.eclipse.tcf.agent/agent
make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1
```
2. `tcfagent` application should run automatically but this can be checked with
```sh
systemctl status tcfagent
```
* Transfer executable agent from org.eclipse.tcf.agent/agent/obj/GNU/Linux/arm/Debug to /tmp of Q7S
```sh
cd obj/GNU/Linux/arm/Debug
scp agent root@192.168.133.10:/tmp
```
* On Q7S
```sh
cd /tmp
chmod +x agent
```
* Run agent
```sh
./agent
```
5. In Xilinx SDK 2018.2 right click on project &rarr; Debug As &rarr; Debug Configurations
6. Right click Xilinx C/C++ applicaton (System Debugger) &rarr; New &rarr;
7. Set Debug Type to Linux Application Debug and Connectin to Linux Agent
8. Click New
9. Give connection a name
10. Set Host to static IP address of Q7S. e.g. 192.168.133.10
11. Test connection (This ensures the TCF Agent is running on the Q7S)
12. Select Application tab
* Project Name: eive_obsw
* Local File Path: Path to eiveobsw-linux.elf (in _bin\linux\devel)
* Remote File Path: /tmp/eive_obsw.elf
3. If the agent is not running, check whether `agent` is located inside `usr/bin`.
You can run it manually there. To perform auto-start on boot, have a look at the start-up
application section.
## Debugging the software via Flatsat PC
Open SSH connection to flatsat PC:
```sh
ssh eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
```
or
```sh
ssh eive@192.168.199.227
```
To access the console of the Q7S run the following:
```sh
picocom -b 115200 /dev/ttyUSB0
```
If the serial port is blocked for some reason, you can kill
the process using it with `q7s_kill`.
You can use `AltGr` + `X` to exit the picocom session.
To debug an application, first make sure a static IP address is assigned to the Q7S. Run ifconfig on the Q7S serial console.
```sh
@ -159,19 +227,38 @@ ifconfig eth0 192.168.133.10
ifconfig eth0 netmask 255.255.255.0
```
To launch application from Xilinx SDK setup port fowarding on the localhost.
To launch application from Xilinx SDK setup port fowarding on the development machine
(not on the flatsat!)
```sh
ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
```
This forwards any requests to localhost:1534 to the port 1534 of the Q7S with the IP address 192.168.133.10.
This needs to be done every time, so it is recommended to create an alias to do this quickly.
Note: When now setting up a debug session in the Xilinx SDK, the host must be set to localhost instead of the IP address of the Q7S.
## Launching an application after boot
## Transfering files via SCP
To transfer files from the local machine to the Q7S, use port forwarding
```sh
ssh -L 1535:192.168.133.10:22 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
```
Then you can copy an `example` file like this
```sh
scp -P 1535 example root@localhost:/tmp
```
## Launching an application at start-up
Load the root partiton from the flash memory (there are to nor-flash memories and each flash holds two xdi images).
Note: It is not possible to modify the current loaded root partition.
Note: It is not possible to modify the currently loaded root partition, e.g. creating directories. To do this,
the parition needs to be mounted.
1. Disable write protection of the desired root partition
```sh
@ -183,7 +270,10 @@ Note: It is not possible to modify the current loaded root partition.
```sh
xsc_mount_copy 0 0 # Mounts the nominal image from nor-flash 0
```
3. Copy the executable to /bin/usr
The mounted partition will be located inside the `/tmp` folder
3. Copy the executable to `/usr/bin`
4. Make sure the permissions to execute the application are set
```sh
chmod +x application
@ -208,29 +298,33 @@ Note: It is not possible to modify the current loaded root partition.
```
6. Enable the service. This is normally done with systemctl enable. However, this is not possible when the service is
created for a mounted root partition. Therefore create a symlink as follows.
````
ln -s '/tmp/the-mounted-xdi-image/lib/systemd/system/example.service' '/tmp/the-mounted-xdi-image/etc/systemd/system/multi-user.target.wants/example.service'
````
```sh
ln -s '/tmp/the-mounted-xdi-image/lib/systemd/system/example.service' '/tmp/the-mounted-xdi-image/etc/systemd/system/multi-user.target.wants/example.service'
```
7. The modified root partition is written back when the partion is locked again.
````
writeprotect 0 0 1
````
```sh
writeprotect 0 0 1
```
8. Now verify the application start by booting from the modified image
````
xsc_boot_copy 0 0
````
```sh
xsc_boot_copy 0 0
````
9. After booting verify if the service is running
````
systemctl status example
````
```sh
systemctl status example
```
More detailed information about the used q7s commands can be found in the Q7S user manual.
### Bringing up CAN
````
ip link set can0 down
ip link set can0 type can loopback off
ip link set can0 up type can bitrate 1000000
````
```sh
ip link set can0 down
ip link set can0 type can loopback off
ip link set can0 up type can bitrate 1000000
```
Following command sends 8 bytes to device with id 99 (for petalinux)
````
cansend can0 -i99 99 88 77 11 33 11 22 99
@ -307,17 +401,6 @@ a permanent solution). If running the script before executing the binary does
not help or an warning is issue that the soft real time value is invalid,
the hard real-time limit of the system might not be high enough (see step 1).
## Building and running the software on a host system
The host build can be built with following command
```sh
make -f Makefile-Hosted all -j
```
If compiling on Windows, it is recommended to supply `WINDOWS=1` .
A release build can be built by using the `mission` target.
## Flight Software Framework (FSFW)
An EIVE fork of the FSFW is submodules into this repository.
@ -339,6 +422,7 @@ Alternatively, changes from other upstreams (forks) and branches can be merged l
the same way.
## PCDU
Connect to serial console of P60 Dock
````
picocom -b 500000 /dev/ttyUSBx
@ -362,3 +446,57 @@ p60-dock # param get out_en[0]
GET out_en[0] = 1
````
## Debugging the software (when workstation is directly conncected to Q7S)
1. Assign static IP address to Q7S
* Open serial console of Q7S (Accessible via the micro-USB of the PIM, see also Q7S user maunal chapter 10.3)
* Baudrate 115200
* Login to Q7S:
* user: root
* pw: root
2. Connect Q7S to workstation via ethernet
3. Make sure the netmask of the ehternet interface of the workstation matches the netmask of the Q7S
* When IP address is set to 192.168.133.10 and the netmask is 255.255.255.0, an example IP address for the workstation
is 192.168.133.2
4. Run tcf-agent on Q7S
* Tcf-agent is not yet integrated in the rootfs of the Q7S. Therefore build tcf-agent manually
```sh
git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
cd org.eclipse.tcf.agent/agent
make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1
```
* Transfer executable agent from org.eclipse.tcf.agent/agent/obj/GNU/Linux/arm/Debug to /tmp of Q7S
```sh
cd obj/GNU/Linux/arm/Debug
scp agent root@192.168.133.10:/tmp
```
* On Q7S
```sh
cd /tmp
chmod +x agent
```
* Run agent
```sh
./agent
```
5. In Xilinx SDK 2018.2 right click on project &rarr; Debug As &rarr; Debug Configurations
6. Right click Xilinx C/C++ applicaton (System Debugger) &rarr; New &rarr;
7. Set Debug Type to Linux Application Debug and Connectin to Linux Agent
8. Click New
9. Give connection a name
10. Set Host to static IP address of Q7S. e.g. 192.168.133.10
11. Test connection (This ensures the TCF Agent is running on the Q7S)
12. Select Application tab
* Project Name: eive_obsw
* Local File Path: Path to eiveobsw-linux.elf (in _bin\linux\devel)
* Remote File Path: /tmp/eive_obsw.elf

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@ -4,16 +4,25 @@
#include <cstddef>
#include <cstdint>
//! Used to determine whether C++ ostreams are used
//! Those can lead to code bloat.
//! Used to determine whether C++ ostreams are used which can increase
//! the binary size significantly. If this is disabled,
//! the C stdio functions can be used alternatively
#define FSFW_CPP_OSTREAM_ENABLED 1
//! Reduced printout to further decrese code size
//! More FSFW related printouts.
//! Be careful, this also turns off most diagnostic prinouts!
#define FSFW_REDUCED_PRINTOUT 0
#define FSFW_ENHANCED_PRINTOUT 0
//! Can be used to enable debugging printouts for developing the FSFW
#define FSFW_DEBUGGING 0
//! Can be used to completely disable printouts, even the C stdio ones.
#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_ENHANCED_PRINTOUT == 0
#define FSFW_DISABLE_PRINTOUT 0
#endif
//! Can be used to enable additional debugging printouts for developing the FSFW
#define FSFW_PRINT_VERBOSITY_LEVEL 0
//! Can be used to disable the ANSI color sequences for C stdio.
#define FSFW_COLORED_OUTPUT 1
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
//! additional output which requires the translation files translateObjects
@ -21,18 +30,19 @@
#define FSFW_OBJ_EVENT_TRANSLATION 0
#if FSFW_OBJ_EVENT_TRANSLATION == 1
#define FSFW_DEBUG_OUTPUT 1
//! Specify whether info events are printed too.
#define FSFW_DEBUG_INFO 1
#include <translateObjects.h>
#include <translateEvents.h>
#include "objects/translateObjects.h"
#include "events/translateEvents.h"
#else
#define FSFW_DEBUG_OUTPUT 0
#endif
//! When using the newlib nano library, C99 support for stdio facilities
//! will not be provided. This define should be set to 1 if this is the case.
#define FSFW_NO_C99_IO 1
#define FSFW_NO_C99_IO 1
//! Specify whether a special mode store is used for Subsystem components.
#define FSFW_USE_MODESTORE 0
namespace fsfwconfig {
//! Default timestamp size. The default timestamp will be an eight byte CDC
@ -49,6 +59,8 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
//! simulataneously. This will increase the required RAM for
//! each CSB service !
static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
}
#endif /* CONFIG_FSFWCONFIG_H_ */

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@ -43,7 +43,7 @@ void InitMission::initTasks(){
/* TMTC Distribution */
PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()->
createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.100, nullptr);
0.2, nullptr);
ReturnValue_t result = TmTcDistributor->addComponent(
objects::CCSDS_PACKET_DISTRIBUTOR);
if(result!=HasReturnvaluesIF::RETURN_OK){

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@ -1,13 +1,13 @@
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
#if(NOT DEFINED ENV{Q7S_ROOTFS})
if(NOT DEFINED ENV{Q7S_SYSROOT})
# message(FATAL_ERROR
# "Define the Q7S_ROOTFS variable to "
# "point to the raspbian rootfs."
# )
#else()
# set(SYSROOT_PATH "$ENV{Q7S_ROOTFS}")
#endif()
else()
set(SYSROOT_PATH "$ENV{Q7S_SYSROOT}")
endif()
if(NOT DEFINED ENV{CROSS_COMPILE})
set(CROSS_COMPILE "arm-linux-gnueabihf")

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@ -0,0 +1,4 @@
export PATH=$PATH:"/c/Xilinx/SDK/2018.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
export CROSS_COMPILE="arm-linux-gnueabihf"
export Q7S_SYSROOT="/c/Xilinx/SDK/2018.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/arm-linux-gnueabihf/libc"

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@ -1,19 +1,28 @@
#ifndef FSFWCONFIG_FSFWCONFIG_H_
#define FSFWCONFIG_FSFWCONFIG_H_
#ifndef CONFIG_FSFWCONFIG_H_
#define CONFIG_FSFWCONFIG_H_
#include <cstddef>
#include <cstdint>
//! Used to determine whether C++ ostreams are used
//! Those can lead to code bloat.
//! Used to determine whether C++ ostreams are used which can increase
//! the binary size significantly. If this is disabled,
//! the C stdio functions can be used alternatively
#define FSFW_CPP_OSTREAM_ENABLED 1
//! Reduced printout to further decrese code size
//! More FSFW related printouts.
//! Be careful, this also turns off most diagnostic prinouts!
#define FSFW_REDUCED_PRINTOUT 0
#define FSFW_ENHANCED_PRINTOUT 0
//! Can be used to enable debugging printouts for developing the FSFW
#define FSFW_DEBUGGING 0
//! Can be used to completely disable printouts, even the C stdio ones.
#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_ENHANCED_PRINTOUT == 0
#define FSFW_DISABLE_PRINTOUT 0
#endif
//! Can be used to enable additional debugging printouts for developing the FSFW
#define FSFW_PRINT_VERBOSITY_LEVEL 0
//! Can be used to disable the ANSI color sequences for C stdio.
#define FSFW_COLORED_OUTPUT 1
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
//! additional output which requires the translation files translateObjects
@ -21,18 +30,19 @@
#define FSFW_OBJ_EVENT_TRANSLATION 0
#if FSFW_OBJ_EVENT_TRANSLATION == 1
#define FSFW_DEBUG_OUTPUT 1
//! Specify whether info events are printed too.
#define FSFW_DEBUG_INFO 1
#include <translateObjects.h>
#include <translateEvents.h>
#include "objects/translateObjects.h"
#include "events/translateEvents.h"
#else
#define FSFW_DEBUG_OUTPUT 0
#endif
//! When using the newlib nano library, C99 support for stdio facilities
//! will not be provided. This define should be set to 1 if this is the case.
#define FSFW_NO_C99_IO 1
#define FSFW_NO_C99_IO 1
//! Specify whether a special mode store is used for Subsystem components.
#define FSFW_USE_MODESTORE 0
namespace fsfwconfig {
//! Default timestamp size. The default timestamp will be an eight byte CDC
@ -49,6 +59,8 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
//! simulataneously. This will increase the required RAM for
//! each CSB service !
static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
}
#endif /* FSFWCONFIG_FSFWCONFIG_H_ */
#endif /* CONFIG_FSFWCONFIG_H_ */

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@ -142,7 +142,7 @@ csp_iface_t * csp_can_socketcan_init(const char * ifc, int bitrate, int promisc)
struct sockaddr_can addr;
pthread_t rx_thread;
printf("Init can interface %s\n", ifc);
printf("-I-: Initiating CAN interface %s\n", ifc);
#ifdef CSP_HAVE_LIBSOCKETCAN
/* Set interface up */

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@ -15,11 +15,11 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443" name="eive-mingw-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="org.eclipse.cdt.build.core.emptycfg">
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<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.linker.1691204688" name="GNU Arm Cross C Linker" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.linker">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.c.linker.gcsections.1311238265" name="Remove unused sections (-Xlinker --gc-sections)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.linker.gcsections" value="true" valueType="boolean"/>
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<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.1779150424" name="GNU Arm Cross C++ Linker" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.gcsections.579596817" name="Remove unused sections (-Xlinker --gc-sections)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.gcsections" value="true" valueType="boolean"/>
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.input.53427846" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.input">
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
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</tool>
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.archiver.890211237" name="GNU Arm Cross Archiver" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.archiver"/>
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.createflash.1213883186" name="GNU Arm Cross Create Flash Image" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.createflash"/>
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.createlisting.390884748" name="GNU Arm Cross Create Listing" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.createlisting">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.source.1189745672" name="Display source (--source|-S)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.source" value="true" valueType="boolean"/>
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.allheaders.585328601" name="Display all headers (--all-headers|-x)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.allheaders" value="true" valueType="boolean"/>
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<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.linenumbers.382131227" name="Display line numbers (--line-numbers|-l)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.linenumbers" value="true" valueType="boolean"/>
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</tool>
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize.1328928455" name="GNU Arm Cross Print Size" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format.608263053" name="Size format" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format"/>
</tool>
</toolChain>
</folderInfo>
<sourceEntries>
<entry excluding="fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
</sourceEntries>
</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
</cconfiguration>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<project id="eive_obsw.null.1109622296" name="eive_obsw"/>
@ -512,7 +800,11 @@
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
<storageModule moduleId="refreshScope" versionNumber="2">
<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="eive-linux-host-release"/>
<configuration configurationName="eive-mingw-debug">
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
@ -520,29 +812,48 @@
<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.make.core.buildtargets"/>
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings">
<doc-comment-owner id="org.eclipse.cdt.ui.doxygen">
<path value=""/>
</doc-comment-owner>
</storageModule>
<storageModule moduleId="scannerConfiguration">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.646655988;cdt.managedbuild.tool.gnu.cpp.compiler.input.1437856797">
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<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.2065184927;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.920837857">
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@ -550,9 +861,4 @@
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</cproject>

View File

@ -0,0 +1,33 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<listEntry value="4"/>
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View File

@ -171,14 +171,14 @@ ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
float temperature = 25.0 + temperaturOffset;
result = dataset.read(20);
result = dataset.read();
if(result == HasReturnvaluesIF::RETURN_OK) {
dataset.angVelocX = angVelocX;
dataset.angVelocY = angVelocY;
dataset.angVelocZ = angVelocZ;
dataset.temperature = temperature;
dataset.setValidity(true, true);
result = dataset.commit(20);
result = dataset.commit();
}
break;
}

View File

@ -257,13 +257,13 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl;
}
#endif
ReturnValue_t result = dataset.read(20);
ReturnValue_t result = dataset.read();
if(result == HasReturnvaluesIF::RETURN_OK) {
dataset.fieldStrengthX = mgmX;
dataset.fieldStrengthY = mgmY;
dataset.fieldStrengthZ = mgmZ;
dataset.setValidity(true, true);
dataset.commit(20);
dataset.commit();
}
break;
}
@ -278,10 +278,10 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
<< std::endl;
}
#endif
ReturnValue_t result = dataset.read(20);
ReturnValue_t result = dataset.read();
if(result == HasReturnvaluesIF::RETURN_OK) {
dataset.temperature = tempValue;
dataset.commit(20);
dataset.commit();
}
break;
}

View File

@ -339,13 +339,13 @@ ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
}
#endif
ReturnValue_t result = primaryDataset.read(20);
ReturnValue_t result = primaryDataset.read();
if(result == HasReturnvaluesIF::RETURN_OK) {
primaryDataset.fieldStrengthX = fieldStrengthX;
primaryDataset.fieldStrengthY = fieldStrengthY;
primaryDataset.fieldStrengthZ = fieldStrengthZ;
primaryDataset.setValidity(true, true);
result = primaryDataset.commit(20);
result = primaryDataset.commit();
}
return result;
}

View File

@ -99,10 +99,10 @@ ReturnValue_t Tmp1075Handler::interpretDeviceReply(DeviceCommandId_t id,
#if OBSW_ENHANCED_PRINTOUT == 1
sif::info << "Tmp1075: Temperature: " << tempValue<< " °C" << std::endl;
#endif
ReturnValue_t result = dataset.read(20);
ReturnValue_t result = dataset.read();
if(result == HasReturnvaluesIF::RETURN_OK) {
dataset.temperatureCelcius = tempValue;
dataset.commit(20);
dataset.commit();
}
break;
}

View File

@ -42,7 +42,7 @@ public:
StaticLocalDataSet(sid_t(objectId, DATA_SET_ID)) {
}
lp_var_t<float> temperatureCelcius = lp_var_t<float>(hkManager->getOwner(),
lp_var_t<float> temperatureCelcius = lp_var_t<float>(sid.objectId,
TEMPERATURE_C, this);
};
}