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Merge pull request 'Release v1.3.0' (#54) from develop into master

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Reviewed-on: #54
This commit is contained in:
Robin Müller 2021-07-22 11:53:07 +02:00
commit 68bb30b200
104 changed files with 4626 additions and 1283 deletions
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2
.gitmodules vendored
View File

@ -9,7 +9,7 @@
url = https://egit.irs.uni-stuttgart.de/eive/fsfw.git
[submodule "tmtc"]
path = tmtc
url = https://egit.irs.uni-stuttgart.de/eive/eive_tmtc.git
url = https://egit.irs.uni-stuttgart.de/eive/eive-tmtc.git
[submodule "thirdparty/lwgps"]
path = thirdparty/lwgps
url = https://github.com/rmspacefish/lwgps.git

49
CMakeLists.txt
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@ -15,6 +15,10 @@ cmake_minimum_required(VERSION 3.13)
set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
if(TGT_BSP MATCHES "arm/q7s")
option(Q7S_SIMPLE_MODE OFF "Simple mode with a minimal main function")
endif()
option(ADD_ETL_LIB "Add ETL library" ON)
if(NOT OS_FSFW)
set(OS_FSFW host CACHE STRING "OS for the FSFW.")
@ -47,6 +51,7 @@ set(LIB_CSP_NAME libcsp)
set(LIB_FSFW_HAL_NAME fsfw_hal)
set(LIB_LWGPS_NAME lwgps)
set(THIRD_PARTY_FOLDER thirdparty)
set(LIB_CXX_FS -lstdc++fs)
# Set path names
set(FSFW_PATH fsfw)
@ -74,9 +79,11 @@ if(TGT_BSP)
OR ${TGT_BSP} MATCHES "arm/beagleboneblack"
)
set(FSFW_CONFIG_PATH "linux/fsfwconfig")
set(ADD_LINUX_FILES TRUE)
set(ADD_CSP_LIB TRUE)
set(FSFW_HAL_ADD_LINUX ON)
if(NOT Q7S_SIMPLE_MODE)
set(ADD_LINUX_FILES TRUE)
set(ADD_CSP_LIB TRUE)
set(FSFW_HAL_ADD_LINUX ON)
endif()
endif()
if(${TGT_BSP} MATCHES "arm/raspberrypi")
@ -133,27 +140,34 @@ if(ADD_LINUX_FILES)
add_subdirectory(${LINUX_PATH})
endif()
add_subdirectory(${LWGPS_LIB_PATH})
add_subdirectory(${BSP_PATH})
add_subdirectory(${FSFW_PATH})
add_subdirectory(${MISSION_PATH})
add_subdirectory(${TEST_PATH})
add_subdirectory(${FSFW_HAL_LIB_PATH})
add_subdirectory(${COMMON_PATH})
if(NOT Q7S_SIMPLE_MODE)
add_subdirectory(${LWGPS_LIB_PATH})
add_subdirectory(${FSFW_PATH})
add_subdirectory(${MISSION_PATH})
add_subdirectory(${TEST_PATH})
add_subdirectory(${FSFW_HAL_LIB_PATH})
endif()
################################################################################
# Post-Sources preparation
################################################################################
set_property(CACHE OS_FSFW PROPERTY STRINGS host linux)
# Add libraries for all sources.
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_FSFW_NAME}
${LIB_OS_NAME}
${LIB_LWGPS_NAME}
${LIB_FSFW_HAL_NAME}
)
if(NOT Q7S_SIMPLE_MODE)
# Add libraries for all sources.
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_FSFW_NAME}
${LIB_OS_NAME}
${LIB_LWGPS_NAME}
${LIB_FSFW_HAL_NAME}
${LIB_CXX_FS}
)
endif()
if(ADD_ETL_LIB)
target_link_libraries(${TARGET_NAME} PRIVATE
@ -243,8 +257,3 @@ add_custom_command(
include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
set_build_type()

374
README.md
View File

@ -1,19 +1,26 @@
# <a id="top"></a> <a name="linux"></a> EIVE On-Board Software
<a id="top"></a> <a name="linux"></a> EIVE On-Board Software
======
## General information
# General information
Target systems:
* OBC with Linux OS
* Xiphos Q7S
* Based on Zynq-7020 SoC (xc7z020clg484-2)
* Dual-core ARM Cortex-A9
* 766 MHz
* Artix-7 FPGA (85K pogrammable logic cells)
* 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 informatin about the Q7S can be found on the xiphos trac platform: https://trac.xiphos.com/trac/eive-q7/wiki/Q7RevB
* Linux OS built with Yocto 2.5
* Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git
* Xiphos Q7S
* Based on Zynq-7020 SoC (xc7z020clg484-2)
* Dual-core ARM Cortex-A9
* 766 MHz
* Artix-7 FPGA (85K pogrammable logic cells)
* 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.
* 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
found [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/q7s-linux-components&fileid=777299).
* Q7S base project can be found [here](https://egit.irs.uni-stuttgart.de/eive/q7s-base)
* Minimal base project files can be found [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/xiphos-q7s-sdk&fileid=510908)
* Host System
* Generic software components which are not dependant on hardware can also
be run on a host system. All host code is contained in the `bsp_hosted` folder
@ -28,30 +35,56 @@ The CMake build system can be used to generate build systems as well (see helper
- 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
# Setting up development environment
### Installing Vivado the the Xilinx development tools
## Installing Vivado the the Xilinx development tools
It's also possible to perform debugging with a normal Eclipse installation by installing
the TCF plugin and downloading the cross-compiler as specified in the section below.
the TCF plugin and downloading the cross-compiler as specified in the section below. However,
if you want to generate the `*.xdi` files necessary to update the firmware, you need to
installed Vivado with the SDK core tools.
* 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/vivado-edition.png" width="50%"> <br>
<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/vivado-edition.png" width="50%"> <br>
<img src="./doc/img/vivado-hl-design.png" width="50%"> <br>
<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/mueller/master/doc/img/vivado-hl-design.png" width="50%"> <br>
<img src="./doc/img/xilinx-install.PNG" width="50%"> <br>
<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/mueller/master/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 permanent environment variables (`.profile` file in Linux):
* For supported OS refer to https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_2/ug973-vivado-release-notes-install-license.pdf .
Installation was tested on Windows and Ubuntu 21.04.
* Add path of linux cross-compiler to permanent environment variables (`.bashrc` file in Linux):
`<XilinxInstallation>\SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin`
or set up path each time before debugging.
### Installing toolchain without Vivado
### Installing on Linux - Device List Issue
When installing on Ubuntu, the installer might get stuck at the `Generating installed device list`
step. When this happens, you can kill the installation process (might be necessara to kill a process
twice) and generate this list manually with the following commands, according to
[this forum entry](https://forums.xilinx.com/t5/Installation-and-Licensing/Vivado-2018-3-Final-Processing-hangs-at-Generating-installed/m-p/972114#M25861).
1. Install the following library
```sh
sudo apt install libncurses5
```
2. ```sh
sudo <installRoot>/Vivado/2018.2/bin/vivado -nolog -nojournal -mode batch -source
<installRoot>/.xinstall/Vivado_2018.2/scripts/xlpartinfo.tcl -tclargs
<installRoot>/Vivado/2018.2/data/parts/installed_devices.txt
```
For Linux, you can also download a more recent version of the
[Linaro 8.3.0 cross-compiler](https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads)
from [here](https://developer.arm.com/-/media/Files/downloads/gnu-a/8.3-2019.03/binrel/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.xz?revision=e09a1c45-0ed3-4a8e-b06b-db3978fd8d56&la=en&hash=93ED4444B8B3A812B893373B490B90BBB28FD2E3)
## Installing toolchain without Vivado
You can download the toolchains for Windows and Linux
[from the EIVE cloud](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files?dir=/EIVE_IRS/Software/tools&fileid=831898).
@ -69,7 +102,7 @@ or the following command for Linux (could be useful for CI/CD)
wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/2Fp2ag6NGnbtAsK/download/gcc-arm-linux-gnueabi.tar.gz
```
### Installing CMake and MSYS2 on Windows
## Installing CMake and MSYS2 on Windows
1. Install [MSYS2](https://www.msys2.org/) and [CMake](https://cmake.org/download/) first.
@ -79,7 +112,7 @@ wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/2Fp2ag6NGnbtAsK/downloa
3. Run the following commands in MinGW64
```sh
pacman -Syuuu
pacman -Syu
```
It is recommended to install the full base development toolchain
@ -94,7 +127,7 @@ wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/2Fp2ag6NGnbtAsK/downloa
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
## Installing CMake on Linux
1. Run the following command
@ -117,7 +150,7 @@ wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/agnJGYeRf6fw2ci/downloa
Then, create a new environmental variables `Q7S_SYSROOT` and set it to the local system root path.
## Building the software with CMake
# Building the software with CMake
When using Windows, run theses steps in MSYS2.
@ -153,7 +186,7 @@ When using Windows, run theses steps in MSYS2.
```sh
cd cmake/scripts/Q7S
./create_cmake_debug.sh
./make_debug_cfg.sh
cd ../../..
```
@ -230,7 +263,7 @@ IP address and path settings differ from machine to machine.
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
# Debugging the software via Flatsat PC
Open SSH connection to flatsat PC:
@ -269,7 +302,8 @@ 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.
To debug an application, first make sure a static IP address is assigned to the Q7S. Run ifconfig
on the Q7S serial console.
```sh
ifconfig
@ -289,12 +323,14 @@ To launch application from Xilinx SDK setup port fowarding on the development ma
ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t bash
```
This forwards any requests to localhost:1534 to the port 1534 of the Q7S with the IP address 192.168.133.10.
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.
Note: When now setting up a debug session in the Xilinx SDK or Eclipse, the host must be set
to localhost instead of the IP address of the Q7S.
## Transfering files via SCP
# Transfering files via SCP
To transfer files from the local machine to the Q7S, use port forwarding
@ -318,11 +354,11 @@ From a windows machine files can be copied with putty tools (note: use IPv4 addr
pscp -scp -P 22 eive@192.168.199.227:</directory-to-example-file/>/example-file </windows-machine-path/>
````
## Launching an application at start-up
# 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 currently loaded root partition, e.g. creating directories. To do this,
the parition needs to be mounted.
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 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
@ -340,11 +376,13 @@ the parition needs to be mounted.
3. Copy the executable to `/usr/bin`
4. Make sure the permissions to execute the application are set
```sh
chmod +x application
```
5. Create systemd service in /lib/systemd/system. The following shows an example service.
```sh
cat > example.service
[Unit]
@ -361,8 +399,8 @@ the parition needs to be mounted.
[Install]
WantedBy=multi-user.target
```
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.
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.
```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'
```
@ -380,37 +418,14 @@ the parition needs to be mounted.
```sh
systemctl status example
```
More detailed information about the used q7s commands can be found in the Q7S user manual.
### Bringing up CAN
```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
````
For Q7S use this:
````
cansend can0 5A1#11.22.33.44.55.66.77.88
````
Turn loopback mode on:
````
ip link set can0 type can bitrate 1000000 loopback on
````
Reading data from CAN:
````
candump can0
````
## Setting up UNIX environment for real-time functionalities
Please note that on most UNIX environments (e.g. Ubuntu), the real time functionalities
used by the UNIX pthread module are restricted, which will lead to permission errors when creating these tasks
and configuring real-time properites like scheduling priorities.
used by the UNIX pthread module are restricted, which will lead to permission errors when creating
these tasks and configuring real-time properites like scheduling priorities.
To solve this issues, try following steps:
@ -435,58 +450,27 @@ required for some framework components. The recommended values for the new messa
length is 130.
2. Edit the /etc/sysctl.conf file
```sh
sudo nano /etc/sysctl.conf
```
Append at end:
```sh
fs/mqueue/msg_max = <newMsgMaxLen>
```
Apply changes with:
```sh
sudo sysctl -p
```
A possible solution which only persists for the current session is
```sh
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
```
or running the `unlockRealtime` script.
```sh
sudo nano /etc/sysctl.conf
```
3. Run the shell script inside the linux folder
```sh
./unlockRealtime
```
This script executes the `sudo setcap 'cap_sys_nice=eip' \<application\>`
command on the binaries, increases the soft real time limit of the current
session and increases the maximum number of message queues by setting
`/proc/sys/fs/mqueue/msg_max`.
All changes are only applied for the current session (read 2. and 3. for
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).
Append at end:
```sh
fs/mqueue/msg_max = <newMsgMaxLen>
```
Apply changes with:
```sh
sudo sysctl -p
```
## Flight Software Framework (FSFW)
A possible solution which only persists for the current session is
```sh
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
```
An EIVE fork of the FSFW is submodules into this repository.
To add the master upstream branch and merge changes and updates from it
into the fork, run the following command in the fsfw folder first:
```sh
git remote add upstream https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git
git remote update --prune
```
After that, an update can be merged by running
```sh
git merge upstream/master
```
Alternatively, changes from other upstreams (forks) and branches can be merged like that in
the same way.
## PCDU
# PCDU
Connect to serial console of P60 Dock
````
@ -511,10 +495,11 @@ p60-dock # param get out_en[0]
GET out_en[0] = 1
````
## Debugging the software (when workstation is directly conncected to Q7S)
# 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)
* Open serial console of Q7S (Accessible via the micro-USB of the PIM, see also Q7S user
manual chapter 10.3)
* Baudrate 115200
* Login to Q7S:
* user: root
@ -562,10 +547,10 @@ GET out_en[0] = 1
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
* Local File Path: Path to eiveobsw-linux.elf (in `_bin\linux\devel`)
* Remote File Path: `/tmp/eive_obsw.elf`
## Running cppcheck on the Software
# Running cppcheck on the Software
Static code analysis can be useful to find bugs.
`cppcheck` can be used for this purpose. On Windows you can use MinGW64 to do this.
@ -597,6 +582,47 @@ Finally, you can convert the generated `.xml` file to HTML with the following co
cppcheck-htmlreport --file=report.xml --report-dir=cppcheck --source-dir=..
```
# Special notes on Eclipse
When using Eclipse, there are two special build variables in the project properties
&rarr; C/C++ Build &rarr; Build Variables called `Q7S_SYSROOT` or `RPI_SYSROOT`. You can set
the sysroot path in those variables to get any additional includes like `gpiod.h` in the
Eclipse indexer.
# Q7S Utilities and Troubleshooting
## pa3tool Host Tool
The `pa3tool` is a host tool to interface with the ProASIC3 on the Q7S board. It was
installed on the clean room PC but it can also be found
[on the Traq platform](https://trac2.xiphos.ca/manual/attachment/wiki/WikiStart/libpa3-1.3.4.tar.gz).
For more information, see Q7S datasheet.
## Creating files with cat and echo
The only folder which can be written in the root filesystem is the `tmp` folder.
You can create a simple file with initial content with `echo`
```sh
echo "Hallo Welt" > /tmp/test.txt
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 `system` when debugging
Please note that when using a `system` call in C++/C code and debugging, a new thread will be
spawned which will appear on the left in Eclipse or Xilinx SDK as a `sh` program.
The debugger might attach to this child process automatically, depending on debugger configuration,
and the process needs to be selected and continued/started manually. You can enable or disable
this behaviour by selecting or deselecting the `Attach Process Children` option in the Remote
Application Configuration for the TCF plugin like shown in the following picture
<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/ProcessSettings.png" width="50%"> <br>
## Libgpiod
Detect all gpio device files:
@ -626,7 +652,84 @@ gpioget <gpiogroup> <offset>
Example to get state:
gpioget gpiochip7 14
## Running the EIVE OBSW on a Raspberry Pi
Both the MIOs and EMIOs can be accessed via the zynq_gpio instance which
comprises 118 pins (54 MIOs and 64 EMIOs).
## Xilinx UARTLIE
Get info about ttyUL* devices
````
cat /proc/tty/driver
````
## I2C
Getting information about I2C device
````
ls /sys/class/i2c-dev/i2c-0/device/device/driver
````
This shows the memory mapping of /dev/i2c-0
## CAN
```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
````
For Q7S use this:
````
cansend can0 5A1#11.22.33.44.55.66.77.88
````
Turn loopback mode on:
````
ip link set can0 type can bitrate 1000000 loopback on
````
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
EIVE implementation
### rootfs
- Mount point `/mnt/sd0` created for SD card 0. Created with `mkdir`
- Mount point `/mnt/sd1` created for SD card 1. Created with `mkdir`
- Folder `scripts` in `/home/root` folder.
- `scripts` folder currently contains `update_main_components.sh` script
### SD Cards
- Folder `bin` for binaries, for example the OBSW
- Folder `misc` for miscellaneous files
- Folder `tc` for telecommands
- Folder `tm` for telemetry
- Folder `xdi` for XDI components (e.g. for firmware or device tree updates)
# Running the EIVE OBSW on a Raspberry Pi
Special section for running the EIVE OBSW on the Raspberry Pi.
The Raspberry Pi build uses the `bsp_rpi` BSP folder, and a very similar cross-compiler.
@ -642,28 +745,21 @@ sudo apt-get install gpiod libgpiod-dev
to install the required GPIO libraries before cloning the system root folder.
## Special notes on Eclipse
# Flight Software Framework (FSFW)
When using Eclipse, there are two special build variables in the project properties
&rarr; C/C++ Build &rarr; Build Variables called `Q7S_SYSROOT` or `RPI_SYSROOT`. You can set
the sysroot path in those variables to get any additional includes like `gpiod.h` in the
Eclipse indexer.
An EIVE fork of the FSFW is submodules into this repository.
To add the master upstream branch and merge changes and updates from it
into the fork, run the following command in the fsfw folder first:
## Xilinx UARTLIE
Get info about ttyUL* devices
````
cat /proc/tty/driver
````
```sh
git remote add upstream https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git
git remote update --prune
```
## I2C
Getting information about I2C device
````
ls /sys/class/i2c-dev/i2c-0/device/device/driver
````
This shows the memory mapping of /dev/i2c-0
After that, an update can be merged by running
## Useful Q7S Linux Commands
Rebooting currently running image:
````
xsc_boot_copy -r
````
```sh
git merge upstream/master
```
Alternatively, changes from other upstreams (forks) and branches can be merged like that in the same way.

6
bsp_linux_board/InitMission.cpp
View File

@ -135,9 +135,9 @@ void initmission::initTasks() {
}
#if OBSW_ADD_TEST_PST == 1
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
"ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
result = pst::pollingSequenceTest(pstTestTask);
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
result = pst::pstTest(pstTestTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;
}

16
bsp_linux_board/ObjectFactory.cpp
View File

@ -1,3 +1,6 @@
#include <fsfw_hal/linux/uart/UartComIF.h>
#include <fsfw_hal/linux/uart/UartCookie.h>
#include <mission/devices/GPSHyperionHandler.h>
#include "ObjectFactory.h"
#include "objects/systemObjectList.h"
@ -68,6 +71,8 @@ void ObjectFactory::produce(void* args){
#if RPI_ADD_UART_TEST == 1
new UartTestClass(objects::UART_TEST);
#else
new UartComIF(objects::UART_COM_IF);
#endif
#if RPI_LOOPBACK_TEST_GPIO == 1
@ -146,4 +151,15 @@ void ObjectFactory::produce(void* args){
auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
adisGyroHandler->setStartUpImmediately();
#endif /* RPI_TEST_ADIS16507 == 1 */
#if RPI_TEST_GPS_HANDLER == 1
UartCookie* uartCookie = new UartCookie(objects::GPS0_HANDLER, "/dev/serial0",
UartModes::CANONICAL, 9600, 1024);
uartCookie->setToFlushInput(true);
uartCookie->setReadCycles(6);
GPSHyperionHandler* gpsHandler = new GPSHyperionHandler(objects::GPS0_HANDLER,
objects::UART_COM_IF, uartCookie);
gpsHandler->setStartUpImmediately();
#endif
}

1
bsp_linux_board/boardconfig/rpiConfig.h.in
View File

@ -7,6 +7,7 @@
#define RPI_LOOPBACK_TEST_GPIO 0
#define RPI_TEST_ADIS16507 0
#define RPI_TEST_GPS_HANDLER 0
// Only one of those 2 should be enabled!
#define RPI_ADD_SPI_TEST 0

17
bsp_q7s/CMakeLists.txt
View File

@ -1,11 +1,16 @@
target_sources(${TARGET_NAME} PUBLIC
InitMission.cpp
main.cpp
ObjectFactory.cpp
)
add_subdirectory(boardconfig)
add_subdirectory(comIF)
add_subdirectory(boardtest)
add_subdirectory(gpio)
add_subdirectory(core)
if(Q7S_SIMPLE_MODE)
add_subdirectory(simple)
else()
add_subdirectory(boardconfig)
add_subdirectory(comIF)
add_subdirectory(gpio)
add_subdirectory(core)
add_subdirectory(memory)
add_subdirectory(spiCallbacks)
endif()

24
bsp_q7s/boardconfig/q7sConfig.h.in
View File

@ -1,13 +1,35 @@
#ifndef BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_
#define BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_
#define Q7S_ADD_RTD_DEVICES 0
#include <cstdint>
#cmakedefine01 Q7S_SIMPLE_MODE
#define Q7S_SD_NONE 0
#define Q7S_SD_COLD_REDUNDANT 1
#define Q7S_SD_HOT_REDUNDANT 2
// The OBSW will perform different actions to set up the SD cards depending on the flag set here
// Set to Q7S_SD_NONE: Don't do anything
// Set to Q7S_COLD_REDUNDANT: On startup, get the prefered SD card, turn it on and mount it, and
// turn off the second SD card if it is on
// Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them
#define Q7S_SD_CARD_CONFIG Q7S_SD_COLD_REDUNDANT
#define Q7S_ADD_RTD_DEVICES 0
/* Only one of those 2 should be enabled! */
/* Add code for ACS board */
#define OBSW_ADD_ACS_BOARD 0
#if OBSW_ADD_ACS_BOARD == 0
#define Q7S_ADD_SPI_TEST 0
#endif
#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0
namespace config {
static const uint32_t SD_CARD_ACCESS_MUTEX_TIMEOUT = 50;
}
#endif /* BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ */

2
bsp_q7s/boardtest/CMakeLists.txt
View File

@ -1,4 +1,6 @@
target_sources(${TARGET_NAME} PRIVATE
FileSystemTest.cpp
Q7STestTask.cpp
)

21
bsp_q7s/boardtest/FileSystemTest.cpp Normal file
View File

@ -0,0 +1,21 @@
#include "FileSystemTest.h"
#include "fsfw/timemanager/Stopwatch.h"
#include <iostream>
#include <cstdlib>
FileSystemTest::FileSystemTest() {
using namespace std;
SdCard sdCard = SdCard::SDC0;
cout << "SD Card Test for SD card " << static_cast<int>(sdCard) << std::endl;
//Stopwatch stopwatch;
std::system("q7hw sd info all > /tmp/sd_status.txt");
//stopwatch.stop(true);
std::system("q7hw sd set 0 on > /tmp/sd_set.txt");
//stopwatch.stop(true);
std::system("q7hw sd set 0 off > /tmp/sd_set.txt");
//stopwatch.stop(true);
}
FileSystemTest::~FileSystemTest() {
}

18
bsp_q7s/boardtest/FileSystemTest.h Normal file
View File

@ -0,0 +1,18 @@
#ifndef BSP_Q7S_BOARDTEST_FILESYSTEMTEST_H_
#define BSP_Q7S_BOARDTEST_FILESYSTEMTEST_H_
enum SdCard {
SDC0,
SDC1
};
class FileSystemTest {
public:
FileSystemTest();
virtual~ FileSystemTest();
private:
};
#endif /* BSP_Q7S_BOARDTEST_FILESYSTEMTEST_H_ */

67
bsp_q7s/boardtest/Q7STestTask.cpp Normal file
View File

@ -0,0 +1,67 @@
#include "Q7STestTask.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/tasks/TaskFactory.h"
#include "bsp_q7s/memory/scratchApi.h"
#include <iostream>
#include <fstream>
#include <cstdio>
Q7STestTask::Q7STestTask(object_id_t objectId): TestTask(objectId) {
}
ReturnValue_t Q7STestTask::performOneShotAction() {
//sdCardTests();
testScratchApi();
return TestTask::performOneShotAction();
}
void Q7STestTask::sdCardTests() {
using namespace std;
Stopwatch stopwatch;
int result = std::system("q7hw sd info all > /tmp/sd_status.txt");
if(result != 0) {
sif::debug << "system call failed with " << result << endl;
}
ifstream sdStatus("/tmp/sd_status.txt");
string line;
uint8_t idx = 0;
while (std::getline(sdStatus, line)) {
std::istringstream iss(line);
string word;
while(iss >> word) {
if(word == "on") {
sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl;
}
else if(word == "off") {
sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl;
}
}
idx++;
}
std::remove("/tmp/sd_status.txt");
}
void Q7STestTask::fileTests() {
using namespace std;
ofstream testFile("/tmp/test.txt");
testFile << "Hallo Welt" << endl;
testFile.close();
system("echo \"Hallo Welt\" > /tmp/test2.txt");
system("echo \"Hallo Welt\"");
}
void Q7STestTask::testScratchApi() {
ReturnValue_t result = scratch::writeNumber("TEST", 1);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Writing number failed" << std::endl;
}
int number = 0;
result = scratch::readNumber("TEST", number);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
}
}

20
bsp_q7s/boardtest/Q7STestTask.h Normal file
View File

@ -0,0 +1,20 @@
#ifndef BSP_Q7S_BOARDTEST_Q7STESTTASK_H_
#define BSP_Q7S_BOARDTEST_Q7STESTTASK_H_
#include "test/testtasks/TestTask.h"
class Q7STestTask: public TestTask {
public:
Q7STestTask(object_id_t objectId);
private:
ReturnValue_t performOneShotAction() override;
void sdCardTests();
void fileTests();
void testScratchApi();
};
#endif /* BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ */

6
bsp_q7s/bsp_q7s.mk
View File

@ -1,6 +0,0 @@
CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/comIF/cookies/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp)
CSRC += $(wildcard $(CURRENTPATH)/*.c)
CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c)

3
bsp_q7s/core/CMakeLists.txt
View File

@ -1,3 +1,6 @@
target_sources(${TARGET_NAME} PRIVATE
CoreController.cpp
obsw.cpp
InitMission.cpp
ObjectFactory.cpp
)

122
bsp_q7s/core/CoreController.cpp
View File

@ -1,4 +1,7 @@
#include "CoreController.h"
#include "q7sConfig.h"
#include "../memory/SdCardManager.h"
CoreController::CoreController(object_id_t objectId):
ExtendedControllerBase(objectId, objects::NO_OBJECT, 5) {
@ -20,7 +23,126 @@ LocalPoolDataSetBase* CoreController::getDataSetHandle(sid_t sid) {
return nullptr;
}
ReturnValue_t CoreController::initialize() {
return sdCardInit();
}
ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CoreController::sdCardInit() {
#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
sif::info << "No SD card initialization will be performed" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
#else
SdCardManager* sdcMan = SdCardManager::instance();
// Create update status file
ReturnValue_t result = sdcMan->updateSdCardStateFile();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Updating SD card state file failed"
<< std::endl;
}
auto sdStatus = std::pair<sd::SdStatus, sd::SdStatus>(sd::SdStatus::OFF, sd::SdStatus::OFF);
result = sdcMan->getSdCardActiveStatus(sdStatus);
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;
#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
sif::info << "Hot redundant SD card configuration" << std::endl;
setUpSdCard(sd::SdCard::SLOT_0, sdStatus.first, "0");
setUpSdCard(sd::SdCard::SLOT_1, sdStatus.second, "1");
// Update status file
sdcMan->updateSdCardStateFile();
return HasReturnvaluesIF::RETURN_OK;
#endif
#endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
}

4
bsp_q7s/core/CoreController.h
View File

@ -7,6 +7,8 @@ class CoreController: public ExtendedControllerBase {
public:
CoreController(object_id_t objectId);
ReturnValue_t initialize() override;
ReturnValue_t handleCommandMessage(CommandMessage *message) override;
void performControlOperation() override;
private:
@ -15,6 +17,8 @@ private:
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode);
ReturnValue_t sdCardInit();
};

80
bsp_q7s/InitMission.cpp → bsp_q7s/core/InitMission.cpp
View File

@ -44,6 +44,7 @@ void initmission::initMission() {
void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(factory == nullptr) {
/* Should never happen ! */
return;
@ -54,11 +55,18 @@ void initmission::initTasks() {
void (*missedDeadlineFunc) (void) = nullptr;
#endif
PeriodicTaskIF* coreController = factory->createPeriodicTask(
"CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = coreController->addComponent(objects::CORE_CONTROLLER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
}
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
ReturnValue_t result = tmTcDistributor->addComponent(
objects::CCSDS_PACKET_DISTRIBUTOR);
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
}
@ -85,14 +93,6 @@ void initmission::initTasks() {
initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
}
/* UDP bridge */
PeriodicTaskIF* errorReporterTestTask = factory->createPeriodicTask(
"ERROR_REPORTER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = udpBridgeTask->addComponent(objects::INTERNAL_ERROR_REPORTER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
}
#if TEST_CCSDS_BRIDGE == 1
PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
"PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
@ -112,10 +112,14 @@ void initmission::initTasks() {
PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
result = pusEvents->addComponent(objects::EVENT_MANAGER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
@ -153,30 +157,51 @@ void initmission::initTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
}
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
}
#if TE0720 == 0
//TODO: Add handling of missed deadlines
/* Polling Sequence Table Default */
#if Q7S_ADD_SPI_TEST == 0
FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask(
"PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
FixedTimeslotTaskIF* spiPst = factory->createFixedTimeslotTask(
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
missedDeadlineFunc);
result = pst::pollingSequenceInitDefault(pollingSequenceTableTaskDefault);
result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
#endif
FixedTimeslotTaskIF* gomSpacePstTask = factory->
createFixedTimeslotTask("GS_PST_TASK", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 1.0, missedDeadlineFunc);
result = pst::gomspacePstInit(gomSpacePstTask);
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
#else /* TE7020 == 0 */
FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask(
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
missedDeadlineFunc);
@ -184,7 +209,7 @@ void initmission::initTasks() {
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
}
#endif
#endif /* TE7020 == 1 */
#if OBSW_ADD_TEST_CODE == 1
PeriodicTaskIF* testTask = factory->createPeriodicTask(
@ -212,10 +237,17 @@ void initmission::initTasks() {
tmTcDistributor->startTask();
udpBridgeTask->startTask();
udpPollingTask->startTask();
coreController->startTask();
#if TE0720 == 0 && Q7S_ADD_SPI_TEST == 0
#if TE0720 == 0
uartPst->startTask();
gpioPst->startTask();
i2cPst->startTask();
#if Q7S_ADD_SPI_TEST == 0
gomSpacePstTask->startTask();
pollingSequenceTableTaskDefault->startTask();
spiPst->startTask();
#endif /* Q7S_ADD_SPI_TEST == 0 */
#elif TE0720 == 1 && Q7S_ADD_SPI_TEST == 0
pollingSequenceTaskTE0720->startTask();
#endif
@ -226,8 +258,6 @@ void initmission::initTasks() {
pusMedPrio->startTask();
pusLowPrio->startTask();
errorReporterTestTask->startTask();
#if OBSW_ADD_TEST_CODE == 1
testTask->startTask();
#endif

0
bsp_q7s/InitMission.h → bsp_q7s/core/InitMission.h
View File

88
bsp_q7s/ObjectFactory.cpp → bsp_q7s/core/ObjectFactory.cpp
View File

@ -1,3 +1,4 @@
#include <bsp_q7s/boardtest/Q7STestTask.h>
#include "ObjectFactory.h"
#include "OBSWConfig.h"
#include "tmtc/apid.h"
@ -9,6 +10,7 @@
#include "bsp_q7s/gpio/gpioCallbacks.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/spiCallbacks/rwSpiCallback.h"
#include <linux/devices/HeaterHandler.h>
#include <linux/devices/SolarArrayDeploymentHandler.h>
@ -31,11 +33,13 @@
#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>
@ -518,8 +522,6 @@ void ObjectFactory::produce(void* args){
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);
rtdIc17->setStartUpImmediately();
// rtdIc4->setStartUpImmediately();
(void) rtdIc3;
(void) rtdIc4;
@ -535,7 +537,7 @@ void ObjectFactory::produce(void* args){
(void) rtdIc14;
(void) rtdIc15;
(void) rtdIc16;
// (void) rtdIc17;
(void) rtdIc17;
(void) rtdIc18;
#endif /* Q7S_ADD_RTD_DEVICES == 1 */
@ -544,18 +546,87 @@ void ObjectFactory::produce(void* args){
std::string("/dev/i2c-0"));
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
UartCookie* plocUartCookie = new UartCookie(objects::PLOC_HANDLER, std::string("/dev/ttyUL3"),
UartCookie* plocUartCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
UartModes::NON_CANONICAL, 115200, PLOC::MAX_REPLY_SIZE);
PlocHandler* plocHandler = new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF,
plocUartCookie);
// plocHandler->setStartUpImmediately();
(void) plocHandler;
new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, plocUartCookie);
GpioCookie* gpioCookieRw = new GpioCookie;
GpioCallback* csRw1 = new GpioCallback(std::string("Chip select reaction wheel 1"), gpio::OUT,
1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
GpioCallback* csRw2 = new GpioCallback(std::string("Chip select reaction wheel 2"), gpio::OUT,
1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
GpioCallback* csRw3 = new GpioCallback(std::string("Chip select reaction wheel 3"), gpio::OUT,
1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
GpioCallback* csRw4 = new GpioCallback(std::string("Chip select reaction wheel 4"), gpio::OUT,
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);
/**
* 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);
auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, "/dev/spidev3.0",
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, "/dev/spidev3.0",
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, "/dev/spidev3.0",
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, "/dev/spidev3.0",
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);
rw1SpiCookie->setCallbackArgs(rwHandler1);
auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
gpioIds::EN_RW2);
rw2SpiCookie->setCallbackArgs(rwHandler2);
auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
gpioIds::EN_RW3);
rw3SpiCookie->setCallbackArgs(rwHandler3);
auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
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
new Q7STestTask(objects::TEST_TASK);
#endif
#if TE0720 == 1 && TEST_LIBGPIOD == 1
/* Configure MIO0 as input */
GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
@ -630,4 +701,5 @@ void ObjectFactory::produce(void* args){
#if Q7S_ADD_SPI_TEST == 1
new SpiTestClass(objects::SPI_TEST, gpioComIF);
#endif
}

0
bsp_q7s/ObjectFactory.h → bsp_q7s/core/ObjectFactory.h
View File

25
bsp_q7s/core/obsw.cpp Normal file
View File

@ -0,0 +1,25 @@
#include "obsw.h"
#include "OBSWVersion.h"
#include "InitMission.h"
#include "fsfw/tasks/TaskFactory.h"
#include <iostream>
int obsw::obsw() {
std::cout << "-- EIVE OBSW --" << std::endl;
#if TE0720 == 0
std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
#else
std::cout << "-- Compiled for Linux (TE0720) --" << std::endl;
#endif
std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "."
<< SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
initmission::initMission();
for(;;) {
/* Suspend main thread by sleeping it. */
TaskFactory::delayTask(5000);
}
return 0;
}

10
bsp_q7s/core/obsw.h Normal file
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@ -0,0 +1,10 @@
#ifndef BSP_Q7S_CORE_OBSW_H_
#define BSP_Q7S_CORE_OBSW_H_
namespace obsw {
int obsw();
};
#endif /* BSP_Q7S_CORE_OBSW_H_ */

34
bsp_q7s/gpio/gpioCallbacks.cpp
View File

@ -45,11 +45,13 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
GpiodRegular* spiMuxBit6 = new GpiodRegular(std::string("gpiochip7"), 18,
std::string("SPI Mux Bit 6"), gpio::OUT, 0);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit6);
GpiodRegular* enRwDecoder = new GpiodRegular(std::string("gpiochip5"), 17,
std::string("EN_RW_CS"), gpio::OUT, 1);
spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
result = gpioComInterface->addGpios(spiMuxGpios);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF"
<< std::endl;
sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
return;
}
}
@ -218,6 +220,26 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value
selectY6();
break;
}
case(gpioIds::CS_RW1): {
enableRwDecoder();
selectY0();
break;
}
case(gpioIds::CS_RW2): {
enableRwDecoder();
selectY1();
break;
}
case(gpioIds::CS_RW3): {
enableRwDecoder();
selectY2();
break;
}
case(gpioIds::CS_RW4): {
enableRwDecoder();
selectY3();
break;
}
default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
}
@ -251,6 +273,13 @@ void enableDecoderInterfaceBoardIc2() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
}
void enableRwDecoder() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullHigh(gpioIds::EN_RW_CS);
}
void selectY0() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
@ -303,6 +332,7 @@ void disableAllDecoder() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullLow(gpioIds::EN_RW_CS);
}
}

5
bsp_q7s/gpio/gpioCallbacks.h
View File

@ -43,6 +43,11 @@ namespace gpioCallbacks {
*/
void enableDecoderInterfaceBoardIc2();
/**
* @brief Enables the reaction wheel chip select decoder (IC3).
*/
void enableRwDecoder();
/**
* @brief This function disables all decoder.
*/

33
bsp_q7s/main.cpp
View File

@ -1,34 +1,23 @@
#include "InitMission.h"
#include <OBSWVersion.h>
#include <fsfw/tasks/TaskFactory.h>
#include "OBSWConfig.h"
#include "q7sConfig.h"
#if Q7S_SIMPLE_MODE == 0
#include "core/obsw.h"
#else
#include "simple/simple.h"
#endif
#include <iostream>
#include <unistd.h>
/**
* @brief This is the main program for the target hardware.
* @return
*/
int main(void)
{
std::cout << "-- EIVE OBSW --" << std::endl;
#if TE0720 == 0
std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
using namespace std;
#if Q7S_SIMPLE_MODE == 0
return obsw::obsw();
#else
std::cout << "-- Compiled for Linux (TE0720) --" << std::endl;
return simple::simple();
#endif
std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "."
<< SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
initmission::initMission();
for(;;) {
/* Suspend main thread by sleeping it. */
TaskFactory::delayTask(5000);
}
}

5
bsp_q7s/memory/CMakeLists.txt
View File

@ -1,4 +1,5 @@
target_sources(${TARGET_NAME} PRIVATE
FileSystemManager.cpp
SdCardAccess.cpp
FileSystemHandler.cpp
SdCardManager.cpp
scratchApi.cpp
)

184
bsp_q7s/memory/FileSystemHandler.cpp Normal file
View File

@ -0,0 +1,184 @@
#include "FileSystemHandler.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/memory/GenericFileSystemMessage.h"
#include "fsfw/ipc/QueueFactory.h"
#include <filesystem>
FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler):
SystemObject(fileSystemHandler) {
mq = QueueFactory::instance()->createMessageQueue(FS_MAX_QUEUE_SIZE);
}
FileSystemHandler::~FileSystemHandler() {
QueueFactory::instance()->deleteMessageQueue(mq);
}
ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
while(true) {
try {
fileSystemHandlerLoop();
}
catch(std::bad_alloc& e) {
// 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
}
}
}
void FileSystemHandler::fileSystemHandlerLoop() {
CommandMessage filemsg;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
while(true) {
if(opCounter % 5 == 0) {
fileSystemCheckup();
}
result = mq->receiveMessage(&filemsg);
if(result == MessageQueueIF::EMPTY) {
break;
}
else if(result != HasReturnvaluesIF::RETURN_FAILED) {
sif::warning << "FileSystemHandler::performOperation: Message reception failed!"
<< std::endl;
break;
}
Command_t command = filemsg.getCommand();
switch(command) {
case(GenericFileSystemMessage::CMD_CREATE_DIRECTORY): {
break;
}
case(GenericFileSystemMessage::CMD_CREATE_FILE): {
break;
}
}
opCounter++;
}
// 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
TaskFactory::instance()->delayTask(1000);
}
void FileSystemHandler::fileSystemCheckup() {
SdCardManager::SdStatusPair statusPair;
sdcMan->getSdCardActiveStatus(statusPair);
sd::SdCard preferredSdCard;
sdcMan->getPreferredSdCard(preferredSdCard);
if((preferredSdCard == sd::SdCard::SLOT_0) and
(statusPair.first == sd::SdStatus::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
}
if((preferredSdCard == sd::SdCard::SLOT_1) and
(statusPair.second == sd::SdStatus::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
}
else {
std::string sdString;
if(preferredSdCard == sd::SdCard::SLOT_0) {
sdString = "0";
}
else {
sdString = "1";
}
sif::warning << "FileSystemHandler::performOperation: Inconsistent" <<
" state detected. 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);
if(result != HasReturnvaluesIF::RETURN_OK) {
// Oh no.
// TODO: Trigger medium severity event
sif::error << "Fix failed" << std::endl;
}
}
}
MessageQueueId_t FileSystemHandler::getCommandQueue() const {
return mq->getId();
}
ReturnValue_t FileSystemHandler::initialize() {
sdcMan = SdCardManager::instance();
sd::SdCard preferredSdCard;
ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if(preferredSdCard == sd::SdCard::SLOT_0) {
currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
}
else if(preferredSdCard == sd::SdCard::SLOT_1) {
currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::appendToFile(const char *repositoryPath, const char *filename,
const uint8_t *data, size_t size, uint16_t packetNumber, void *args) {
// 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);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::createFile(const char *repositoryPath, const char *filename,
const uint8_t *data, size_t size, void *args) {
// 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);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::deleteFile(const char *repositoryPath, const char *filename,
void *args) {
// 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);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::createDirectory(const char *repositoryPath, void *args) {
std::string fullPath = currentMountPrefix + std::string(repositoryPath);
if(std::filesystem::exists(fullPath)) {
return DIRECTORY_ALREADY_EXISTS;
}
if(std::filesystem::create_directory(fullPath)) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::warning << "Creating directory " << fullPath << " failed" << std::endl;
return GENERIC_FILE_ERROR;
}
ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath,
bool deleteRecurively, void *args) {
std::string fullPath = currentMountPrefix + std::string(repositoryPath);
if(not std::filesystem::exists(fullPath)) {
return DIRECTORY_DOES_NOT_EXIST;
}
std::error_code err;
if(not deleteRecurively) {
if(std::filesystem::remove(fullPath, err)) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
// Check error code. Most probably denied permissions because folder is not empty
}
}
else {
if(std::filesystem::remove_all(fullPath, err)) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
// Check error code
}
}
return HasReturnvaluesIF::RETURN_OK;
}

56
bsp_q7s/memory/FileSystemHandler.h Normal file
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@ -0,0 +1,56 @@
#ifndef BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
#define BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
#include "SdCardManager.h"
#include "OBSWConfig.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/memory/HasFileSystemIF.h"
#include <string>
class FileSystemHandler: public SystemObject,
public ExecutableObjectIF,
public HasFileSystemIF {
public:
FileSystemHandler(object_id_t fileSystemHandler);
virtual~ FileSystemHandler();
ReturnValue_t performOperation(uint8_t) override;
ReturnValue_t initialize() override;
/**
* Function to get the MessageQueueId_t of the implementing object
* @return MessageQueueId_t of the object
*/
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,
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;
};
#endif /* BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_ */

7
bsp_q7s/memory/FileSystemManager.cpp
View File

@ -1,7 +0,0 @@
#include "FileSystemManager.h"
class FileSystemManager {
public:
private:
};

8
bsp_q7s/memory/FileSystemManager.h
View File

@ -1,8 +0,0 @@
#ifndef BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_
#define BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_
#endif /* BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_ */

4
bsp_q7s/memory/SdCardAccess.cpp
View File

@ -1,4 +0,0 @@
#include "SdCardAccess.h"
SdCardAccess::SdCardAccess() {
}

11
bsp_q7s/memory/SdCardAccess.h
View File

@ -1,11 +0,0 @@
#ifndef BSP_Q7S_MEMORY_SDCARDACCESS_H_
#define BSP_Q7S_MEMORY_SDCARDACCESS_H_
class SdCardAccess {
public:
SdCardAccess();
private:
};
#endif /* BSP_Q7S_MEMORY_SDCARDACCESS_H_ */

333
bsp_q7s/memory/SdCardManager.cpp Normal file
View File

@ -0,0 +1,333 @@
#include "SdCardManager.h"
#include "scratchApi.h"
#include "linux/utility/utility.h"
#include "fsfw/ipc/MutexFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <fstream>
#include <memory>
#include <filesystem>
SdCardManager* SdCardManager::factoryInstance = nullptr;
SdCardManager::SdCardManager() {
}
SdCardManager::~SdCardManager() {
}
void SdCardManager::create() {
if(factoryInstance == nullptr) {
factoryInstance = new SdCardManager();
}
}
SdCardManager* SdCardManager::instance() {
SdCardManager::create();
return SdCardManager::factoryInstance;
}
ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
SdStatusPair* statusPair) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(statusPair == nullptr) {
statusPair = std::make_unique<SdStatusPair>().get();
result = getSdCardActiveStatus(*statusPair);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
// Not allowed, this function turns on one SD card
if(sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
sd::SdStatus targetStatus;
if(sdCard == sd::SdCard::SLOT_0) {
targetStatus = statusPair->first;
}
else if(sdCard == sd::SdCard::SLOT_1) {
targetStatus = statusPair->second;
}
auto switchCall = [&]() {
if(targetStatus == sd::SdStatus::ON) {
if(not doMountSdCard) {
return ALREADY_ON;
}
else {
return mountSdCard(sdCard);
}
}
else if(targetStatus == sd::SdStatus::MOUNTED) {
return ALREADY_MOUNTED;
}
else if(targetStatus == sd::SdStatus::OFF) {
return setSdCardState(sdCard, true);
}
else {
return HasReturnvaluesIF::RETURN_FAILED;
}
};
result = switchCall();
if(result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) {
return result;
}
return mountSdCard(sdCard);
}
ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard,
SdStatusPair* statusPair) {
std::pair<sd::SdStatus, sd::SdStatus> active;
ReturnValue_t result = getSdCardActiveStatus(active);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
// Not allowed, this function turns off one SD card
if(sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(sdCard == sd::SdCard::SLOT_0) {
if(active.first == sd::SdStatus::OFF) {
return ALREADY_OFF;
}
}
else if(sdCard == sd::SdCard::SLOT_1) {
if(active.second == sd::SdStatus::OFF) {
return ALREADY_OFF;
}
}
if(doUnmountSdCard) {
result = unmountSdCard(sdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return setSdCardState(sdCard, false);
}
ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
using namespace std;
string sdstring = "";
string statestring = "";
if(sdCard == sd::SdCard::SLOT_0) {
sdstring = "0";
}
else if(sdCard == sd::SdCard::SLOT_1) {
sdstring = "1";
}
if(on) {
statestring = "on";
}
else {
statestring = "off";
}
ostringstream command;
command << "q7hw sd set " << sdstring << " " << statestring;
int result = system(command.str().c_str());
if(result == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::warning << "SdCardManager::setSdCardState: system call failed with code " <<
result << std::endl;
return SYSTEM_CALL_ERROR;
}
ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatusPair& active) {
using namespace std;
if(not filesystem::exists(SD_STATE_FILE)) {
return STATUS_FILE_NEXISTS;
}
// Now the file should exist in any case. Still check whether it exists.
fstream sdStatus(SD_STATE_FILE);
if (not sdStatus.good()) {
return STATUS_FILE_NEXISTS;
}
string line;
uint8_t idx = 0;
sd::SdCard currentSd = sd::SdCard::SLOT_0;
// Process status file line by line
while (std::getline(sdStatus, line)) {
processSdStatusLine(active, line, idx, currentSd);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
using namespace std;
if(sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::mountSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
string mountDev;
string mountPoint;
if(sdCard == sd::SdCard::SLOT_0) {
mountDev = SD_0_DEV_NAME;
mountPoint = SD_0_MOUNT_POINT;
}
else if(sdCard == sd::SdCard::SLOT_1) {
mountDev = SD_1_DEV_NAME;
mountPoint = SD_1_MOUNT_POINT;
}
if(not filesystem::exists(mountDev)) {
sif::warning << "SdCardManager::mountSdCard: Device file does not exists. Make sure to"
" turn on the SD card" << std::endl;
return MOUNT_ERROR;
}
string sdMountCommand = "mount " + mountDev + " " + mountPoint;
int result = system(sdMountCommand.c_str());
if (result != 0) {
utility::handleSystemError(result, "SdCardManager::mountSdCard");
return SYSTEM_CALL_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
using namespace std;
if(sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::unmountSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
string mountPoint;
if(sdCard == sd::SdCard::SLOT_0) {
mountPoint = SD_0_MOUNT_POINT;
}
else if(sdCard == sd::SdCard::SLOT_1) {
mountPoint = SD_1_MOUNT_POINT;
}
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.
sif::warning << "SdCardManager::unmountSdCard: Mount point is empty!" << std::endl;
}
string sdUnmountCommand = "umount " + mountPoint;
int result = system(sdUnmountCommand.c_str());
if (result != 0) {
utility::handleSystemError(result, "SdCardManager::unmountSdCard");
return SYSTEM_CALL_ERROR;
}
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);
}
if(statusPair == nullptr) {
statusPair = std::make_unique<SdStatusPair>().get();
getSdCardActiveStatus(*statusPair);
}
auto sanitizerFunc = [&](sd::SdCard prefSdCard) {
if(statusPair->first == sd::SdStatus::ON) {
return mountSdCard(prefSdCard);
}
else {
return switchOnSdCard(prefSdCard, true, statusPair);
}
};
return sanitizerFunc(*prefSdCard);
}
void SdCardManager::processSdStatusLine(std::pair<sd::SdStatus, sd::SdStatus> &active,
std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
using namespace std;
istringstream iss(line);
string word;
bool slotLine = false;
bool mountLine = false;
while(iss >> word) {
if (word == "Slot") {
slotLine = true;
}
if(word == "Mounted") {
mountLine = true;
}
if(slotLine) {
if (word == "1:") {
currentSd = sd::SdCard::SLOT_1;
}
if(word == "on") {
if(currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdStatus::ON;
}
else {
active.second = sd::SdStatus::ON;
}
}
else if (word == "off") {
if(currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdStatus::OFF;
}
else {
active.second = sd::SdStatus::OFF;
}
}
}
if(mountLine) {
if(currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdStatus::MOUNTED;
}
else {
active.second = sd::SdStatus::MOUNTED;
}
}
if(idx > 5) {
sif::warning << "SdCardManager::sdCardActive: /tmp/sd_status.txt has more than 6 "
"lines and might be invalid!" << std::endl;
}
}
idx++;
}
ReturnValue_t SdCardManager::getPreferredSdCard(sd::SdCard& sdCard) const {
uint8_t prefSdCard = 0;
ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
sdCard = static_cast<sd::SdCard>(prefSdCard);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
if(sdCard == sd::SdCard::BOTH) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard));
}
ReturnValue_t SdCardManager::updateSdCardStateFile() {
// Use q7hw utility and pipe the command output into the state file
std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
int result = std::system(updateCmd.c_str());
if(result == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::warning << "SdCardManager::updateSdCardStateFile: system call failed with code " <<
result << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}

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#ifndef BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_
#define BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_
#include "definitions.h"
#include "returnvalues/classIds.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <cstdint>
#include <utility>
#include <string>
class MutexIF;
/**
* @brief Manages handling of SD cards like switching them on or off or getting the current
* state
*/
class SdCardManager {
friend class SdCardAccess;
public:
using SdStatusPair = std::pair<sd::SdStatus, sd::SdStatus>;
static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;
static constexpr ReturnValue_t ALREADY_ON =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
static constexpr ReturnValue_t ALREADY_MOUNTED =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
static constexpr ReturnValue_t ALREADY_OFF =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
static constexpr ReturnValue_t STATUS_FILE_NEXISTS =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 10);
static constexpr ReturnValue_t STATUS_FILE_FORMAT_INVALID =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 11);
static constexpr ReturnValue_t MOUNT_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 12);
static constexpr ReturnValue_t UNMOUNT_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 13);
static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 14);
// 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";
static constexpr char SD_0_MOUNT_POINT[] = "/mnt/sd0";
static constexpr char SD_1_MOUNT_POINT[] = "/mnt/sd1";
static constexpr char SD_STATE_FILE[] = "/tmp/sd_status.txt";
virtual ~SdCardManager();
static void create();
/**
* Returns the single instance of the SD card manager.
*/
static SdCardManager* instance();
/**
* Set the preferred SD card which will determine which SD card will be used as the primary
* SD card in hot redundant and cold redundant mode. This function will not switch the
* SD cards which are currently on and mounted, this needs to be implemented by
* an upper layer by using #switchOffSdCard , #switchOnSdCard and #updateSdCardStateFile
* @param sdCard
* @return
*/
ReturnValue_t setPreferredSdCard(sd::SdCard sdCard);
/**
* Get the currently configured preferred SD card
* @param sdCard
* @return
*/
ReturnValue_t getPreferredSdCard(sd::SdCard& sdCard) const;
/**
* Switch on the specified SD card.
* @param sdCard
* @param doMountSdCard Mount the SD card after switching it on, which is necessary
* to use it
* @param statusPair If the status pair is already available, it can be passed here
* @return - RETURN_OK on success, ALREADY_ON if it is already on,
* SYSTEM_CALL_ERROR on system error
*/
ReturnValue_t switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard = true,
SdStatusPair* statusPair = nullptr);
/**
* Switch off the specified SD card.
* @param sdCard
* @param doUnmountSdCard Unmount the SD card before switching the card off, which makes
* the operation safer
* @param statusPair If the status pair is already available, it can be passed here
* @return - RETURN_OK on success, ALREADY_ON if it is already on,
* SYSTEM_CALL_ERROR on system error
*/
ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true,
SdStatusPair* statusPair = nullptr);
/**
* Update the state file or creates one if it does not exist. You need to call this
* function before calling #sdCardActive
* @return - RETURN_OK if the state file was updated successfully
* - SYSTEM_CALL_ERROR if the call to create the status file failed
*/
ReturnValue_t updateSdCardStateFile();
/**
* Get the state of the SD cards. If the state file does not exist, this function will
* take care of updating it. If it does not, the function will use the state file to get
* the status of the SD cards and set the field of the provided boolean pair.
* @param active Pair of booleans, where the first entry is the state of the first SD card
* and the second one the state of the second SD card
* @return - RETURN_OK if the state was read successfully
* - STATUS_FILE_FORMAT_INVALID if there was an issue with the state file. The user
* should call #updateSdCardStateFile again in that case
* - STATUS_FILE_NEXISTS if the status file does not exist
*/
ReturnValue_t getSdCardActiveStatus(SdStatusPair& active);
/**
* Mount the specified SD card. This is necessary to use it.
* @param sdCard
* @return
*/
ReturnValue_t mountSdCard(sd::SdCard sdCard);
/**
* Unmount the specified SD card. This is recommended before switching it off. The SD card
* can't be used after it has been unmounted.
* @param sdCard
* @return
*/
ReturnValue_t unmountSdCard(sd::SdCard sdCard);
/**
* In case that there is a discrepancy between the preferred SD card and the currently
* 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
* @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);
private:
SdCardManager();
ReturnValue_t setSdCardState(sd::SdCard sdCard, bool on);
void processSdStatusLine(SdStatusPair& active, std::string& line, uint8_t& idx,
sd::SdCard& currentSd);
static SdCardManager* factoryInstance;
};
#endif /* BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_ */

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#ifndef BSP_Q7S_MEMORY_DEFINITIONS_H_
#define BSP_Q7S_MEMORY_DEFINITIONS_H_
#include <cstdint>
namespace sd {
enum SdStatus: uint8_t {
OFF = 0,
ON = 1,
// A mounted SD card is on as well
MOUNTED = 2
};
enum SdCard: uint8_t {
SLOT_0,
SLOT_1,
BOTH
};
}
#endif /* BSP_Q7S_MEMORY_DEFINITIONS_H_ */

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#include "scratchApi.h"
ReturnValue_t scratch::writeString(std::string name, std::string string) {
std::ostringstream oss;
oss << "xsc_scratch write " << name << " \"" << string << "\"";
int result = std::system(oss.str().c_str());
if(result != 0) {
utility::handleSystemError(result, "scratch::String");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}

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#ifndef BSP_Q7S_MEMORY_SCRATCHAPI_H_
#define BSP_Q7S_MEMORY_SCRATCHAPI_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "linux/utility/utility.h"
#include <iostream>
#include <fstream>
#include <sstream>
#include <type_traits>
#include <cstdlib>
/**
* @brief API for the scratch buffer
*/
namespace scratch {
static constexpr char PREFERED_SDC_KEY[] = "PREFSD";
namespace {
static uint8_t counter = 0;
}
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t writeNumber(std::string name, T num) noexcept {
std::ostringstream oss;
oss << "xsc_scratch write " << name << " " << num;
int result = std::system(oss.str().c_str());
if(result != 0) {
utility::handleSystemError(result, "scratch::writeNumber");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t readNumber(std::string name, 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(filename);
string line;
if (not std::getline(file, line)) {
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t pos = line.find("=");
std::string valueAsString = line.substr(pos + 1);
try {
num = std::stoi(valueAsString);
}
catch(std::invalid_argument& e) {
sif::warning << "scratch::readNumber: stoi call failed with " << e.what() << std::endl;
}
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t writeString(std::string name, std::string string);
}
#endif /* BSP_Q7S_MEMORY_SCRATCHAPI_H_ */

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target_sources(${TARGET_NAME} PRIVATE
simple.cpp
)

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#include "simple.h"
#include "q7sConfig.h"
#if Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST == 1
#include "../boardtest/FileSystemTest.h"
#endif
int simple::simple() {
cout << "-- Q7S Simple Application --" << endl;
#if Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST == 1
{
FileSystemTest fileSystemTest;
}
#endif
return 0;
}

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#ifndef BSP_Q7S_SIMPLE_SIMPLE_H_
#define BSP_Q7S_SIMPLE_SIMPLE_H_
namespace simple {
int simple();
}
#endif /* BSP_Q7S_SIMPLE_SIMPLE_H_ */

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bsp_q7s/spi/Q7sSpiComIF.cpp Normal file
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#include <bsp_q7s/spi/Q7sSpiComIF.h>
Q7sSpiComIF::Q7sSpiComIF(object_id_t objectId, GpioIF* gpioComIF) :
SpiComIF(objectId, gpioComIF) {
}
Q7sSpiComIF::~Q7sSpiComIF() {
}

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#ifndef BSP_Q7S_SPI_Q7SSPICOMIF_H_
#define BSP_Q7S_SPI_Q7SSPICOMIF_H_
#include <fsfw_hal/linux/spi/SpiComIF.h>
/**
* @brief This additional communication interface is required because the SPI busses behind the
* devices "/dev/spi2.0" and "dev/spidev3.0" are multiplexed to one SPI interface.
* This was necessary because the processing system spi (/dev/spi2.0) does not support
* frequencies lower than 650 kHz. To reach lower frequencies also the CPU frequency must
* be reduced which leads to other effects compromising kernel drivers.
* The nano avionics reaction wheels require a spi frequency between 150 kHz and 300 kHz
* why an additional AXI SPI core has been implemented in the programmable logic. However,
* the spi frequency of the AXI SPI core is not configurable during runtime. Therefore,
* this communication interface multiplexes either the hard-wired SPI or the AXI SPI to
* the SPI interface. The multiplexing is performed via a GPIO connected to a VHDL
* module responsible for switching between the to SPI peripherals.
*/
class Q7sSpiComIF: public SpiComIF {
public:
/**
* @brief Constructor
*
* @param objectId
* @param gpioComIF
* @param gpioSwitchId The gpio ID of the GPIO connected to the SPI mux module in the PL.
*/
Q7sSpiComIF(object_id_t objectId, GpioIF* gpioComIF, gpioId_t gpioSwitchId);
virtual ~Q7sSpiComIF();
};
#endif /* BSP_Q7S_SPI_Q7SSPICOMIF_H_ */

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target_sources(${TARGET_NAME} PRIVATE
rwSpiCallback.cpp
)

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#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 "devices/gpioIds.h"
namespace rwSpiCallback {
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData,
size_t sendLen, void* args) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
RwHandler* handler = reinterpret_cast<RwHandler*>(args);
if(handler == nullptr) {
sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
uint8_t writeBuffer[2];
uint8_t writeSize = 0;
int fileDescriptor = 0;
std::string device = cookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback: ");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
return SpiComIF::OPENING_FILE_FAILED;
}
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
uint32_t spiSpeed = 0;
cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
gpioId_t gpioId = cookie->getChipSelectPin();
GpioIF* gpioIF = comIf->getGpioInterface();
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0;
MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
if(mutex == nullptr or gpioIF == nullptr) {
sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
return result;
}
/** Disconnect PS SPI peripheral and select AXI SPI core */
if(gpioIF->pullHigh(gpioIds::SPI_MUX) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull spi mux gpio high" << std::endl;
}
/** Sending frame start sign */
writeBuffer[0] = 0x7E;
writeSize = 1;
// Pull SPI CS low. For now, no support for active high given
if(gpioId != gpio::NO_GPIO) {
if(gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
}
}
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
}
/** Encoding and sending command */
size_t idx = 0;
while(idx < sendLen) {
switch(*(sendData + idx)) {
case 0x7E:
writeBuffer[0] = 0x7D;
writeBuffer[1] = 0x5E;
writeSize = 2;
break;
case 0x7D:
writeBuffer[0] = 0x7D;
writeBuffer[1] = 0x5D;
writeSize = 2;
break;
default:
writeBuffer[0] = *(sendData + idx);
writeSize = 1;
break;
}
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
}
idx++;
}
/** Sending frame end sign */
writeBuffer[0] = 0x7E;
writeSize = 1;
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
}
uint8_t* rxBuf = nullptr;
result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
if(result != HasReturnvaluesIF::RETURN_OK) {
closeSpi(gpioId, gpioIF, mutex);
return result;
}
size_t replyBufferSize = cookie->getMaxBufferSize();
/** There must be a delay of 20 ms after sending the command */
usleep(RwDefinitions::SPI_REPLY_DELAY);
/**
* The reaction wheel responds with empty frames while preparing the reply data.
* However, receiving more than 5 empty frames will be interpreted as an error.
*/
uint8_t byteRead = 0;
for (int idx = 0; idx < 10; idx++) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_READ_FAILURE;
}
if (byteRead != 0x7E) {
break;
}
if (idx == 9) {
sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::NO_REPLY;
}
}
size_t decodedFrameLen = 0;
while(decodedFrameLen < replyBufferSize) {
/** First byte already read in */
if (decodedFrameLen != 0) {
byteRead = 0;
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
}
}
if (byteRead == 0x7E) {
/** Reached end of frame */
break;
}
else if (byteRead == 0x7D) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
}
if (byteRead == 0x5E) {
*(rxBuf + decodedFrameLen) = 0x7E;
decodedFrameLen++;
continue;
}
else if (byteRead == 0x5D) {
*(rxBuf + decodedFrameLen) = 0x7D;
decodedFrameLen++;
continue;
}
else {
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
result = RwHandler::INVALID_SUBSTITUTE;
break;
}
}
else {
*(rxBuf + decodedFrameLen) = byteRead;
decodedFrameLen++;
continue;
}
/**
* There might be the unlikely case that each byte in a get-telemetry reply has been
* replaced by its substitute. Than the next byte must correspond to the end sign 0x7E.
* Otherwise there might be something wrong.
*/
if (decodedFrameLen == replyBufferSize) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
}
if (byteRead != 0x7E) {
sif::error << "rwSpiCallback::spiCallback: Missing end sign 0x7E" << std::endl;
decodedFrameLen--;
result = RwHandler::MISSING_END_SIGN;
break;
}
}
result = HasReturnvaluesIF::RETURN_OK;
}
cookie->assignTransferSize(decodedFrameLen);
closeSpi(gpioId, gpioIF, mutex);
return result;
}
void closeSpi (gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
if(gpioId != gpio::NO_GPIO) {
if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
}
}
if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;;
}
/** Route SPI interface again to PS SPI peripheral */
if(gpioIF->pullLow(gpioIds::SPI_MUX) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull spi mux gpio low" << std::endl;
}
}
}

44
bsp_q7s/spiCallbacks/rwSpiCallback.h Normal file
View File

@ -0,0 +1,44 @@
#ifndef BSP_Q7S_RW_SPI_CALLBACK_H_
#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>
namespace rwSpiCallback {
/**
* @brief This is the callback function to send commands to the nano avionics reaction wheels and
* receive the replies.
*
* @details The data to sent are additionally encoded according to the HDLC framing defined in the
* datasheet of the reaction wheels:
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
* Arbeitsdaten/08_Used%20Components/Nanoavionics_Reactionwheels&fileid=181622
* Each command entails exactly one reply which will also be read in and decoded by this
* function.
* Because the reaction wheels require a spi clock frequency of maximum 300 kHZ and minimum
* 150 kHz which is not supported by the processing system SPI peripheral an AXI SPI core
* has been implemented in the programmable logic. This AXI SPI core works with a fixed
* frequency of 250 kHz.
* To allow the parallel usage of the same physical SPI bus, a VHDL module has been
* implemented which is able to disconnect the hard-wired SPI peripheral of the PS and
* route the AXI SPI to the SPI lines.
* To switch between the to SPI peripherals, an EMIO is used which will also be controlled
* by this function.
*/
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData,
size_t sendLen, void* args);
/**
* @brief This function closes a spi session. Pulls the chip select to high an releases the
* mutex.
* @param gpioId Gpio ID of chip select
* @param gpioIF Pointer to gpio interface to drive the chip select
* @param mutex The spi mutex
*/
void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
}
#endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */

9
cmake/scripts/Linux/create_cmake_debug_cfg.sh → cmake/scripts/Linux/make_debug_cfg.sh
View File

@ -17,9 +17,16 @@ fi
build_generator="Unix Makefiles"
os_fsfw="linux"
builddir="build-Debug-Host"
if [ "${OS}" = "Windows_NT" ]; then
python="py"
# Could be other OS but this works for now.
else
python="python3"
fi
echo "Running command (without the leading +):"
set -x # Print command
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
# Use this if commands are added which should not be printed
# set +x

8
cmake/scripts/Linux/create_cmake_release_cfg.sh → cmake/scripts/Linux/make_release_cfg.sh
View File

@ -17,9 +17,15 @@ fi
build_generator="Unix Makefiles"
os_fsfw="linux"
builddir="build-Release-Host"
if [ "${OS}" = "Windows_NT" ]; then
python="py"
# Could be other OS but this works for now.
else
python="python3"
fi
echo "Running command (without the leading +):"
set -x # Print command
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}"
# Use this if commands are added which should not be printed
# set +x

32
cmake/scripts/Linux/ninja_debug_cfg.sh Executable file
View File

@ -0,0 +1,32 @@
#!/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 [ "${counter}" -ge 5 ];then
echo "create_cmake_cfg.sh not found in upper directories!"
exit 1
fi
build_generator="Ninja"
os_fsfw="linux"
builddir="build-Debug-Host"
if [ "${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 "${build_generator}" -b "debug" -l "${builddir}"
# Use this if commands are added which should not be printed
# set +x

12
cmake/scripts/Q7S/create_cmake_relwithdeb_cfg.sh → cmake/scripts/Q7S/make_debug_cfg.sh
View File

@ -16,14 +16,20 @@ fi
os_fsfw="linux"
tgt_bsp="arm/q7s"
build_dir="build-Release-Q7S"
build_dir="build-Debug-Q7S"
build_generator=""
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
python="py"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
python="python3"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb" -t "${tgt_bsp}" \
-l"${build_dir}"
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}"
# set +x

7
cmake/scripts/Q7S/create_cmake_debug_cfg.sh → cmake/scripts/Q7S/make_release_cfg.sh
View File

@ -20,10 +20,15 @@ build_dir="build-Debug-Q7S"
build_generator=""
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
python="py"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
python="python3"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
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}"
# set +x

33
cmake/scripts/Q7S/ninja_debug_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 [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/q7s"
build_dir="build-Debug-Q7S"
build_generator="Ninja"
if [ "${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 "${build_generator}" -b "debug" -t "${tgt_bsp}" \
-l"${build_dir}"
# set +x

12
cmake/scripts/Q7S/create_cmake_release_cfg.sh → cmake/scripts/Q7S/simple/simple_make_debug_cfg.sh
View File

@ -16,14 +16,20 @@ fi
os_fsfw="linux"
tgt_bsp="arm/q7s"
build_dir="build-Release-Q7S"
build_dir="build-Simple-Q7S"
build_generator=""
definitions="Q7S_SIMPLE_MODE=On"
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
python="py"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
python="python3"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
-l"${build_dir}"
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 "${build_dir}" -d "${definitions}"
# set +x

34
cmake/scripts/Q7S/simple/simple_ninja_debug_cfg.sh Executable file
View File

@ -0,0 +1,34 @@
#!/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 [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/q7s"
build_dir="build-Simple-Q7S"
build_generator="Ninja"
definitions="Q7S_SIMPLE_MODE=On"
if [ "${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 "${build_generator}" -b "debug" -t "${tgt_bsp}" \
-l "${build_dir}" -d "${definitions}"
# set +x

27
cmake/scripts/RPi/create_cmake_size_cfg.sh
View File

@ -1,27 +0,0 @@
#!/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 [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/raspberrypi"
build_generator=""
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "size" -t "${tgt_bsp}"

10
cmake/scripts/RPi/create_cmake_debug_cfg.sh → cmake/scripts/RPi/make_debug_cfg.sh
View File

@ -20,10 +20,16 @@ build_generator=""
build_dir="build-Debug-RPi"
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
python="py"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
python="python3"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
-l"${build_dir}"
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}"
# set +x

0
cmake/scripts/RPi/create_cmake_release_cfg.sh → cmake/scripts/RPi/make_release_cfg.sh
View File

16
cmake/scripts/RPi/create_cmake_relwithdeb_cfg.sh → cmake/scripts/RPi/ninja_debug_cfg.sh
View File

@ -16,14 +16,18 @@ fi
os_fsfw="linux"
tgt_bsp="arm/raspberrypi"
build_generator=""
build_dir="RelWithDeb-RPi"
build_generator="Ninja"
build_dir="build-Debug-RPi"
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
python="py"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
python="python3"
fi
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb" -t "${tgt_bsp}" \
-l"${build_dir}"
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}"
# set +x

0
cmake/scripts/cmake_build_config.py Normal file → Executable file
View File

2
common/config/OBSWVersion.h
View File

@ -4,7 +4,7 @@
const char* const SW_NAME = "eive";
#define SW_VERSION 1
#define SW_SUBVERSION 2
#define SW_SUBVERSION 3
#define SW_SUBSUBVERSION 0
#endif /* COMMON_CONFIG_OBSWVERSION_H_ */

1
common/config/commonClassIds.h
View File

@ -13,6 +13,7 @@ enum commonClassIds: uint8_t {
HEATER_HANDLER, //HEATER
SYRLINKS_HANDLER, //SYRLINKS
IMTQ_HANDLER, //IMTQ
RW_HANDLER, //Reaction Wheels
PLOC_HANDLER, //PLOC
SUS_HANDLER, //SUSS
CCSDS_IP_CORE_BRIDGE, // IP Core interface

103
common/config/commonObjects.h
View File

@ -6,48 +6,77 @@
namespace objects {
enum commonObjects: uint32_t {
/* First Byte 0x50-0x52 reserved for PUS Services **/
CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
PUS_PACKET_DISTRIBUTOR = 0x50000200,
UDP_BRIDGE = 0x50000300,
UDP_POLLING_TASK = 0x50000400,
CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
PUS_PACKET_DISTRIBUTOR = 0x50000200,
UDP_BRIDGE = 0x50000300,
UDP_POLLING_TASK = 0x50000400,
/* 0x43 ('C') for Controllers */
THERMAL_CONTROLLER = 0x43001000,
ATTITUDE_CONTROLLER = 0x43002000,
ACS_CONTROLLER = 0x43003000,
CORE_CONTROLLER = 0x43004000,
THERMAL_CONTROLLER = 0x43400001,
ACS_CONTROLLER = 0x43100002,
CORE_CONTROLLER = 0x43000003,
/* 0x44 ('D') for device handlers */
P60DOCK_HANDLER = 0x44000001,
PDU1_HANDLER = 0x44000002,
PDU2_HANDLER = 0x44000003,
ACU_HANDLER = 0x44000004,
TMP1075_HANDLER_1 = 0x44000005,
TMP1075_HANDLER_2 = 0x44000006,
MGM_0_LIS3_HANDLER = 0x44000007,
MGM_1_RM3100_HANDLER = 0x44000008,
MGM_2_LIS3_HANDLER = 0x44000009,
MGM_3_RM3100_HANDLER = 0x44000010,
GYRO_0_ADIS_HANDLER = 0x44000011,
GYRO_1_L3G_HANDLER = 0x44000012,
GYRO_2_L3G_HANDLER = 0x44000013,
/* 0x44 ('D') for device handlers */
P60DOCK_HANDLER = 0x44250000,
PDU1_HANDLER = 0x44250001,
PDU2_HANDLER = 0x44250002,
ACU_HANDLER = 0x44250003,
TMP1075_HANDLER_1 = 0x44420004,
TMP1075_HANDLER_2 = 0x44420005,
MGM_0_LIS3_HANDLER = 0x44120006,
MGM_1_RM3100_HANDLER = 0x44120107,
MGM_2_LIS3_HANDLER = 0x44120208,
MGM_3_RM3100_HANDLER = 0x44120309,
GYRO_0_ADIS_HANDLER = 0x44120010,
GYRO_1_L3G_HANDLER = 0x44120111,
GYRO_2_ADIS_HANDLER = 0x44120212,
GYRO_3_L3G_HANDLER = 0x44120313,
IMTQ_HANDLER = 0x44000014,
PLOC_HANDLER = 0x44000015,
IMTQ_HANDLER = 0x44140014,
PLOC_HANDLER = 0x44330015,
SUS_1 = 0x44000016,
SUS_2 = 0x44000017,
SUS_3 = 0x44000018,
SUS_4 = 0x44000019,
SUS_5 = 0x4400001A,
SUS_6 = 0x4400001B,
SUS_7 = 0x4400001C,
SUS_8 = 0x4400001D,
SUS_9 = 0x4400001E,
SUS_10 = 0x4400001F,
SUS_11 = 0x44000021,
SUS_12 = 0x44000022,
SUS_13 = 0x44000023,
/**
* Not yet specified which pt1000 will measure which device/location in the satellite.
* Therefore object ids are named according to the IC naming of the RTDs in the schematic.
*/
RTD_IC3 = 0x44420016,
RTD_IC4 = 0x44420017,
RTD_IC5 = 0x44420018,
RTD_IC6 = 0x44420019,
RTD_IC7 = 0x44420020,
RTD_IC8 = 0x44420021,
RTD_IC9 = 0x44420022,
RTD_IC10 = 0x44420023,
RTD_IC11 = 0x44420024,
RTD_IC12 = 0x44420025,
RTD_IC13 = 0x44420026,
RTD_IC14 = 0x44420027,
RTD_IC15 = 0x44420028,
RTD_IC16 = 0x44420029,
RTD_IC17 = 0x44420030,
RTD_IC18 = 0x44420031,
SUS_1 = 0x44120032,
SUS_2 = 0x44120033,
SUS_3 = 0x44120034,
SUS_4 = 0x44120035,
SUS_5 = 0x44120036,
SUS_6 = 0x44120037,
SUS_7 = 0x44120038,
SUS_8 = 0x44120039,
SUS_9 = 0x44120040,
SUS_10 = 0x44120041,
SUS_11 = 0x44120042,
SUS_12 = 0x44120043,
SUS_13 = 0x44120044,
GPS0_HANDLER = 0x44130045,
GPS1_HANDLER = 0x44130146,
RW1 = 0x44210001,
RW2 = 0x44210002,
RW3 = 0x44210003,
RW4 = 0x44210004
};
}

1
common/config/commonSubsystemIds.h
View File

@ -13,6 +13,7 @@ enum: uint8_t {
SA_DEPL_HANDLER = 110,
PLOC_HANDLER = 111,
IMTQ_HANDLER = 112,
RW_HANDLER = 113,
COMMON_SUBSYSTEM_ID_END
};
}

3
common/config/spiConf.h
View File

@ -26,6 +26,9 @@ static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_ADIS16507_SPEED = 976'000;
static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t RW_SPEED = 300000;
static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;
}
#endif /* COMMON_CONFIG_SPICONF_H_ */

BIN
doc/img/ProcessSettings.png Normal file
View File

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Side by Side

After

Width:  |  Height:  |  Size: 18 KiB

2
fsfw

@ -1 +1 @@
Subproject commit cae69d540097acba46bffa47fd7afc6a8a19bd15
Subproject commit da8a4470734808bed4d872e47c192af694382c41

2
fsfw_hal

@ -1 +1 @@
Subproject commit fce40ebf9a4a45bafedaee2fc87e5aa10e49fdcc
Subproject commit 8ff09c95a69f1f43fec6104d6cce1e788b2b870d

9
generators/bsp_q7s_events.csv
View File

@ -81,3 +81,12 @@
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
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
11204;SELF_TEST_PWM_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h
11205;SELF_TEST_TC_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h
11206;SELF_TEST_MTM_RANGE_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h
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

1 2200 STORE_SEND_WRITE_FAILED LOW ../../fsfw/tmstorage/TmStoreBackendIF.h
81 11102 ACK_FAILURE LOW ../../mission/devices/PlocHandler.h
82 11103 EXE_FAILURE LOW ../../mission/devices/PlocHandler.h
83 11104 CRC_FAILURE_EVENT LOW ../../mission/devices/PlocHandler.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
87 11204 SELF_TEST_PWM_FAILURE LOW ../../mission/devices/IMTQHandler.h
88 11205 SELF_TEST_TC_FAILURE LOW ../../mission/devices/IMTQHandler.h
89 11206 SELF_TEST_MTM_RANGE_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

129
generators/bsp_q7s_objects.csv
View File

@ -1,52 +1,74 @@
0x00005060;P60DOCK_TEST_TASK
0x44000001;P60DOCK_HANDLER
0x44000002;PDU1_HANDLER
0x44000003;PDU2_HANDLER
0x44000004;ACU_HANDLER
0x44000005;TMP1075_HANDLER_1
0x44000006;TMP1075_HANDLER_2
0x44000007;MGM_0_LIS3_HANDLER
0x44000008;MGM_1_RM3100_HANDLER
0x44000009;MGM_2_LIS3_HANDLER
0x44000010;MGM_3_RM3100_HANDLER
0x44000011;GYRO_0_ADIS_HANDLER
0x44000012;GYRO_1_L3G_HANDLER
0x44000013;GYRO_2_L3G_HANDLER
0x44000014;IMTQ_HANDLER
0x44000015;PLOC_HANDLER
0x44000016;SUS_1
0x44000017;SUS_2
0x44000018;SUS_3
0x44000019;SUS_4
0x4400001A;SUS_5
0x4400001B;SUS_6
0x4400001C;SUS_7
0x4400001D;SUS_8
0x4400001E;SUS_9
0x4400001F;SUS_10
0x44000021;SUS_11
0x44000022;SUS_12
0x44000023;SUS_13
0x44001000;PCDU_HANDLER
0x44001001;SOLAR_ARRAY_DEPL_HANDLER
0x44001002;SYRLINKS_HK_HANDLER
0x47000001;GPIO_IF
0x49000001;ARDUINO_COM_IF
0x49000002;CSP_COM_IF
0x49000003;I2C_COM_IF
0x49000004;UART_COM_IF
0x49000005;SPI_COM_IF
0x43000003;CORE_CONTROLLER
0x43100002;ACS_CONTROLLER
0x43400001;THERMAL_CONTROLLER
0x44120006;MGM_0_LIS3_HANDLER
0x44120010;GYRO_0_ADIS_HANDLER
0x44120032;SUS_1
0x44120033;SUS_2
0x44120034;SUS_3
0x44120035;SUS_4
0x44120036;SUS_5
0x44120037;SUS_6
0x44120038;SUS_7
0x44120039;SUS_8
0x44120040;SUS_9
0x44120041;SUS_10
0x44120042;SUS_11
0x44120043;SUS_12
0x44120044;SUS_13
0x44120107;MGM_1_RM3100_HANDLER
0x44120111;GYRO_1_L3G_HANDLER
0x44120208;MGM_2_LIS3_HANDLER
0x44120212;GYRO_2_ADIS_HANDLER
0x44120309;MGM_3_RM3100_HANDLER
0x44120313;GYRO_3_L3G_HANDLER
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
0x444100A2;SOLAR_ARRAY_DEPL_HANDLER
0x444100A4;HEATER_HANDLER
0x44420004;TMP1075_HANDLER_1
0x44420005;TMP1075_HANDLER_2
0x44420016;RTD_IC3
0x44420017;RTD_IC4
0x44420018;RTD_IC5
0x44420019;RTD_IC6
0x44420020;RTD_IC7
0x44420021;RTD_IC8
0x44420022;RTD_IC9
0x44420023;RTD_IC10
0x44420024;RTD_IC11
0x44420025;RTD_IC12
0x44420026;RTD_IC13
0x44420027;RTD_IC14
0x44420028;RTD_IC15
0x44420029;RTD_IC16
0x44420030;RTD_IC17
0x44420031;RTD_IC18
0x445300A3;SYRLINKS_HK_HANDLER
0x49000000;ARDUINO_COM_IF
0x49010005;GPIO_IF
0x49020004;SPI_COM_IF
0x49030003;UART_COM_IF
0x49040002;I2C_COM_IF
0x49050001;CSP_COM_IF
0x50000100;CCSDS_PACKET_DISTRIBUTOR
0x50000200;PUS_PACKET_DISTRIBUTOR
0x50000300;UDP_BRIDGE
0x50000400;UDP_POLLING_TASK
0x51000300;PUS_SERVICE_3
0x51000400;PUS_SERVICE_5
0x51000500;PUS_SERVICE_6
0x51000800;PUS_SERVICE_8
0x51002300;PUS_SERVICE_23
0x51020100;PUS_SERVICE_201
0x52000002;TM_FUNNEL
0x53000000;FSFW_OBJECTS_START
0x53000001;PUS_SERVICE_1_VERIFICATION
0x53000002;PUS_SERVICE_2_DEVICE_ACCESS
@ -67,27 +89,12 @@
0x534f0300;IPC_STORE
0x53500010;TIME_STAMPER
0x53ffffff;FSFW_OBJECTS_END
0x54000003;HEATER_HANDLER
0x54000004;RTD_IC3
0x54000005;RTD_IC4
0x54000006;RTD_IC5
0x54000007;RTD_IC6
0x54000008;RTD_IC7
0x54000009;RTD_IC8
0x5400000A;RTD_IC9
0x5400000B;RTD_IC10
0x5400000C;RTD_IC11
0x5400000D;RTD_IC12
0x5400000E;RTD_IC13
0x5400000F;RTD_IC14
0x54000010;SPI_TEST
0x5400001F;RTD_IC15
0x5400002F;RTD_IC16
0x5400003F;RTD_IC17
0x5400004F;RTD_IC18
0x54000050;RAD_SENSOR
0x54000020;UART_TEST
0x5400AFFE;DUMMY_HANDLER
0x5400CAFE;DUMMY_INTERFACE
0x54123456;LIBGPIOD_TEST
0x54694269;TEST_TASK
0x73000100;TM_FUNNEL
0x73500000;CCSDS_IP_CORE_BRIDGE
0xFFFFFFFF;NO_OBJECT

1 0x00005060 P60DOCK_TEST_TASK
2 0x44000001 0x43000003 P60DOCK_HANDLER CORE_CONTROLLER
3 0x44000002 0x43100002 PDU1_HANDLER ACS_CONTROLLER
4 0x44000003 0x43400001 PDU2_HANDLER THERMAL_CONTROLLER
5 0x44000004 0x44120006 ACU_HANDLER MGM_0_LIS3_HANDLER
6 0x44000005 0x44120010 TMP1075_HANDLER_1 GYRO_0_ADIS_HANDLER
7 0x44000006 0x44120032 TMP1075_HANDLER_2 SUS_1
8 0x44000007 0x44120033 MGM_0_LIS3_HANDLER SUS_2
9 0x44000008 0x44120034 MGM_1_RM3100_HANDLER SUS_3
10 0x44000009 0x44120035 MGM_2_LIS3_HANDLER SUS_4
11 0x44000010 0x44120036 MGM_3_RM3100_HANDLER SUS_5
12 0x44000011 0x44120037 GYRO_0_ADIS_HANDLER SUS_6
13 0x44000012 0x44120038 GYRO_1_L3G_HANDLER SUS_7
14 0x44000013 0x44120039 GYRO_2_L3G_HANDLER SUS_8
15 0x44000014 0x44120040 IMTQ_HANDLER SUS_9
16 0x44000015 0x44120041 PLOC_HANDLER SUS_10
17 0x44000016 0x44120042 SUS_1 SUS_11
18 0x44000017 0x44120043 SUS_2 SUS_12
19 0x44000018 0x44120044 SUS_3 SUS_13
20 0x44000019 0x44120107 SUS_4 MGM_1_RM3100_HANDLER
21 0x4400001A 0x44120111 SUS_5 GYRO_1_L3G_HANDLER
22 0x4400001B 0x44120208 SUS_6 MGM_2_LIS3_HANDLER
23 0x4400001C 0x44120212 SUS_7 GYRO_2_ADIS_HANDLER
24 0x4400001D 0x44120309 SUS_8 MGM_3_RM3100_HANDLER
25 0x4400001E 0x44120313 SUS_9 GYRO_3_L3G_HANDLER
26 0x4400001F 0x44130045 SUS_10 GPS0_HANDLER
27 0x44000021 0x44130146 SUS_11 GPS1_HANDLER
28 0x44000022 0x44140014 SUS_12 IMTQ_HANDLER
29 0x44000023 0x442000A1 SUS_13 PCDU_HANDLER
30 0x44001000 0x44210001 PCDU_HANDLER RW1
31 0x44001001 0x44210002 SOLAR_ARRAY_DEPL_HANDLER RW2
32 0x44001002 0x44210003 SYRLINKS_HK_HANDLER RW3
33 0x47000001 0x44210004 GPIO_IF RW4
34 0x49000001 0x44250000 ARDUINO_COM_IF P60DOCK_HANDLER
35 0x49000002 0x44250001 CSP_COM_IF PDU1_HANDLER
36 0x49000003 0x44250002 I2C_COM_IF PDU2_HANDLER
37 0x49000004 0x44250003 UART_COM_IF ACU_HANDLER
38 0x49000005 0x443200A5 SPI_COM_IF RAD_SENSOR
39 0x44330015 PLOC_HANDLER
40 0x444100A2 SOLAR_ARRAY_DEPL_HANDLER
41 0x444100A4 HEATER_HANDLER
42 0x44420004 TMP1075_HANDLER_1
43 0x44420005 TMP1075_HANDLER_2
44 0x44420016 RTD_IC3
45 0x44420017 RTD_IC4
46 0x44420018 RTD_IC5
47 0x44420019 RTD_IC6
48 0x44420020 RTD_IC7
49 0x44420021 RTD_IC8
50 0x44420022 RTD_IC9
51 0x44420023 RTD_IC10
52 0x44420024 RTD_IC11
53 0x44420025 RTD_IC12
54 0x44420026 RTD_IC13
55 0x44420027 RTD_IC14
56 0x44420028 RTD_IC15
57 0x44420029 RTD_IC16
58 0x44420030 RTD_IC17
59 0x44420031 RTD_IC18
60 0x445300A3 SYRLINKS_HK_HANDLER
61 0x49000000 ARDUINO_COM_IF
62 0x49010005 GPIO_IF
63 0x49020004 SPI_COM_IF
64 0x49030003 UART_COM_IF
65 0x49040002 I2C_COM_IF
66 0x49050001 CSP_COM_IF
67 0x50000100 CCSDS_PACKET_DISTRIBUTOR
68 0x50000200 PUS_PACKET_DISTRIBUTOR
69 0x50000300 UDP_BRIDGE
70 0x50000400 UDP_POLLING_TASK
0x51000300 PUS_SERVICE_3
0x51000400 PUS_SERVICE_5
71 0x51000500 PUS_SERVICE_6
0x51000800 PUS_SERVICE_8
0x51002300 PUS_SERVICE_23
0x51020100 PUS_SERVICE_201
0x52000002 TM_FUNNEL
72 0x53000000 FSFW_OBJECTS_START
73 0x53000001 PUS_SERVICE_1_VERIFICATION
74 0x53000002 PUS_SERVICE_2_DEVICE_ACCESS
89 0x534f0300 IPC_STORE
90 0x53500010 TIME_STAMPER
91 0x53ffffff FSFW_OBJECTS_END
0x54000003 HEATER_HANDLER
0x54000004 RTD_IC3
0x54000005 RTD_IC4
0x54000006 RTD_IC5
0x54000007 RTD_IC6
0x54000008 RTD_IC7
0x54000009 RTD_IC8
0x5400000A RTD_IC9
0x5400000B RTD_IC10
0x5400000C RTD_IC11
0x5400000D RTD_IC12
0x5400000E RTD_IC13
0x5400000F RTD_IC14
92 0x54000010 SPI_TEST
93 0x5400001F 0x54000020 RTD_IC15 UART_TEST
0x5400002F RTD_IC16
0x5400003F RTD_IC17
0x5400004F RTD_IC18
0x54000050 RAD_SENSOR
94 0x5400AFFE DUMMY_HANDLER
95 0x5400CAFE DUMMY_INTERFACE
96 0x54123456 LIBGPIOD_TEST
97 0x54694269 TEST_TASK
98 0x73000100 TM_FUNNEL
99 0x73500000 CCSDS_IP_CORE_BRIDGE
100 0xFFFFFFFF NO_OBJECT

31
generators/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 83 translations.
* @brief Auto-generated event translation file. Contains 92 translations.
* @details
* Generated on: 2021-06-08 17:09:32
* Generated on: 2021-06-29 16:20:09
*/
#include "translateEvents.h"
@ -88,6 +88,15 @@ const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE";
const char *ACK_FAILURE_STRING = "ACK_FAILURE";
const char *EXE_FAILURE_STRING = "EXE_FAILURE";
const char *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT";
const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
const char *SELF_TEST_PWM_FAILURE_STRING = "SELF_TEST_PWM_FAILURE";
const char *SELF_TEST_TC_FAILURE_STRING = "SELF_TEST_TC_FAILURE";
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 * translateEvents(Event event) {
switch( (event & 0xffff) ) {
@ -257,6 +266,24 @@ const char * translateEvents(Event event) {
return EXE_FAILURE_STRING;
case(11104):
return CRC_FAILURE_EVENT_STRING;
case(11201):
return SELF_TEST_I2C_FAILURE_STRING;
case(11202):
return SELF_TEST_SPI_FAILURE_STRING;
case(11203):
return SELF_TEST_ADC_FAILURE_STRING;
case(11204):
return SELF_TEST_PWM_FAILURE_STRING;
case(11205):
return SELF_TEST_TC_FAILURE_STRING;
case(11206):
return SELF_TEST_MTM_RANGE_FAILURE_STRING;
case(11207):
return SELF_TEST_COIL_CURRENT_FAILURE_STRING;
case(11208):
return INVALID_ERROR_BYTE_STRING;
case(11301):
return ERROR_STATE_STRING;
default:
return "UNKNOWN_EVENT";
}

313
generators/objects/translateObjects.cpp
View File

@ -1,27 +1,17 @@
/**
/**
* @brief Auto-generated object translation file.
* @details
* Contains 93 translations.
* Generated on: 2021-05-18 16:48:46
* Contains 100 translations.
* Generated on: 2021-06-29 16:19:57
*/
#include "translateObjects.h"
const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK";
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 *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1";
const char *TMP1075_HANDLER_2_STRING = "TMP1075_HANDLER_2";
const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER";
const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
const char *GYRO_2_L3G_HANDLER_STRING = "GYRO_2_L3G_HANDLER";
const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
const char *PLOC_HANDLER_STRING = "PLOC_HANDLER";
const char *SUS_1_STRING = "SUS_1";
const char *SUS_2_STRING = "SUS_2";
const char *SUS_3_STRING = "SUS_3";
@ -35,26 +25,58 @@ const char *SUS_10_STRING = "SUS_10";
const char *SUS_11_STRING = "SUS_11";
const char *SUS_12_STRING = "SUS_12";
const char *SUS_13_STRING = "SUS_13";
const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
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 *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 *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";
const char *TMP1075_HANDLER_2_STRING = "TMP1075_HANDLER_2";
const char *RTD_IC3_STRING = "RTD_IC3";
const char *RTD_IC4_STRING = "RTD_IC4";
const char *RTD_IC5_STRING = "RTD_IC5";
const char *RTD_IC6_STRING = "RTD_IC6";
const char *RTD_IC7_STRING = "RTD_IC7";
const char *RTD_IC8_STRING = "RTD_IC8";
const char *RTD_IC9_STRING = "RTD_IC9";
const char *RTD_IC10_STRING = "RTD_IC10";
const char *RTD_IC11_STRING = "RTD_IC11";
const char *RTD_IC12_STRING = "RTD_IC12";
const char *RTD_IC13_STRING = "RTD_IC13";
const char *RTD_IC14_STRING = "RTD_IC14";
const char *RTD_IC15_STRING = "RTD_IC15";
const char *RTD_IC16_STRING = "RTD_IC16";
const char *RTD_IC17_STRING = "RTD_IC17";
const char *RTD_IC18_STRING = "RTD_IC18";
const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
const char *GPIO_IF_STRING = "GPIO_IF";
const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
const char *CSP_COM_IF_STRING = "CSP_COM_IF";
const char *I2C_COM_IF_STRING = "I2C_COM_IF";
const char *UART_COM_IF_STRING = "UART_COM_IF";
const char *GPIO_IF_STRING = "GPIO_IF";
const char *SPI_COM_IF_STRING = "SPI_COM_IF";
const char *UART_COM_IF_STRING = "UART_COM_IF";
const char *I2C_COM_IF_STRING = "I2C_COM_IF";
const char *CSP_COM_IF_STRING = "CSP_COM_IF";
const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
const char *UDP_BRIDGE_STRING = "UDP_BRIDGE";
const char *UDP_POLLING_TASK_STRING = "UDP_POLLING_TASK";
const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
const char *TM_FUNNEL_STRING = "TM_FUNNEL";
const char *FSFW_OBJECTS_START_STRING = "FSFW_OBJECTS_START";
const char *PUS_SERVICE_1_VERIFICATION_STRING = "PUS_SERVICE_1_VERIFICATION";
const char *PUS_SERVICE_2_DEVICE_ACCESS_STRING = "PUS_SERVICE_2_DEVICE_ACCESS";
@ -75,109 +97,150 @@ const char *TM_STORE_STRING = "TM_STORE";
const char *IPC_STORE_STRING = "IPC_STORE";
const char *TIME_STAMPER_STRING = "TIME_STAMPER";
const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
const char *RTD_IC3_STRING = "RTD_IC3";
const char *RTD_IC4_STRING = "RTD_IC4";
const char *RTD_IC5_STRING = "RTD_IC5";
const char *RTD_IC6_STRING = "RTD_IC6";
const char *RTD_IC7_STRING = "RTD_IC7";
const char *RTD_IC8_STRING = "RTD_IC8";
const char *RTD_IC9_STRING = "RTD_IC9";
const char *RTD_IC10_STRING = "RTD_IC10";
const char *RTD_IC11_STRING = "RTD_IC11";
const char *RTD_IC12_STRING = "RTD_IC12";
const char *RTD_IC13_STRING = "RTD_IC13";
const char *RTD_IC14_STRING = "RTD_IC14";
const char *SPI_TEST_STRING = "SPI_TEST";
const char *RTD_IC15_STRING = "RTD_IC15";
const char *RTD_IC16_STRING = "RTD_IC16";
const char *RTD_IC17_STRING = "RTD_IC17";
const char *RTD_IC18_STRING = "RTD_IC18";
const char *RAD_SENSOR_STRING = "RAD_SENSOR";
const char *UART_TEST_STRING = "UART_TEST";
const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
const char *TEST_TASK_STRING = "TEST_TASK";
const char *TM_FUNNEL_STRING = "TM_FUNNEL";
const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
const char *NO_OBJECT_STRING = "NO_OBJECT";
const char* translateObject(object_id_t object) {
switch( (object & 0xFFFFFFFF) ) {
case 0x00005060:
return P60DOCK_TEST_TASK_STRING;
case 0x44000001:
return P60DOCK_HANDLER_STRING;
case 0x44000002:
return PDU1_HANDLER_STRING;
case 0x44000003:
return PDU2_HANDLER_STRING;
case 0x44000004:
return ACU_HANDLER_STRING;
case 0x44000005:
return TMP1075_HANDLER_1_STRING;
case 0x44000006:
return TMP1075_HANDLER_2_STRING;
case 0x44000007:
case 0x43000003:
return CORE_CONTROLLER_STRING;
case 0x43100002:
return ACS_CONTROLLER_STRING;
case 0x43400001:
return THERMAL_CONTROLLER_STRING;
case 0x44120006:
return MGM_0_LIS3_HANDLER_STRING;
case 0x44000008:
return MGM_1_RM3100_HANDLER_STRING;
case 0x44000009:
return MGM_2_LIS3_HANDLER_STRING;
case 0x44000010:
return MGM_3_RM3100_HANDLER_STRING;
case 0x44000011:
case 0x44120010:
return GYRO_0_ADIS_HANDLER_STRING;
case 0x44000012:
return GYRO_1_L3G_HANDLER_STRING;
case 0x44000013:
return GYRO_2_L3G_HANDLER_STRING;
case 0x44000014:
return IMTQ_HANDLER_STRING;
case 0x44000015:
return PLOC_HANDLER_STRING;
case 0x44000016:
case 0x44120032:
return SUS_1_STRING;
case 0x44000017:
case 0x44120033:
return SUS_2_STRING;
case 0x44000018:
case 0x44120034:
return SUS_3_STRING;
case 0x44000019:
case 0x44120035:
return SUS_4_STRING;
case 0x4400001A:
case 0x44120036:
return SUS_5_STRING;
case 0x4400001B:
case 0x44120037:
return SUS_6_STRING;
case 0x4400001C:
case 0x44120038:
return SUS_7_STRING;
case 0x4400001D:
case 0x44120039:
return SUS_8_STRING;
case 0x4400001E:
case 0x44120040:
return SUS_9_STRING;
case 0x4400001F:
case 0x44120041:
return SUS_10_STRING;
case 0x44000021:
case 0x44120042:
return SUS_11_STRING;
case 0x44000022:
case 0x44120043:
return SUS_12_STRING;
case 0x44000023:
case 0x44120044:
return SUS_13_STRING;
case 0x44001000:
case 0x44120107:
return MGM_1_RM3100_HANDLER_STRING;
case 0x44120111:
return GYRO_1_L3G_HANDLER_STRING;
case 0x44120208:
return MGM_2_LIS3_HANDLER_STRING;
case 0x44120212:
return GYRO_2_ADIS_HANDLER_STRING;
case 0x44120309:
return MGM_3_RM3100_HANDLER_STRING;
case 0x44120313:
return GYRO_3_L3G_HANDLER_STRING;
case 0x44130045:
return GPS0_HANDLER_STRING;
case 0x44130146:
return GPS1_HANDLER_STRING;
case 0x44140014:
return IMTQ_HANDLER_STRING;
case 0x442000A1:
return PCDU_HANDLER_STRING;
case 0x44001001:
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:
return PDU1_HANDLER_STRING;
case 0x44250002:
return PDU2_HANDLER_STRING;
case 0x44250003:
return ACU_HANDLER_STRING;
case 0x443200A5:
return RAD_SENSOR_STRING;
case 0x44330015:
return PLOC_HANDLER_STRING;
case 0x444100A2:
return SOLAR_ARRAY_DEPL_HANDLER_STRING;
case 0x44001002:
case 0x444100A4:
return HEATER_HANDLER_STRING;
case 0x44420004:
return TMP1075_HANDLER_1_STRING;
case 0x44420005:
return TMP1075_HANDLER_2_STRING;
case 0x44420016:
return RTD_IC3_STRING;
case 0x44420017:
return RTD_IC4_STRING;
case 0x44420018:
return RTD_IC5_STRING;
case 0x44420019:
return RTD_IC6_STRING;
case 0x44420020:
return RTD_IC7_STRING;
case 0x44420021:
return RTD_IC8_STRING;
case 0x44420022:
return RTD_IC9_STRING;
case 0x44420023:
return RTD_IC10_STRING;
case 0x44420024:
return RTD_IC11_STRING;
case 0x44420025:
return RTD_IC12_STRING;
case 0x44420026:
return RTD_IC13_STRING;
case 0x44420027:
return RTD_IC14_STRING;
case 0x44420028:
return RTD_IC15_STRING;
case 0x44420029:
return RTD_IC16_STRING;
case 0x44420030:
return RTD_IC17_STRING;
case 0x44420031:
return RTD_IC18_STRING;
case 0x445300A3:
return SYRLINKS_HK_HANDLER_STRING;
case 0x47000001:
return GPIO_IF_STRING;
case 0x49000001:
case 0x49000000:
return ARDUINO_COM_IF_STRING;
case 0x49000002:
return CSP_COM_IF_STRING;
case 0x49000003:
return I2C_COM_IF_STRING;
case 0x49000004:
return UART_COM_IF_STRING;
case 0x49000005:
case 0x49010005:
return GPIO_IF_STRING;
case 0x49020004:
return SPI_COM_IF_STRING;
case 0x49030003:
return UART_COM_IF_STRING;
case 0x49040002:
return I2C_COM_IF_STRING;
case 0x49050001:
return CSP_COM_IF_STRING;
case 0x50000100:
return CCSDS_PACKET_DISTRIBUTOR_STRING;
case 0x50000200:
@ -186,20 +249,8 @@ const char* translateObject(object_id_t object) {
return UDP_BRIDGE_STRING;
case 0x50000400:
return UDP_POLLING_TASK_STRING;
case 0x51000300:
return PUS_SERVICE_3_STRING;
case 0x51000400:
return PUS_SERVICE_5_STRING;
case 0x51000500:
return PUS_SERVICE_6_STRING;
case 0x51000800:
return PUS_SERVICE_8_STRING;
case 0x51002300:
return PUS_SERVICE_23_STRING;
case 0x51020100:
return PUS_SERVICE_201_STRING;
case 0x52000002:
return TM_FUNNEL_STRING;
case 0x53000000:
return FSFW_OBJECTS_START_STRING;
case 0x53000001:
@ -240,44 +291,10 @@ const char* translateObject(object_id_t object) {
return TIME_STAMPER_STRING;
case 0x53ffffff:
return FSFW_OBJECTS_END_STRING;
case 0x54000003:
return HEATER_HANDLER_STRING;
case 0x54000004:
return RTD_IC3_STRING;
case 0x54000005:
return RTD_IC4_STRING;
case 0x54000006:
return RTD_IC5_STRING;
case 0x54000007:
return RTD_IC6_STRING;
case 0x54000008:
return RTD_IC7_STRING;
case 0x54000009:
return RTD_IC8_STRING;
case 0x5400000A:
return RTD_IC9_STRING;
case 0x5400000B:
return RTD_IC10_STRING;
case 0x5400000C:
return RTD_IC11_STRING;
case 0x5400000D:
return RTD_IC12_STRING;
case 0x5400000E:
return RTD_IC13_STRING;
case 0x5400000F:
return RTD_IC14_STRING;
case 0x54000010:
return SPI_TEST_STRING;
case 0x5400001F:
return RTD_IC15_STRING;
case 0x5400002F:
return RTD_IC16_STRING;
case 0x5400003F:
return RTD_IC17_STRING;
case 0x5400004F:
return RTD_IC18_STRING;
case 0x54000050:
return RAD_SENSOR_STRING;
case 0x54000020:
return UART_TEST_STRING;
case 0x5400AFFE:
return DUMMY_HANDLER_STRING;
case 0x5400CAFE:
@ -286,6 +303,10 @@ const char* translateObject(object_id_t object) {
return LIBGPIOD_TEST_STRING;
case 0x54694269:
return TEST_TASK_STRING;
case 0x73000100:
return TM_FUNNEL_STRING;
case 0x73500000:
return CCSDS_IP_CORE_BRIDGE_STRING;
case 0xFFFFFFFF:
return NO_OBJECT_STRING;
default:

3
linux/csp/CspComIF.cpp
View File

@ -24,6 +24,8 @@ ReturnValue_t CspComIF::initializeInterface(CookieIF *cookie) {
/* Perform CAN and CSP initialization only once */
if(cspDeviceMap.empty()){
sif::info << "Performing " << canInterface << " initialization.." << std::endl;
/* Define the memory to allocate for the CSP stack */
int buf_count = 10;
int buf_size = 300;
@ -57,6 +59,7 @@ ReturnValue_t CspComIF::initializeInterface(CookieIF *cookie) {
sif::error << "Failed to start csp route task" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
sif::info << canInterface << " initialized successfully" << std::endl;
}
uint8_t cspAddress = cspCookie->getCspAddress();

1
linux/devices/SusHandler.h
View File

@ -4,7 +4,6 @@
#include "devicedefinitions/SusDefinitions.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw/ipc/MutexGuard.h>
/**
* @brief This is the device handler class for the SUS sensor. The sensor is

5
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -20,6 +20,7 @@ debugging. */
#define OBSW_PRINT_MISSED_DEADLINES 1
#define OBSW_ADD_TEST_CODE 1
#define OBSW_ADD_TEST_PST 1
#define OBSW_ADD_GPS 0
#define TEST_LIBGPIOD 0
#define TEST_RADIATION_SENSOR_HANDLER 0
@ -43,6 +44,7 @@ debugging. */
#define DEBUG_SUS 1
#define DEBUG_RTD 1
#define IMTQ_DEBUG 1
#define RW_DEBUG 1
// Leave at one as the BSP is linux. Used by the ADIS16507 device handler
#define OBSW_ADIS16507_LINUX_COM_IF 1
@ -50,7 +52,7 @@ debugging. */
#include "OBSWVersion.h"
/* Can be used to switch device to NORMAL mode immediately */
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 0
#ifdef __cplusplus
@ -62,6 +64,7 @@ namespace config {
#endif
/* Add mission configuration flags here */
static constexpr uint32_t OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE = 50;
#ifdef __cplusplus
}

9
linux/fsfwconfig/devices/addresses.h
View File

@ -17,7 +17,8 @@ namespace addresses {
GYRO_0_ADIS = objects::GYRO_0_ADIS_HANDLER,
GYRO_1_L3G = objects::GYRO_1_L3G_HANDLER,
GYRO_2_L3G = objects::GYRO_2_L3G_HANDLER,
GYRO_2_ADIS = objects::GYRO_2_ADIS_HANDLER,
GYRO_3_L3G = objects::GYRO_3_L3G_HANDLER,
RAD_SENSOR = objects::RAD_SENSOR,
@ -63,7 +64,11 @@ namespace addresses {
RTD_IC15,
RTD_IC16,
RTD_IC17,
RTD_IC18
RTD_IC18,
RW1,
RW2,
RW3,
RW4
};
/* Addresses of devices supporting the CSP protocol */

16
linux/fsfwconfig/devices/gpioIds.h
View File

@ -68,7 +68,21 @@ namespace gpioIds {
CS_RAD_SENSOR,
PAPB_BUSY_N,
PAPB_EMPTY
PAPB_EMPTY,
EN_RW1,
EN_RW2,
EN_RW3,
EN_RW4,
CS_RW1,
CS_RW2,
CS_RW3,
CS_RW4,
EN_RW_CS,
SPI_MUX
};
}

31
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 83 translations.
* @brief Auto-generated event translation file. Contains 92 translations.
* @details
* Generated on: 2021-06-08 17:09:32
* Generated on: 2021-06-29 16:20:09
*/
#include "translateEvents.h"
@ -88,6 +88,15 @@ const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE";
const char *ACK_FAILURE_STRING = "ACK_FAILURE";
const char *EXE_FAILURE_STRING = "EXE_FAILURE";
const char *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT";
const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
const char *SELF_TEST_PWM_FAILURE_STRING = "SELF_TEST_PWM_FAILURE";
const char *SELF_TEST_TC_FAILURE_STRING = "SELF_TEST_TC_FAILURE";
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 * translateEvents(Event event) {
switch( (event & 0xffff) ) {
@ -257,6 +266,24 @@ const char * translateEvents(Event event) {
return EXE_FAILURE_STRING;
case(11104):
return CRC_FAILURE_EVENT_STRING;
case(11201):
return SELF_TEST_I2C_FAILURE_STRING;
case(11202):
return SELF_TEST_SPI_FAILURE_STRING;
case(11203):
return SELF_TEST_ADC_FAILURE_STRING;
case(11204):
return SELF_TEST_PWM_FAILURE_STRING;
case(11205):
return SELF_TEST_TC_FAILURE_STRING;
case(11206):
return SELF_TEST_MTM_RANGE_FAILURE_STRING;
case(11207):
return SELF_TEST_COIL_CURRENT_FAILURE_STRING;
case(11208):
return INVALID_ERROR_BYTE_STRING;
case(11301):
return ERROR_STATE_STRING;
default:
return "UNKNOWN_EVENT";
}

109
linux/fsfwconfig/objects/systemObjectList.h
View File

@ -6,67 +6,64 @@
#include <cstdint>
// The objects will be instantiated in the ID order
// For naming scheme see flight manual
/*
https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/EIVE_Project_IDs
Second byte first four bits is the subsystem:
OBDH 0x0
ACS 0x1
EPS 0x2
PL 0x3
TCS 0x4
COM 0x5
Second byte last four bits is the bus:
None 0x0
GPIO 0x1
SPI 0x2
UART 0x3
I2C 0x4
CAN 0x5
Third byte is an assembly counter if there are multiple redundant devices.
Fourth byte is a unique counter.
*/
namespace objects {
enum sourceObjects: uint32_t {
/* 0x53 reserved for FSFW */
FW_ADDRESS_START = PUS_SERVICE_1_VERIFICATION,
FW_ADDRESS_END = TIME_STAMPER,
enum sourceObjects: uint32_t {
/* 0x53 reserved for FSFW */
FW_ADDRESS_START = PUS_SERVICE_1_VERIFICATION,
FW_ADDRESS_END = TIME_STAMPER,
PUS_SERVICE_6 = 0x51000500,
CCSDS_IP_CORE_BRIDGE = 0x50000500,
CCSDS_IP_CORE_BRIDGE = 0x73500000,
TM_FUNNEL = 0x73000100,
PUS_SERVICE_6 = 0x51000500,
/* 0x49 ('I') for Communication Interfaces **/
ARDUINO_COM_IF = 0x49000000,
CSP_COM_IF = 0x49050001,
I2C_COM_IF = 0x49040002,
UART_COM_IF = 0x49030003,
SPI_COM_IF = 0x49020004,
GPIO_IF = 0x49010005,
TM_FUNNEL = 0x52000002,
/* Custom device handler */
PCDU_HANDLER = 0x442000A1,
SOLAR_ARRAY_DEPL_HANDLER = 0x444100A2,
SYRLINKS_HK_HANDLER = 0x445300A3,
HEATER_HANDLER = 0x444100A4,
RAD_SENSOR = 0x443200A5,
/* 0x49 ('I') for Communication Interfaces **/
ARDUINO_COM_IF = 0x49000001,
CSP_COM_IF = 0x49000002,
I2C_COM_IF = 0x49000003,
UART_COM_IF = 0x49000004,
SPI_COM_IF = 0x49000005,
/* 0x47 ('G') for Gpio Interfaces */
GPIO_IF = 0x47000001,
/* Custom device handler */
PCDU_HANDLER = 0x44001000,
SOLAR_ARRAY_DEPL_HANDLER = 0x44001001,
SYRLINKS_HK_HANDLER = 0x44001002,
/* 0x54 ('T') for thermal objects */
HEATER_HANDLER = 0x54000003,
/**
* Not yet specified which pt1000 will measure which device/location in the satellite.
* Therefore object ids are named according to the IC naming of the RTDs in the schematic.
*/
RTD_IC3 = 0x54000004,
RTD_IC4 = 0x54000005,
RTD_IC5 = 0x54000006,
RTD_IC6 = 0x54000007,
RTD_IC7 = 0x54000008,
RTD_IC8 = 0x54000009,
RTD_IC9 = 0x5400000A,
RTD_IC10 = 0x5400000B,
RTD_IC11 = 0x5400000C,
RTD_IC12 = 0x5400000D,
RTD_IC13 = 0x5400000E,
RTD_IC14 = 0x5400000F,
RTD_IC15 = 0x5400001F,
RTD_IC16 = 0x5400002F,
RTD_IC17 = 0x5400003F,
RTD_IC18 = 0x5400004F,
RAD_SENSOR = 0x54000050,
/* 0x54 ('T') for test handlers */
TEST_TASK = 0x54694269,
LIBGPIOD_TEST = 0x54123456,
SPI_TEST = 0x54000010,
UART_TEST = 0x54000020,
DUMMY_INTERFACE = 0x5400CAFE,
DUMMY_HANDLER = 0x5400AFFE,
P60DOCK_TEST_TASK = 0x00005060
};
/* 0x54 ('T') for test handlers */
TEST_TASK = 0x54694269,
LIBGPIOD_TEST = 0x54123456,
SPI_TEST = 0x54000010,
UART_TEST = 0x54000020,
DUMMY_INTERFACE = 0x5400CAFE,
DUMMY_HANDLER = 0x5400AFFE,
P60DOCK_TEST_TASK = 0x00005060
};
}
#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */

313
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -1,27 +1,17 @@
/**
/**
* @brief Auto-generated object translation file.
* @details
* Contains 93 translations.
* Generated on: 2021-05-18 16:48:46
* Contains 100 translations.
* Generated on: 2021-06-29 16:19:57
*/
#include "translateObjects.h"
const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK";
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 *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1";
const char *TMP1075_HANDLER_2_STRING = "TMP1075_HANDLER_2";
const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER";
const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
const char *GYRO_2_L3G_HANDLER_STRING = "GYRO_2_L3G_HANDLER";
const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
const char *PLOC_HANDLER_STRING = "PLOC_HANDLER";
const char *SUS_1_STRING = "SUS_1";
const char *SUS_2_STRING = "SUS_2";
const char *SUS_3_STRING = "SUS_3";
@ -35,26 +25,58 @@ const char *SUS_10_STRING = "SUS_10";
const char *SUS_11_STRING = "SUS_11";
const char *SUS_12_STRING = "SUS_12";
const char *SUS_13_STRING = "SUS_13";
const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
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 *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 *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";
const char *TMP1075_HANDLER_2_STRING = "TMP1075_HANDLER_2";
const char *RTD_IC3_STRING = "RTD_IC3";
const char *RTD_IC4_STRING = "RTD_IC4";
const char *RTD_IC5_STRING = "RTD_IC5";
const char *RTD_IC6_STRING = "RTD_IC6";
const char *RTD_IC7_STRING = "RTD_IC7";
const char *RTD_IC8_STRING = "RTD_IC8";
const char *RTD_IC9_STRING = "RTD_IC9";
const char *RTD_IC10_STRING = "RTD_IC10";
const char *RTD_IC11_STRING = "RTD_IC11";
const char *RTD_IC12_STRING = "RTD_IC12";
const char *RTD_IC13_STRING = "RTD_IC13";
const char *RTD_IC14_STRING = "RTD_IC14";
const char *RTD_IC15_STRING = "RTD_IC15";
const char *RTD_IC16_STRING = "RTD_IC16";
const char *RTD_IC17_STRING = "RTD_IC17";
const char *RTD_IC18_STRING = "RTD_IC18";
const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
const char *GPIO_IF_STRING = "GPIO_IF";
const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
const char *CSP_COM_IF_STRING = "CSP_COM_IF";
const char *I2C_COM_IF_STRING = "I2C_COM_IF";
const char *UART_COM_IF_STRING = "UART_COM_IF";
const char *GPIO_IF_STRING = "GPIO_IF";
const char *SPI_COM_IF_STRING = "SPI_COM_IF";
const char *UART_COM_IF_STRING = "UART_COM_IF";
const char *I2C_COM_IF_STRING = "I2C_COM_IF";
const char *CSP_COM_IF_STRING = "CSP_COM_IF";
const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
const char *UDP_BRIDGE_STRING = "UDP_BRIDGE";
const char *UDP_POLLING_TASK_STRING = "UDP_POLLING_TASK";
const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
const char *TM_FUNNEL_STRING = "TM_FUNNEL";
const char *FSFW_OBJECTS_START_STRING = "FSFW_OBJECTS_START";
const char *PUS_SERVICE_1_VERIFICATION_STRING = "PUS_SERVICE_1_VERIFICATION";
const char *PUS_SERVICE_2_DEVICE_ACCESS_STRING = "PUS_SERVICE_2_DEVICE_ACCESS";
@ -75,109 +97,150 @@ const char *TM_STORE_STRING = "TM_STORE";
const char *IPC_STORE_STRING = "IPC_STORE";
const char *TIME_STAMPER_STRING = "TIME_STAMPER";
const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
const char *RTD_IC3_STRING = "RTD_IC3";
const char *RTD_IC4_STRING = "RTD_IC4";
const char *RTD_IC5_STRING = "RTD_IC5";
const char *RTD_IC6_STRING = "RTD_IC6";
const char *RTD_IC7_STRING = "RTD_IC7";
const char *RTD_IC8_STRING = "RTD_IC8";
const char *RTD_IC9_STRING = "RTD_IC9";
const char *RTD_IC10_STRING = "RTD_IC10";
const char *RTD_IC11_STRING = "RTD_IC11";
const char *RTD_IC12_STRING = "RTD_IC12";
const char *RTD_IC13_STRING = "RTD_IC13";
const char *RTD_IC14_STRING = "RTD_IC14";
const char *SPI_TEST_STRING = "SPI_TEST";
const char *RTD_IC15_STRING = "RTD_IC15";
const char *RTD_IC16_STRING = "RTD_IC16";
const char *RTD_IC17_STRING = "RTD_IC17";
const char *RTD_IC18_STRING = "RTD_IC18";
const char *RAD_SENSOR_STRING = "RAD_SENSOR";
const char *UART_TEST_STRING = "UART_TEST";
const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
const char *TEST_TASK_STRING = "TEST_TASK";
const char *TM_FUNNEL_STRING = "TM_FUNNEL";
const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
const char *NO_OBJECT_STRING = "NO_OBJECT";
const char* translateObject(object_id_t object) {
switch( (object & 0xFFFFFFFF) ) {
case 0x00005060:
return P60DOCK_TEST_TASK_STRING;
case 0x44000001:
return P60DOCK_HANDLER_STRING;
case 0x44000002:
return PDU1_HANDLER_STRING;
case 0x44000003:
return PDU2_HANDLER_STRING;
case 0x44000004:
return ACU_HANDLER_STRING;
case 0x44000005:
return TMP1075_HANDLER_1_STRING;
case 0x44000006:
return TMP1075_HANDLER_2_STRING;
case 0x44000007:
case 0x43000003:
return CORE_CONTROLLER_STRING;
case 0x43100002:
return ACS_CONTROLLER_STRING;
case 0x43400001:
return THERMAL_CONTROLLER_STRING;
case 0x44120006:
return MGM_0_LIS3_HANDLER_STRING;
case 0x44000008:
return MGM_1_RM3100_HANDLER_STRING;
case 0x44000009:
return MGM_2_LIS3_HANDLER_STRING;
case 0x44000010:
return MGM_3_RM3100_HANDLER_STRING;
case 0x44000011:
case 0x44120010:
return GYRO_0_ADIS_HANDLER_STRING;
case 0x44000012:
return GYRO_1_L3G_HANDLER_STRING;
case 0x44000013:
return GYRO_2_L3G_HANDLER_STRING;
case 0x44000014:
return IMTQ_HANDLER_STRING;
case 0x44000015:
return PLOC_HANDLER_STRING;
case 0x44000016:
case 0x44120032:
return SUS_1_STRING;
case 0x44000017:
case 0x44120033:
return SUS_2_STRING;
case 0x44000018:
case 0x44120034:
return SUS_3_STRING;
case 0x44000019:
case 0x44120035:
return SUS_4_STRING;
case 0x4400001A:
case 0x44120036:
return SUS_5_STRING;
case 0x4400001B:
case 0x44120037:
return SUS_6_STRING;
case 0x4400001C:
case 0x44120038:
return SUS_7_STRING;
case 0x4400001D:
case 0x44120039:
return SUS_8_STRING;
case 0x4400001E:
case 0x44120040:
return SUS_9_STRING;
case 0x4400001F:
case 0x44120041:
return SUS_10_STRING;
case 0x44000021:
case 0x44120042:
return SUS_11_STRING;
case 0x44000022:
case 0x44120043:
return SUS_12_STRING;
case 0x44000023:
case 0x44120044:
return SUS_13_STRING;
case 0x44001000:
case 0x44120107:
return MGM_1_RM3100_HANDLER_STRING;
case 0x44120111:
return GYRO_1_L3G_HANDLER_STRING;
case 0x44120208:
return MGM_2_LIS3_HANDLER_STRING;
case 0x44120212:
return GYRO_2_ADIS_HANDLER_STRING;
case 0x44120309:
return MGM_3_RM3100_HANDLER_STRING;
case 0x44120313:
return GYRO_3_L3G_HANDLER_STRING;
case 0x44130045:
return GPS0_HANDLER_STRING;
case 0x44130146:
return GPS1_HANDLER_STRING;
case 0x44140014:
return IMTQ_HANDLER_STRING;
case 0x442000A1:
return PCDU_HANDLER_STRING;
case 0x44001001:
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:
return PDU1_HANDLER_STRING;
case 0x44250002:
return PDU2_HANDLER_STRING;
case 0x44250003:
return ACU_HANDLER_STRING;
case 0x443200A5:
return RAD_SENSOR_STRING;
case 0x44330015:
return PLOC_HANDLER_STRING;
case 0x444100A2:
return SOLAR_ARRAY_DEPL_HANDLER_STRING;
case 0x44001002:
case 0x444100A4:
return HEATER_HANDLER_STRING;
case 0x44420004:
return TMP1075_HANDLER_1_STRING;
case 0x44420005:
return TMP1075_HANDLER_2_STRING;
case 0x44420016:
return RTD_IC3_STRING;
case 0x44420017:
return RTD_IC4_STRING;
case 0x44420018:
return RTD_IC5_STRING;
case 0x44420019:
return RTD_IC6_STRING;
case 0x44420020:
return RTD_IC7_STRING;
case 0x44420021:
return RTD_IC8_STRING;
case 0x44420022:
return RTD_IC9_STRING;
case 0x44420023:
return RTD_IC10_STRING;
case 0x44420024:
return RTD_IC11_STRING;
case 0x44420025:
return RTD_IC12_STRING;
case 0x44420026:
return RTD_IC13_STRING;
case 0x44420027:
return RTD_IC14_STRING;
case 0x44420028:
return RTD_IC15_STRING;
case 0x44420029:
return RTD_IC16_STRING;
case 0x44420030:
return RTD_IC17_STRING;
case 0x44420031:
return RTD_IC18_STRING;
case 0x445300A3:
return SYRLINKS_HK_HANDLER_STRING;
case 0x47000001:
return GPIO_IF_STRING;
case 0x49000001:
case 0x49000000:
return ARDUINO_COM_IF_STRING;
case 0x49000002:
return CSP_COM_IF_STRING;
case 0x49000003:
return I2C_COM_IF_STRING;
case 0x49000004:
return UART_COM_IF_STRING;
case 0x49000005:
case 0x49010005:
return GPIO_IF_STRING;
case 0x49020004:
return SPI_COM_IF_STRING;
case 0x49030003:
return UART_COM_IF_STRING;
case 0x49040002:
return I2C_COM_IF_STRING;
case 0x49050001:
return CSP_COM_IF_STRING;
case 0x50000100:
return CCSDS_PACKET_DISTRIBUTOR_STRING;
case 0x50000200:
@ -186,20 +249,8 @@ const char* translateObject(object_id_t object) {
return UDP_BRIDGE_STRING;
case 0x50000400:
return UDP_POLLING_TASK_STRING;
case 0x51000300:
return PUS_SERVICE_3_STRING;
case 0x51000400:
return PUS_SERVICE_5_STRING;
case 0x51000500:
return PUS_SERVICE_6_STRING;
case 0x51000800:
return PUS_SERVICE_8_STRING;
case 0x51002300:
return PUS_SERVICE_23_STRING;
case 0x51020100:
return PUS_SERVICE_201_STRING;
case 0x52000002:
return TM_FUNNEL_STRING;
case 0x53000000:
return FSFW_OBJECTS_START_STRING;
case 0x53000001:
@ -240,44 +291,10 @@ const char* translateObject(object_id_t object) {
return TIME_STAMPER_STRING;
case 0x53ffffff:
return FSFW_OBJECTS_END_STRING;
case 0x54000003:
return HEATER_HANDLER_STRING;
case 0x54000004:
return RTD_IC3_STRING;
case 0x54000005:
return RTD_IC4_STRING;
case 0x54000006:
return RTD_IC5_STRING;
case 0x54000007:
return RTD_IC6_STRING;
case 0x54000008:
return RTD_IC7_STRING;
case 0x54000009:
return RTD_IC8_STRING;
case 0x5400000A:
return RTD_IC9_STRING;
case 0x5400000B:
return RTD_IC10_STRING;
case 0x5400000C:
return RTD_IC11_STRING;
case 0x5400000D:
return RTD_IC12_STRING;
case 0x5400000E:
return RTD_IC13_STRING;
case 0x5400000F:
return RTD_IC14_STRING;
case 0x54000010:
return SPI_TEST_STRING;
case 0x5400001F:
return RTD_IC15_STRING;
case 0x5400002F:
return RTD_IC16_STRING;
case 0x5400003F:
return RTD_IC17_STRING;
case 0x5400004F:
return RTD_IC18_STRING;
case 0x54000050:
return RAD_SENSOR_STRING;
case 0x54000020:
return UART_TEST_STRING;
case 0x5400AFFE:
return DUMMY_HANDLER_STRING;
case 0x5400CAFE:
@ -286,6 +303,10 @@ const char* translateObject(object_id_t object) {
return LIBGPIOD_TEST_STRING;
case 0x54694269:
return TEST_TASK_STRING;
case 0x73000100:
return TM_FUNNEL_STRING;
case 0x73500000:
return CCSDS_IP_CORE_BRIDGE_STRING;
case 0xFFFFFFFF:
return NO_OBJECT_STRING;
default:

728
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -9,18 +9,30 @@
#include "objects/systemObjectList.h"
ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence)
{
/* Length of a communication cycle */
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::HEATER_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SOLAR_ARRAY_DEPL_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::error << "PollingSequence::initialize has errors!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
#if Q7S_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_IC4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@ -40,12 +52,8 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
thisSequence->addSlot(objects::RTD_IC18, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
#endif /* Q7S_ADD_RTD_DEVICES */
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
#if Q7S_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
@ -65,12 +73,8 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
thisSequence->addSlot(objects::RTD_IC18, length * 0.2, DeviceHandlerIF::SEND_WRITE);
#endif /* Q7S_ADD_RTD_DEVICES */
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
#if Q7S_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_IC4, length * 0.4, DeviceHandlerIF::GET_WRITE);
@ -90,12 +94,8 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
thisSequence->addSlot(objects::RTD_IC18, length * 0.4, DeviceHandlerIF::GET_WRITE);
#endif /* Q7S_ADD_RTD_DEVICES */
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
#if Q7S_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_IC4, length * 0.6, DeviceHandlerIF::SEND_READ);
@ -115,12 +115,8 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
thisSequence->addSlot(objects::RTD_IC18, length * 0.6, DeviceHandlerIF::SEND_READ);
#endif /* Q7S_ADD_RTD_DEVICES */
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
#if Q7S_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_IC4, length * 0.8, DeviceHandlerIF::GET_READ);
@ -140,21 +136,12 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
thisSequence->addSlot(objects::RTD_IC18, length * 0.8, DeviceHandlerIF::GET_READ);
#endif /* Q7S_ADD_RTD_DEVICES */
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
/* Radiation sensor */
// thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
if (length != 3000) {
sif::warning << "pollingSequenceInitDefault: Frequency changed. Make sure timing critical "
<< "SUS sensors still produce correct values" << std::endl;
}
thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
/**
* The sun sensor will be shutdown as soon as the chip select is pulled high. Thus all
@ -166,263 +153,368 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
*/
/* Write setup */
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_1, length * 0.9, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_1, length * 0.9, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ);
/* Write setup */
// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ);
/* Write setup */
// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_3, length * 0.91, SusHandler::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_3, length * 0.93, SusHandler::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions from inernal FIFO */
// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_7, length * 0.918, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions from inernal FIFO */
// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions from inernal FIFO */
// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_10, length * 0.927, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_11, length * 0.93, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_12, length * 0.933, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_13, length * 0.936, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_3, length * 0.91, SusHandler::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_3, length * 0.93, SusHandler::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ);
// /* Write setup */
// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions from inernal FIFO */
// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_7, length * 0.918, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions from inernal FIFO */
// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions from inernal FIFO */
// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_10, length * 0.927, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_11, length * 0.93, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_12, length * 0.933, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ);
//
// /* Write setup */
// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_13, length * 0.936, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "SPI PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
sif::error << "PollingSequence::initialize has errors!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "I2C PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
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);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
#endif
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
#endif
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
#endif
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GPS1_HANDLER, 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;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence){
uint32_t length = thisSequence->getPeriodMs();
// PCDU handlers receives two messages and both must be handled
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@ -472,18 +564,18 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
length * 0.8, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Initialization of GomSpace PST failed" << std::endl;
sif::error << "GomSpace PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t pst::pollingSequenceTest(FixedTimeslotTaskIF* thisSequence) {
ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
/* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs();
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
@ -504,28 +596,28 @@ ReturnValue_t pst::pollingSequenceTest(FixedTimeslotTaskIF* thisSequence) {
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0,
@ -560,15 +652,25 @@ ReturnValue_t pst::pollingSequenceTest(FixedTimeslotTaskIF* thisSequence) {
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
static_cast<void>(length);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::error << "PollingSequence::initialize has errors!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
#if RPI_TEST_GPS_HANDLER == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.5, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
#endif
static_cast<void>(length);
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Test PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
#if TE7020 == 1
ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
@ -617,4 +719,4 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
}
return HasReturnvaluesIF::RETURN_OK;
}
#endif /* TE7020 == 1 */

36
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
View File

@ -1,7 +1,14 @@
#ifndef POLLINGSEQUENCEFACTORY_H_
#define POLLINGSEQUENCEFACTORY_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "OBSWConfig.h"
#if defined(RASPBERRY_PI)
#include "rpiConfig.h"
#elif defined(XIPHOS_Q7S)
#include "q7sConfig.h"
#endif
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
class FixedTimeslotTaskIF;
@ -25,21 +32,36 @@ class FixedTimeslotTaskIF;
namespace pst {
/* 0.4 second period init*/
ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
ReturnValue_t pstGpio(FixedTimeslotTaskIF *thisSequence);
/**
* @brief This function creates the PST for all gomspace devices. They are
* scheduled in a separate PST because the gomspace library uses
* blocking calls when requesting data from devices.
* @brief This function creates the PST for all gomspace devices.
* @details
* Scheduled in a separate PST because the gomspace library uses blocking calls when requesting
* data from devices.
*/
ReturnValue_t gomspacePstInit(FixedTimeslotTaskIF *thisSequence);
ReturnValue_t pstGompaceCan(FixedTimeslotTaskIF *thisSequence);
ReturnValue_t pollingSequenceTest(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstUart(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstSpi(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
/**
* Generic test PST
* @param thisSequence
* @return
*/
ReturnValue_t pstTest(FixedTimeslotTaskIF* thisSequence);
#if TE7020 == 1
/**
* @brief This polling sequence will be created when the software is compiled for the TE0720.
*/
ReturnValue_t pollingSequenceTE0720(FixedTimeslotTaskIF* thisSequence);
#endif
}

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

@ -13,6 +13,7 @@ namespace CLASS_ID {
enum {
CLASS_ID_START = COMMON_CLASS_ID_END,
SA_DEPL_HANDLER, //SADPL
SD_CARD_MANAGER, //SDMA
CLASS_ID_END // [EXPORT] : [END]
};
}

1
linux/utility/CMakeLists.txt
View File

@ -1,4 +1,5 @@
target_sources(${TARGET_NAME} PUBLIC
utility.cpp
)

11
linux/utility/utility.cpp Normal file
View File

@ -0,0 +1,11 @@
#include "OBSWConfig.h"
#include "FSFWConfig.h"
#include "utility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
void utility::handleSystemError(int retcode, std::string function) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << function << ": System call failed with code " << retcode;
#endif
}

13
linux/utility/utility.h Normal file
View File

@ -0,0 +1,13 @@
#ifndef LINUX_UTILITY_UTILITY_H_
#define LINUX_UTILITY_UTILITY_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <string>
namespace utility {
void handleSystemError(int retcode, std::string function);
}
#endif /* LINUX_UTILITY_UTILITY_H_ */

306
misc/eclipse/.cproject
View File

@ -19,25 +19,25 @@
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<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
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<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Host}&quot;"/>
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<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive_obsw}&quot;"/>
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<tool id="cdt.managedbuild.tool.gnu.c.compiler.mingw.base.397223006" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.mingw.base">
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<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/common}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive_obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
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@ -77,19 +77,23 @@
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<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Release-Host}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1840576359" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.1445228447" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="true" id="gnu.both.asm.option.include.paths.2056449695" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath"/>
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<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
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<tool id="cdt.managedbuild.tool.gnu.archiver.mingw.base.18980373" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.mingw.base"/>
<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.539225324" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base">
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<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive_obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
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<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1848997248" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
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<tool id="cdt.managedbuild.tool.gnu.c.compiler.mingw.base.473677411" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.mingw.base">
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<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive_obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
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<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.2060052812" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
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@ -127,7 +131,7 @@
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<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.base.1935224860" name="Debug Platform" osList="linux,hpux,aix,qnx" superClass="cdt.managedbuild.target.gnu.platform.base"/>
<builder arguments="--build ." buildPath="${workspace_loc:/eive-obsw/build-Debug-Host}" command="cmake" id="cdt.managedbuild.target.gnu.builder.base.1977029024" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/build-Debug-Host}" command="cmake" id="cdt.managedbuild.target.gnu.builder.base.1977029024" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
<tool id="cdt.managedbuild.tool.gnu.archiver.base.1958098629" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.1405808772" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.44677510" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
@ -189,7 +193,7 @@
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075." name="/" resourcePath="">
<toolChain id="cdt.managedbuild.toolchain.gnu.base.1520250049" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.base">
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.base.484502326" name="Debug Platform" osList="linux,hpux,aix,qnx" superClass="cdt.managedbuild.target.gnu.platform.base"/>
<builder arguments="-f Makefile-Hosted" command="make" id="cdt.managedbuild.target.gnu.builder.base.124593156" incrementalBuildTarget="release" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
<builder arguments="--build . -j" command="cmake" id="cdt.managedbuild.target.gnu.builder.base.124593156" incrementalBuildTarget="release" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
<tool id="cdt.managedbuild.tool.gnu.archiver.base.977464664" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.1522927967" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.1753272978" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
@ -234,7 +238,7 @@
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
</cconfiguration>
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" moduleId="org.eclipse.cdt.core.settings" name="eive-rpi-debug-win">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" moduleId="org.eclipse.cdt.core.settings" name="eive-rpi-debug">
<macros>
<stringMacro name="RPI_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="/home/rmueller/raspberrypi/rootfs"/>
<stringMacro name="RPI_SYSROOT" type="VALUE_TEXT" value="C:\Users\Robin\raspberrypi\rootfs"/>
@ -250,7 +254,7 @@
</extensions>
</storageModule>
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<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug-win" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
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<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"/>
@ -327,7 +331,7 @@
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.1620157986" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.1227132942" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
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<builder arguments="--build ." autoBuildTarget="all" buildPath="${workspace_loc:/eive-obsw/build-Debug-RPi}" cleanBuildTarget="clean" command="cmake" enableAutoBuild="false" enableCleanBuild="true" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.342223596" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
<builder arguments="--build . -j" autoBuildTarget="all" buildPath="${workspace_loc:/eive-obsw/build-Debug-RPi}" cleanBuildTarget="clean" command="cmake" enableAutoBuild="false" enableCleanBuild="true" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.342223596" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.944427471" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.319232842" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
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@ -390,7 +394,7 @@
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
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<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171">
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<stringMacro name="RPI_SYSROOT" type="VALUE_TEXT" value="C:\Users\Robin\raspberrypi\rootfs"/>
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@ -405,7 +409,7 @@
</extensions>
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<configuration artifactName="${ProjName}" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171" name="eive-rpi-release-win" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="org.eclipse.cdt.build.core.emptycfg">
<configuration artifactName="${ProjName}" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171" name="eive-rpi-release" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="org.eclipse.cdt.build.core.emptycfg">
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@ -482,7 +486,7 @@
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<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.636531967" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
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<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/build-Release-RPi}" command="cmake" id="ilg.gnuarmeclipse.managedbuild.cross.builder.292623790" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
<builder arguments="--build . -j" buildPath="${workspace_loc:/eive_obsw/build-Release-RPi}" command="cmake" id="ilg.gnuarmeclipse.managedbuild.cross.builder.292623790" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.1419530222" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.700547918" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
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@ -546,7 +550,7 @@
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
</cconfiguration>
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689">
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<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="/home/rmueller/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"/>
<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
@ -562,7 +566,7 @@
</extensions>
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@ -639,7 +643,7 @@
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<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.2014131279" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
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<builder arguments="--build ." buildPath="${workspace_loc:/eive-obsw/build-Debug-Q7S}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1895725167" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/build-Debug-Q7S}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1895725167" 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.2035413172" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
<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"/>
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@ -703,9 +707,10 @@
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<storageModule moduleId="ilg.gnumcueclipse.managedbuild.packs"/>
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<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
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@ -720,7 +725,7 @@
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<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.2002501811;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.1316209993">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
<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">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.1595165802;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1925043110">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
</storageModule>

5
mission/core/GenericFactory.cpp
View File

@ -83,9 +83,4 @@ void ObjectFactory::produceGenericObjects() {
pus::PUS_SERVICE_20);
new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT,
apid::EIVE_OBSW, pus::PUS_SERVICE_200);
/* Test Device Handler */
#if OBSW_ADD_TEST_CODE == 1
new TestTask(objects::TEST_TASK);
#endif
}

4
mission/devices/CMakeLists.txt
View File

@ -1,6 +1,5 @@
target_sources(${TARGET_NAME} PUBLIC
GPSHandler.cpp
# GyroL3GD20Handler.cpp
GPSHyperionHandler.cpp
MGMHandlerLIS3MDL.cpp
MGMHandlerRM3100.cpp
GomspaceDeviceHandler.cpp
@ -16,6 +15,7 @@ target_sources(${TARGET_NAME} PUBLIC
PlocHandler.cpp
RadiationSensorHandler.cpp
GyroADIS16507Handler.cpp
RwHandler.cpp
)

82
mission/devices/GPSHandler.cpp
View File

@ -1,82 +0,0 @@
#include "GPSHandler.h"
#include "devicedefinitions/GPSDefinitions.h"
#include "lwgps/lwgps.h"
GPSHandler::GPSHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
lwgps_init(&gpsData);
}
GPSHandler::~GPSHandler() {}
void GPSHandler::doStartUp() {
if(internalState == InternalStates::NONE) {
commandExecuted = false;
internalState = InternalStates::WAIT_FIRST_MESSAGE;
}
if(internalState == InternalStates::WAIT_FIRST_MESSAGE) {
if(commandExecuted) {
internalState = InternalStates::IDLE;
setMode(MODE_ON);
commandExecuted = false;
}
}
}
void GPSHandler::doShutDown() {
internalState = InternalStates::NONE;
commandExecuted = false;
setMode(MODE_OFF);
}
ReturnValue_t GPSHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// Pass data to GPS library
int result = lwgps_process(&gpsData, start, len);
if(result != 0) {
sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps"
<< std::endl;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t GPSHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 5000;
}
ReturnValue_t GPSHandler::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}
void GPSHandler::fillCommandAndReplyMap() {
// Reply length does not matter, packets should always arrive periodically
insertInReplyMap(GpsHyperion::GPS_REPLY, 4, nullptr, 0, true);
}
void GPSHandler::modeChanged() {
internalState = InternalStates::NONE;
}

150
mission/devices/GPSHyperionHandler.cpp Normal file
View File

@ -0,0 +1,150 @@
#include "GPSHyperionHandler.h"
#include "devicedefinitions/GPSDefinitions.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/timemanager/Clock.h"
#include "lwgps/lwgps.h"
GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), gpsSet(this) {
lwgps_init(&gpsData);
}
GPSHyperionHandler::~GPSHyperionHandler() {}
void GPSHyperionHandler::doStartUp() {
if(internalState == InternalStates::NONE) {
commandExecuted = false;
internalState = InternalStates::WAIT_FIRST_MESSAGE;
}
if(internalState == InternalStates::WAIT_FIRST_MESSAGE) {
if(commandExecuted) {
internalState = InternalStates::IDLE;
setMode(MODE_ON);
commandExecuted = false;
}
}
}
void GPSHyperionHandler::doShutDown() {
internalState = InternalStates::NONE;
commandExecuted = false;
setMode(MODE_OFF);
}
ReturnValue_t GPSHyperionHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// Pass data to GPS library
if(len > 0) {
sif::info << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
// TODO: Check whether data is valid by chcking whether NMEA start string is valid
commandExecuted = true;
}
int result = lwgps_process(&gpsData, start, len);
if(result != 1) {
sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps"
<< std::endl;
}
else {
// The data from the device will generally be read all at once. Therefore, we
// can set all field here
PoolReadGuard pg(&gpsSet);
if(pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed"
<< std::endl;
#endif
}
// Print messages
if(gpsData.is_valid) {
// Set all entries valid now, set invalid on case basis if values are sanitized
gpsSet.setValidity(true, true);
}
// Negative latitude -> South direction
gpsSet.latitude.value = gpsData.latitude;
// Negative longitude -> West direction
gpsSet.longitude.value = gpsData.latitude;
gpsSet.fixMode.value = gpsData.fix_mode;
gpsSet.satInUse.value = gpsData.sats_in_use;
Clock::TimeOfDay_t timeStruct = {};
timeStruct.day = gpsData.date;
timeStruct.hour = gpsData.hours;
timeStruct.minute = gpsData.minutes;
timeStruct.month = gpsData.month;
timeStruct.second = gpsData.seconds;
// Convert two-digit year to full year (AD)
timeStruct.year = gpsData.year + 2000;
timeval timeval = {};
Clock::convertTimeOfDayToTimeval(&timeStruct, &timeval);
gpsSet.year = timeStruct.year;
gpsSet.month = gpsData.month;
gpsSet.day = gpsData.date;
gpsSet.hours = gpsData.hours;
gpsSet.minutes = gpsData.minutes;
gpsSet.seconds = gpsData.seconds;
#if FSFW_HAL_DEBUG_HYPERION_GPS == 1
sif::info << "GPS Data" << std::endl;
printf("Valid status: %d\n", gpsData.is_valid);
printf("Latitude: %f degrees\n", gpsData.latitude);
printf("Longitude: %f degrees\n", gpsData.longitude);
printf("Altitude: %f meters\n", gpsData.altitude);
#endif
}
*foundLen = len;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t GPSHyperionHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 5000;
}
ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
return HasReturnvaluesIF::RETURN_OK;
}
void GPSHyperionHandler::fillCommandAndReplyMap() {
// Reply length does not matter, packets should always arrive periodically
insertInReplyMap(GpsHyperion::GPS_REPLY, 4, nullptr, 0, true);
}
void GPSHyperionHandler::modeChanged() {
internalState = InternalStates::NONE;
}

20
mission/devices/GPSHandler.h → mission/devices/GPSHyperionHandler.h
View File

@ -1,20 +1,25 @@
#ifndef MISSION_DEVICES_GPSHANDLER_H_
#define MISSION_DEVICES_GPSHANDLER_H_
#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "devicedefinitions/GPSDefinitions.h"
#include "lwgps/lwgps.h"
#ifndef FSFW_HAL_DEBUG_HYPERION_GPS
#define FSFW_HAL_DEBUG_HYPERION_GPS 0
#endif
/**
* @brief Device handler for the Hyperion HT-GPS200 device
* @details
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
*/
class GPSHandler: public DeviceHandlerBase {
class GPSHyperionHandler: public DeviceHandlerBase {
public:
GPSHandler(object_id_t objectId, object_id_t deviceCommunication,
GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie);
virtual ~GPSHandler();
virtual ~GPSHyperionHandler();
protected:
enum class InternalStates {
@ -48,6 +53,7 @@ protected:
private:
lwgps_t gpsData = {};
GpsPrimaryDataset gpsSet;
};
#endif /* MISSION_DEVICES_GPSHANDLER_H_ */
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

13
mission/devices/MGMHandlerLIS3MDL.cpp
View File

@ -1,7 +1,9 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include "MGMHandlerLIS3MDL.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include "fsfw/datapool/PoolReadGuard.h"
#if OBSW_VERBOSE_LEVEL >= 1
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#endif
MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
object_id_t deviceCommunication, CookieIF* comCookie):
@ -300,9 +302,9 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
sif::printInfo("X: %f " "\xC2\xB5" "T\n", mgmX);
sif::printInfo("Y: %f " "\xC2\xB5" "T\n", mgmY);
sif::printInfo("Z: %f " "\xC2\xB5" "T\n", mgmZ);
#endif
#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
}
#endif
#endif /* OBSW_VERBOSE_LEVEL >= 1 */
PoolReadGuard readHelper(&dataset);
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
dataset.fieldStrengthX = mgmX;
@ -482,6 +484,3 @@ ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK;
}
void MGMHandlerLIS3MDL::performOperationHook() {
}

11
mission/devices/MGMHandlerLIS3MDL.h
View File

@ -1,13 +1,13 @@
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#include "OBSWConfig.h"
#include "devicedefinitions/MGMHandlerLIS3Definitions.h"
#include "events/subsystemIdRanges.h"
#include <OBSWConfig.h>
#include <events/subsystemIdRanges.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
class PeriodicOperationDivider;
/**
* @brief Device handler object for the LIS3MDL 3-axis magnetometer
@ -162,9 +162,6 @@ private:
#if OBSW_VERBOSE_LEVEL >= 1
PeriodicOperationDivider* debugDivider;
#endif
void performOperationHook() override;
};
#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */

10
mission/devices/MGMHandlerRM3100.cpp
View File

@ -1,10 +1,10 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include "MGMHandlerRM3100.h"
#include <fsfw/globalfunctions/bitutility.h>
#include <fsfw/devicehandlers/DeviceHandlerMessage.h>
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/globalfunctions/bitutility.h"
#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,

11
mission/devices/MGMHandlerRM3100.h
View File

@ -1,13 +1,12 @@
#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
#define MISSION_DEVICES_MGMRM3100HANDLER_H_
#include "OBSWConfig.h"
#include "devicedefinitions/MGMHandlerRM3100Definitions.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <OBSWConfig.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#if OBSW_VERBOSE_LEVEL >= 1
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#endif
/**
@ -21,11 +20,11 @@ class MGMHandlerRM3100: public DeviceHandlerBase {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
//! P1: TMRC value which was set, P2: 0
//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
0x00, severity::INFO);
//! P1: First two bytes new Cycle Count X
//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
//! P1: Second two bytes new Cycle Count Y
//! P2: New cycle count Z
static constexpr Event cycleCountersSet = event::makeEvent(

2
mission/devices/RadiationSensorHandler.cpp
View File

@ -44,7 +44,7 @@ ReturnValue_t RadiationSensorHandler::buildNormalDeviceCommand(
break;
}
default: {
sif::debug << "RadiationSensorHandler::buildNormalDeviceCommand: Unknwon communication "
sif::debug << "RadiationSensorHandler::buildNormalDeviceCommand: Unknown communication "
<< "step" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}

514
mission/devices/RwHandler.cpp Normal file
View File

@ -0,0 +1,514 @@
#include "RwHandler.h"
#include "OBSWConfig.h"
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>
RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
LinuxLibgpioIF* gpioComIF, gpioId_t enableGpio) :
DeviceHandlerBase(objectId, comIF, comCookie), gpioComIF(gpioComIF), enableGpio(enableGpio),
temperatureSet(this), statusSet(this), lastResetStatusSet(this), tmDataset(this) {
if (comCookie == NULL) {
sif::error << "RwHandler: Invalid com cookie" << std::endl;
}
if (gpioComIF == NULL) {
sif::error << "RwHandler: Invalid gpio communication interface" << std::endl;
}
}
RwHandler::~RwHandler() {
}
void RwHandler::doStartUp() {
internalState = InternalState::GET_RESET_STATUS;
if(gpioComIF->pullHigh(enableGpio) != RETURN_OK) {
sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
}
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
}
void RwHandler::doShutDown() {
if(gpioComIF->pullLow(enableGpio) != RETURN_OK) {
sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low";
}
}
ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
switch (internalState) {
case InternalState::GET_RESET_STATUS:
*id = RwDefinitions::GET_LAST_RESET_STATUS;
internalState = InternalState::READ_TEMPERATURE;
break;
case InternalState::CLEAR_RESET_STATUS:
*id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
/** After reset status is cleared, reset status will be polled again for verification */
internalState = InternalState::GET_RESET_STATUS;
break;
case InternalState::READ_TEMPERATURE:
*id = RwDefinitions::GET_TEMPERATURE;
internalState = InternalState::GET_RW_SATUS;
break;
case InternalState::GET_RW_SATUS:
*id = RwDefinitions::GET_RW_STATUS;
internalState = InternalState::GET_RESET_STATUS;
break;
default:
sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid communication step"
<< std::endl;
break;
}
return buildCommandFromCommand(*id, NULL, 0);
}
ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) {
return NOTHING_TO_SEND;
}
ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t * commandData, size_t commandDataLen) {
ReturnValue_t result = RETURN_OK;
switch (deviceCommand) {
case (RwDefinitions::RESET_MCU): {
prepareSimpleCommand(deviceCommand);
return RETURN_OK;
}
case (RwDefinitions::GET_LAST_RESET_STATUS): {
prepareSimpleCommand(deviceCommand);
return RETURN_OK;
}
case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
prepareSimpleCommand(deviceCommand);
return RETURN_OK;
}
case (RwDefinitions::GET_RW_STATUS): {
prepareSimpleCommand(deviceCommand);
return RETURN_OK;
}
case (RwDefinitions::INIT_RW_CONTROLLER): {
prepareSimpleCommand(deviceCommand);
return RETURN_OK;
}
case (RwDefinitions::SET_SPEED): {
if (commandDataLen != 6) {
sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
<< " invalid length" << std::endl;
return SET_SPEED_COMMAND_INVALID_LENGTH;
}
result = checkSpeedAndRampTime(commandData, commandDataLen);
if (result != RETURN_OK) {
return result;
}
prepareSetSpeedCmd(commandData, commandDataLen);
return result;
}
case (RwDefinitions::GET_TEMPERATURE): {
prepareSimpleCommand(deviceCommand);
return RETURN_OK;
}
case (RwDefinitions::GET_TM): {
prepareSimpleCommand(deviceCommand);
return RETURN_OK;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
void RwHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(RwDefinitions::RESET_MCU);
this->insertInCommandAndReplyMap(RwDefinitions::GET_LAST_RESET_STATUS, 1, &lastResetStatusSet,
RwDefinitions::SIZE_GET_RESET_STATUS);
this->insertInCommandAndReplyMap(RwDefinitions::CLEAR_LAST_RESET_STATUS, 1, nullptr,
RwDefinitions::SIZE_CLEAR_RESET_STATUS);
this->insertInCommandAndReplyMap(RwDefinitions::GET_RW_STATUS, 1, &statusSet,
RwDefinitions::SIZE_GET_RW_STATUS);
this->insertInCommandAndReplyMap(RwDefinitions::INIT_RW_CONTROLLER, 1, nullptr,
RwDefinitions::SIZE_INIT_RW);
this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, &temperatureSet,
RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
RwDefinitions::SIZE_SET_SPEED_REPLY);
this->insertInCommandAndReplyMap(RwDefinitions::GET_TM, 1, &tmDataset,
RwDefinitions::SIZE_GET_TELEMETRY_REPLY);
}
ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) {
switch (*(start)) {
case (static_cast<uint8_t>(RwDefinitions::GET_LAST_RESET_STATUS)): {
*foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
*foundId = RwDefinitions::GET_LAST_RESET_STATUS;
break;
}
case (static_cast<uint8_t>(RwDefinitions::CLEAR_LAST_RESET_STATUS)): {
*foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
*foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
break;
}
case (static_cast<uint8_t>(RwDefinitions::GET_RW_STATUS)): {
*foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
*foundId = RwDefinitions::GET_RW_STATUS;
break;
}
case (static_cast<uint8_t>(RwDefinitions::INIT_RW_CONTROLLER)): {
*foundLen = RwDefinitions::SIZE_INIT_RW;
*foundId = RwDefinitions::INIT_RW_CONTROLLER;
break;
}
case (static_cast<uint8_t>(RwDefinitions::SET_SPEED)): {
*foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
*foundId = RwDefinitions::SET_SPEED;
break;
}
case (static_cast<uint8_t>(RwDefinitions::GET_TEMPERATURE)): {
*foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY;
*foundId = RwDefinitions::GET_TEMPERATURE;
break;
}
case (static_cast<uint8_t>(RwDefinitions::GET_TM)): {
// *foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
*foundLen = 91;
*foundId = RwDefinitions::GET_TM;
break;
}
default: {
sif::debug << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
return RETURN_FAILED;
break;
}
}
sizeOfReply = *foundLen;
return RETURN_OK;
}
ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
/** Check result code */
if (*(packet + 1) == RwDefinitions::ERROR) {
sif::error << "RwHandler::interpretDeviceReply: Command execution failed. Command id: "
<< id << std::endl;
return EXECUTION_FAILED;
}
/** Received in little endian byte order */
uint16_t replyCrc = *(packet + sizeOfReply - 1) << 8 | *(packet + sizeOfReply - 2) ;
if (CRC::crc16ccitt(packet, sizeOfReply - 2, 0xFFFF) != replyCrc) {
sif::error << "RwHandler::interpretDeviceReply: cRC error" << std::endl;
return CRC_ERROR;
}
switch (id) {
case (RwDefinitions::GET_LAST_RESET_STATUS): {
handleResetStatusReply(packet);
break;
}
case (RwDefinitions::GET_RW_STATUS): {
handleGetRwStatusReply(packet);
break;
}
case (RwDefinitions::CLEAR_LAST_RESET_STATUS):
case (RwDefinitions::INIT_RW_CONTROLLER):
case (RwDefinitions::SET_SPEED):
// no reply data expected
break;
case (RwDefinitions::GET_TEMPERATURE): {
handleTemperatureReply(packet);
break;
}
case (RwDefinitions::GET_TM): {
handleGetTelemetryReply(packet);
break;
}
default: {
sif::debug << "RwHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return RETURN_OK;
}
void RwHandler::setNormalDatapoolEntriesInvalid() {
}
uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 5000;
}
ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::REFERENCE_SPEED, new PoolEntry<int32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::STATE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::CLC_MODE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
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::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 }));
localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry<int32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::EXECUTED_REPLIES, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::COMMAND_REPLIES, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::UART_BYTES_READ, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::UART_PARITY_ERRORS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::UART_NOISE_ERRORS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::UART_FRAME_ERRORS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>( { 0 }));
return RETURN_OK;
}
void RwHandler::prepareSimpleCommand(DeviceCommandId_t id) {
commandBuffer[0] = static_cast<uint8_t>(id);
uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
rawPacket = commandBuffer;
rawPacketLen = 3;
}
ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_t commandDataLen) {
int32_t speed = *commandData << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
| *(commandData + 3);
if ((speed < -65000 || speed > 65000 || (speed > -1000 && speed < 1000)) && (speed != 0)) {
sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid speed" << std::endl;
return INVALID_SPEED;
}
uint16_t rampTime = *(commandData + 4) << 8 | *(commandData + 5);
if (rampTime < 10 || rampTime > 10000) {
sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid ramp time"
<< std::endl;
return INVALID_RAMP_TIME;
}
return RETURN_OK;
}
void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen) {
commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::SET_SPEED);
/** Speed (0.1 RPM) */
commandBuffer[1] = *(commandData + 3);
commandBuffer[2] = *(commandData + 2);
commandBuffer[3] = *(commandData + 1);
commandBuffer[4] = *commandData;
/** Ramp time (ms) */
commandBuffer[5] = *(commandData + 5);
commandBuffer[6] = *(commandData + 4);
uint16_t crc = CRC::crc16ccitt(commandBuffer, 7, 0xFFFF);
commandBuffer[7] = static_cast<uint8_t>(crc & 0xFF);
commandBuffer[8] = static_cast<uint8_t>(crc >> 8 & 0xFF);
rawPacket = commandBuffer;
rawPacketLen = 9;
}
void RwHandler::handleResetStatusReply(const uint8_t* packet) {
PoolReadGuard rg(&lastResetStatusSet);
uint8_t offset = 2;
uint8_t resetStatus = *(packet + offset);
if (resetStatus != RwDefinitions::CLEARED) {
internalState = InternalState::CLEAR_RESET_STATUS;
lastResetStatusSet.lastResetStatus = resetStatus;
}
lastResetStatusSet.currentResetStatus = resetStatus;
#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
<< static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
<< static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value) << std::endl;
#endif
}
void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
PoolReadGuard rg(&statusSet);
uint8_t offset = 2;
statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
statusSet.referenceSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
statusSet.state = *(packet + offset);
offset += 1;
statusSet.clcMode = *(packet + offset);
if (statusSet.state == RwDefinitions::ERROR) {
/**
* This requires the commanding of the init reaction wheel controller command to recover
* form error state which must be handled by the FDIR instance.
*/
triggerEvent(ERROR_STATE);
sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state"
<< std::endl;
}
#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
sif::info << "RwHandler::handleGetRwStatusReply: Current speed is: " << statusSet.currSpeed
<< " * 0.1 RPM" << std::endl;
sif::info << "RwHandler::handleGetRwStatusReply: Reference speed is: "
<< statusSet.referenceSpeed << " * 0.1 RPM" << std::endl;
sif::info << "RwHandler::handleGetRwStatusReply: State is: "
<< (unsigned int) statusSet.state.value << std::endl;
sif::info << "RwHandler::handleGetRwStatusReply: clc mode is: "
<< (unsigned int) statusSet.clcMode.value << std::endl;
#endif
}
void RwHandler::handleTemperatureReply(const uint8_t* packet) {
PoolReadGuard rg(&temperatureSet);
uint8_t offset = 2;
temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
sif::info << "RwHandler::handleTemperatureReply: Temperature: "
<< temperatureSet.temperatureCelcius << " °C" << std::endl;
#endif
}
void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
PoolReadGuard rg(&tmDataset);
uint8_t offset = 2;
tmDataset.lastResetStatus = *(packet + offset);
offset += 1;
tmDataset.mcuTemperature = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
offset += 8;
tmDataset.rwState = *(packet + offset);
offset += 1;
tmDataset.rwClcMode = *(packet + offset);
offset += 1;
tmDataset.rwCurrSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.rwRefSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.numOfInvalidCrcPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.numOfInvalidLenPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.numOfInvalidCmdPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.numOfCmdExecutedReplies = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.numOfCmdReplies = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.uartNumOfBytesWritten = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.uartNumOfBytesRead = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.uartNumOfParityErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.uartNumOfNoiseErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.uartNumOfFrameErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.uartNumOfRegisterOverrunErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.uartTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.spiNumOfBytesWritten = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.spiNumOfBytesRead = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.spiNumOfRegisterOverrunErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
tmDataset.spiTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
sif::info << "RwHandler::handleTemperatureReply: Last reset status: "
<< static_cast<unsigned int>(tmDataset.lastResetStatus.value) << std::endl;
sif::info << "RwHandler::handleTemperatureReply: MCU temperature: " << tmDataset.mcuTemperature
<< std::endl;
sif::info << "RwHandler::handleTemperatureReply: State: "
<< static_cast<unsigned int>(tmDataset.rwState.value) << std::endl;
sif::info << "RwHandler::handleTemperatureReply: CLC mode: "
<< static_cast<unsigned int>(tmDataset.rwClcMode.value) << std::endl;
sif::info << "RwHandler::handleTemperatureReply: Current speed: " << tmDataset.rwCurrSpeed
<< std::endl;
sif::info << "RwHandler::handleTemperatureReply: Reference speed: " << tmDataset.rwRefSpeed
<< std::endl;
sif::info << "RwHandler::handleTemperatureReply: Number of invalid CRC packets: "
<< tmDataset.numOfInvalidCrcPackets << std::endl;
sif::info << "RwHandler::handleTemperatureReply: Number of invalid length packets: "
<< tmDataset.numOfInvalidLenPackets << std::endl;
sif::info << "RwHandler::handleTemperatureReply: Number of invalid command packets: "
<< tmDataset.numOfInvalidCmdPackets << std::endl;
sif::info << "RwHandler::handleTemperatureReply: Number of command executed replies: "
<< tmDataset.numOfCmdExecutedReplies << std::endl;
sif::info << "RwHandler::handleTemperatureReply: Number of command replies: "
<< tmDataset.numOfCmdReplies << std::endl;
sif::info << "RwHandler::handleTemperatureReply: UART number of bytes written: "
<< tmDataset.uartNumOfBytesWritten << std::endl;
sif::info << "RwHandler::handleTemperatureReply: UART number of bytes read: "
<< tmDataset.uartNumOfBytesRead << std::endl;
sif::info << "RwHandler::handleTemperatureReply: UART number of parity errors: "
<< tmDataset.uartNumOfParityErrors << std::endl;
sif::info << "RwHandler::handleTemperatureReply: UART number of noise errors: "
<< tmDataset.uartNumOfNoiseErrors << std::endl;
sif::info << "RwHandler::handleTemperatureReply: UART number of frame errors: "
<< tmDataset.uartNumOfFrameErrors << std::endl;
sif::info << "RwHandler::handleTemperatureReply: UART number of register overrun errors: "
<< tmDataset.uartNumOfRegisterOverrunErrors << std::endl;
sif::info << "RwHandler::handleTemperatureReply: UART number of total errors: "
<< tmDataset.uartTotalNumOfErrors << std::endl;
sif::info << "RwHandler::handleTemperatureReply: SPI number of bytes written: "
<< tmDataset.spiNumOfBytesWritten << std::endl;
sif::info << "RwHandler::handleTemperatureReply: SPI number of bytes read: "
<< tmDataset.spiNumOfBytesRead << std::endl;
sif::info << "RwHandler::handleTemperatureReply: SPI number of register overrun errors: "
<< tmDataset.spiNumOfRegisterOverrunErrors << std::endl;
sif::info << "RwHandler::handleTemperatureReply: SPI number of register total errors: "
<< tmDataset.spiTotalNumOfErrors << std::endl;
#endif
}

154
mission/devices/RwHandler.h Normal file
View File

@ -0,0 +1,154 @@
#ifndef MISSION_DEVICES_RWHANDLER_H_
#define MISSION_DEVICES_RWHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/RwDefinitions.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <string.h>
/**
* @brief This is the device handler for the reaction wheel from nano avionics.
*
* @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
* Arbeitsdaten/08_Used%20Components/Nanoavionics_Reactionwheels&fileid=181622
*
* @note Values are transferred in little endian format.
*
* @author J. Meier
*/
class RwHandler: 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.
*/
RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
LinuxLibgpioIF* gpioComIF, gpioId_t enableGpio);
virtual ~RwHandler();
static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0);
//! [EXPORT] : [COMMENT] Used by the spi send function to tell a failing read call
static const ReturnValue_t SPI_READ_FAILURE = MAKE_RETURN_CODE(0xB1);
//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E
static const ReturnValue_t MISSING_START_SIGN = MAKE_RETURN_CODE(0xB2);
//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination
static const ReturnValue_t INVALID_SUBSTITUTE = MAKE_RETURN_CODE(0xB3);
//! [EXPORT] : [COMMENT] HDLC decoding mechanism never receives the end sign 0x7E
static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4);
//! [EXPORT] : [COMMENT] Reaction wheel only responds with empty frames.
static const ReturnValue_t NO_REPLY = MAKE_RETURN_CODE(0xB5);
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;
private:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;
//! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in the range of [-65000; 1000] or [1000; 65000]
static const ReturnValue_t INVALID_SPEED = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Action Message with invalid ramp time was received.
static const ReturnValue_t INVALID_RAMP_TIME = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Received set speed command has invalid length. Should be 6.
static const ReturnValue_t SET_SPEED_COMMAND_INVALID_LENGTH = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Command execution failed
static const ReturnValue_t EXECUTION_FAILED = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Reaction wheel reply has invalid crc
static const ReturnValue_t CRC_ERROR = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Reaction wheel signals an error state
static const Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);
LinuxLibgpioIF* gpioComIF = nullptr;
gpioId_t enableGpio = gpio::NO_GPIO;
RwDefinitions::TemperatureSet temperatureSet;
RwDefinitions::StatusSet statusSet;
RwDefinitions::LastResetSatus lastResetStatusSet;
RwDefinitions::TmDataset tmDataset;
uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE];
enum class InternalState {
GET_RESET_STATUS,
CLEAR_RESET_STATUS,
READ_TEMPERATURE,
GET_RW_SATUS
};
InternalState internalState = InternalState::GET_RESET_STATUS;
size_t sizeOfReply = 0;
/**
* @brief This function can be used to build commands which do not contain any data apart
* from the command id and the CRC.
* @param commandId The command id of the command to build.
*/
void prepareSimpleCommand(DeviceCommandId_t id);
/**
* @brief This function checks if the receiced speed and ramp time to set are in a valid
* range.
* @return RETURN_OK if successful, otherwise error code.
*/
ReturnValue_t checkSpeedAndRampTime(const uint8_t * commandData, size_t commandDataLen);
/**
* @brief This function prepares the set speed command from the commandData received with
* an action message.
*/
void prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen);
/**
* @brief This function writes the last reset status retrieved with the get last reset status
* command into the reset status dataset.
*
* @param packet Pointer to the buffer holding the reply data.
*/
void handleResetStatusReply(const uint8_t* packet);
/**
* @brief This function handles the reply of the get temperature command.
*
* @param packet Pointer to the reply data
*/
void handleTemperatureReply(const uint8_t* packet);
/**
* @brief This function fills the status set with the data from the get-status-reply.
*/
void handleGetRwStatusReply(const uint8_t* packet);
/**
* @brief This function fills the tmDataset with the reply data requested with get telemetry
* command.
*/
void handleGetTelemetryReply(const uint8_t* packet);
};
#endif /* MISSION_DEVICES_RWHANDLER_H_ */

50
mission/devices/devicedefinitions/GPSDefinitions.h
View File

@ -1,21 +1,65 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "fsfw/datapoollocal/StaticLocalDataSet.h"
namespace GpsHyperion {
static constexpr DeviceCommandId_t GPS_REPLY = 0;
enum GpsPoolIds: lp_id_t {
static constexpr uint32_t DATASET_ID = 0;
enum GpsPoolIds: lp_id_t {
LATITUDE = 0,
LONGITUDE = 1,
ALTITUDE = 2,
FIX_MODE = 3,
SATS_IN_USE = 4,
UNIX_SECONDS = 5,
YEAR = 6,
MONTH = 7,
DAY = 8,
HOURS = 9,
MINUTES = 10,
SECONDS = 11
};
enum GpsFixModes: uint8_t {
INVALID = 0,
NO_FIX = 1,
FIX_2D = 2,
FIX_3D = 3
};
}
class GpsPrimaryDataset: public StaticLocalDataSet<5> {
class GpsPrimaryDataset: public StaticLocalDataSet<18> {
public:
GpsPrimaryDataset(object_id_t gpsId):
StaticLocalDataSet(sid_t(gpsId, GpsHyperion::DATASET_ID)) {
setAllVariablesReadOnly();
}
lp_var_t<double> latitude = lp_var_t<double>(sid.objectId,
GpsHyperion::LATITUDE, this);
lp_var_t<double> longitude = lp_var_t<double>(sid.objectId,
GpsHyperion::LONGITUDE, this);
lp_var_t<double> altitude = lp_var_t<double>(sid.objectId, GpsHyperion::ALTITUDE, this);
lp_var_t<uint8_t> fixMode = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::FIX_MODE, this);
lp_var_t<uint8_t> satInUse = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::SATS_IN_USE, this);
lp_var_t<uint16_t> year = lp_var_t<uint16_t>(sid.objectId, GpsHyperion::YEAR, this);
lp_var_t<uint8_t> month = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::MONTH, this);
lp_var_t<uint8_t> day = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::DAY, this);
lp_var_t<uint8_t> hours = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::HOURS, this);
lp_var_t<uint8_t> minutes = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::MINUTES, this);
lp_var_t<uint8_t> seconds = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::SECONDS, this);
lp_var_t<uint32_t> unixSeconds = lp_var_t<uint32_t>(sid.objectId,
GpsHyperion::UNIX_SECONDS, this);
private:
friend class GPSHyperionHandler;
GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_ */

4
mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h
View File

@ -20,8 +20,8 @@ static constexpr size_t MAX_BUFFER_SIZE = 16;
static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
static const DeviceCommandId_t SETUP_MGM = 0x00;
static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x01;
static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x00;
static const DeviceCommandId_t SETUP_MGM = 0x01;
static const DeviceCommandId_t READ_TEMPERATURE = 0x02;
static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;

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