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Merge pull request 'SD Card, Scratch Buffer and README updates' (#52) from mueller/first-sd-tests into develop

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Reviewed-on: #52
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>
This commit is contained in:
Jakob Meier 2021-07-09 22:02:30 +02:00
commit 7053c63c5d
47 changed files with 1135 additions and 342 deletions
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2
CMakeLists.txt
View File

@ -51,6 +51,7 @@ set(LIB_CSP_NAME libcsp)
set(LIB_FSFW_HAL_NAME fsfw_hal) set(LIB_FSFW_HAL_NAME fsfw_hal)
set(LIB_LWGPS_NAME lwgps) set(LIB_LWGPS_NAME lwgps)
set(THIRD_PARTY_FOLDER thirdparty) set(THIRD_PARTY_FOLDER thirdparty)
set(LIB_CXX_FS -lstdc++fs)
# Set path names # Set path names
set(FSFW_PATH fsfw) set(FSFW_PATH fsfw)
@ -164,6 +165,7 @@ if(NOT Q7S_SIMPLE_MODE)
${LIB_OS_NAME} ${LIB_OS_NAME}
${LIB_LWGPS_NAME} ${LIB_LWGPS_NAME}
${LIB_FSFW_HAL_NAME} ${LIB_FSFW_HAL_NAME}
${LIB_CXX_FS}
) )
endif() endif()

351
README.md
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@ -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: Target systems:
* OBC with Linux OS * OBC with Linux OS
* Xiphos Q7S * Xiphos Q7S
* Based on Zynq-7020 SoC (xc7z020clg484-2) * Based on Zynq-7020 SoC (xc7z020clg484-2)
* Dual-core ARM Cortex-A9 * Dual-core ARM Cortex-A9
* 766 MHz * 766 MHz
* Artix-7 FPGA (85K pogrammable logic cells) * 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 * 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 * Also a lot of information about the Q7S can be found on
* Linux OS built with Yocto 2.5 the [Xiphos Traq Platform](https://trac2.xiphos.ca/eive-q7). Press on index to find all
* Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git 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 * Host System
* Generic software components which are not dependant on hardware can also * 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 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. - 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. - 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 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 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> * Install settings. In the Devices selection, it is sufficient to pick SoC &rarr; Zynq-7000: <br>
<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/src/branch/develop/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="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/src/branch/develop/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="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/src/branch/develop/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 * 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): 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` `<XilinxInstallation>\SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin`
or set up path each time before debugging. 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 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). [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 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. 1. Install [MSYS2](https://www.msys2.org/) and [CMake](https://cmake.org/download/) first.
@ -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 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 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. 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. When using Windows, run theses steps in MSYS2.
@ -153,7 +186,7 @@ When using Windows, run theses steps in MSYS2.
```sh ```sh
cd cmake/scripts/Q7S cd cmake/scripts/Q7S
./create_cmake_debug.sh ./make_debug_cfg.sh
cd ../../.. 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 You can run it manually there. To perform auto-start on boot, have a look at the start-up
application section. application section.
## Debugging the software via Flatsat PC # Debugging the software via Flatsat PC
Open SSH connection to 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. 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 ```sh
ifconfig 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 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. 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 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/> 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). Load the root partiton from the flash memory (there are to nor-flash memories and each flash holds
Note: It is not possible to modify the currently loaded root partition, e.g. creating directories. To do this, two xdi images). Note: It is not possible to modify the currently loaded root partition, e.g.
the parition needs to be mounted. creating directories. To do this, the parition needs to be mounted.
1. Disable write protection of the desired root partition 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` 3. Copy the executable to `/usr/bin`
4. Make sure the permissions to execute the application are set 4. Make sure the permissions to execute the application are set
```sh ```sh
chmod +x application chmod +x application
``` ```
5. Create systemd service in /lib/systemd/system. The following shows an example service. 5. Create systemd service in /lib/systemd/system. The following shows an example service.
```sh ```sh
cat > example.service cat > example.service
[Unit] [Unit]
@ -361,8 +399,8 @@ the parition needs to be mounted.
[Install] [Install]
WantedBy=multi-user.target WantedBy=multi-user.target
``` ```
6. Enable the service. This is normally done with systemctl enable. However, this is not possible when the service is 6. Enable the service. This is normally done with systemctl enable. However, this is not possible
created for a mounted root partition. Therefore create a symlink as follows. when the service is created for a mounted root partition. Therefore create a symlink as follows.
```sh ```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' 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 ```sh
systemctl status example systemctl status example
``` ```
More detailed information about the used q7s commands can be found in the Q7S user manual. 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 ## Setting up UNIX environment for real-time functionalities
Please note that on most UNIX environments (e.g. Ubuntu), the 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 used by the UNIX pthread module are restricted, which will lead to permission errors when creating
and configuring real-time properites like scheduling priorities. these tasks and configuring real-time properites like scheduling priorities.
To solve this issues, try following steps: 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. length is 130.
2. Edit the /etc/sysctl.conf file 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
```sh sudo nano /etc/sysctl.conf
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max ```
```
or running the `unlockRealtime` script.
3. Run the shell script inside the linux folder Append at end:
```sh ```sh
./unlockRealtime fs/mqueue/msg_max = <newMsgMaxLen>
``` ```
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).
## Flight Software Framework (FSFW) Apply changes with:
```sh
sudo sysctl -p
```
An EIVE fork of the FSFW is submodules into this repository. A possible solution which only persists for the current session is
To add the master upstream branch and merge changes and updates from it ```sh
into the fork, run the following command in the fsfw folder first: echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
```
```sh # PCDU
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
Connect to serial console of P60 Dock Connect to serial console of P60 Dock
```` ````
@ -511,10 +495,11 @@ p60-dock # param get out_en[0]
GET out_en[0] = 1 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 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 * Baudrate 115200
* Login to Q7S: * Login to Q7S:
* user: root * user: root
@ -562,10 +547,10 @@ GET out_en[0] = 1
11. Test connection (This ensures the TCF Agent is running on the Q7S) 11. Test connection (This ensures the TCF Agent is running on the Q7S)
12. Select Application tab 12. Select Application tab
* Project Name: eive_obsw * Project Name: eive_obsw
* Local File Path: Path to eiveobsw-linux.elf (in _bin\linux\devel) * Local File Path: Path to eiveobsw-linux.elf (in `_bin\linux\devel`)
* Remote File Path: /tmp/eive_obsw.elf * 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. 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. `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=.. 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 ## Libgpiod
Detect all gpio device files: Detect all gpio device files:
@ -626,10 +652,64 @@ gpioget <gpiogroup> <offset>
Example to get state: Example to get state:
gpioget gpiochip7 14 gpioget gpiochip7 14
Both the MIOs and EMIOs can be accessed via the zynq_gpio instance which comprises 118 pins Both the MIOs and EMIOs can be accessed via the zynq_gpio instance which
(54 MIOs and 64 EMIOs). comprises 118 pins (54 MIOs and 64 EMIOs).
## Running the EIVE OBSW on a Raspberry Pi ## 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
```
# Running the EIVE OBSW on a Raspberry Pi
Special section for running the EIVE OBSW on the 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. The Raspberry Pi build uses the `bsp_rpi` BSP folder, and a very similar cross-compiler.
@ -645,28 +725,21 @@ sudo apt-get install gpiod libgpiod-dev
to install the required GPIO libraries before cloning the system root folder. 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 An EIVE fork of the FSFW is submodules into this repository.
&rarr; C/C++ Build &rarr; Build Variables called `Q7S_SYSROOT` or `RPI_SYSROOT`. You can set To add the master upstream branch and merge changes and updates from it
the sysroot path in those variables to get any additional includes like `gpiod.h` in the into the fork, run the following command in the fsfw folder first:
Eclipse indexer.
## Xilinx UARTLIE ```sh
Get info about ttyUL* devices git remote add upstream https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git
```` git remote update --prune
cat /proc/tty/driver ```
````
## I2C After that, an update can be merged by running
Getting information about I2C device
````
ls /sys/class/i2c-dev/i2c-0/device/device/driver
````
This shows the memory mapping of /dev/i2c-0
## Useful Q7S Linux Commands ```sh
Rebooting currently running image: git merge upstream/master
```` ```
xsc_boot_copy -r
```` Alternatively, changes from other upstreams (forks) and branches can be merged like that in the same way.

4
bsp_q7s/CMakeLists.txt
View File

@ -2,13 +2,15 @@ target_sources(${TARGET_NAME} PUBLIC
main.cpp main.cpp
) )
add_subdirectory(boardtest)
if(Q7S_SIMPLE_MODE) if(Q7S_SIMPLE_MODE)
add_subdirectory(simple) add_subdirectory(simple)
else() else()
add_subdirectory(boardconfig) add_subdirectory(boardconfig)
add_subdirectory(comIF) add_subdirectory(comIF)
add_subdirectory(boardtest)
add_subdirectory(gpio) add_subdirectory(gpio)
add_subdirectory(core) add_subdirectory(core)
add_subdirectory(memory)
add_subdirectory(spiCallbacks) add_subdirectory(spiCallbacks)
endif() endif()

10
bsp_q7s/boardconfig/q7sConfig.h.in
View File

@ -1,6 +1,8 @@
#ifndef BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ #ifndef BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_
#define BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ #define BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_
#include <cstdint>
#cmakedefine01 Q7S_SIMPLE_MODE #cmakedefine01 Q7S_SIMPLE_MODE
#define Q7S_ADD_RTD_DEVICES 0 #define Q7S_ADD_RTD_DEVICES 0
@ -11,4 +13,12 @@
#define Q7S_ADD_SPI_TEST 0 #define Q7S_ADD_SPI_TEST 0
#endif #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_ */ #endif /* BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ */

2
bsp_q7s/boardtest/CMakeLists.txt
View File

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

21
bsp_q7s/boardtest/FileSystemTest.cpp Normal file
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@ -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
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@ -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
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@ -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_ */

34
bsp_q7s/core/CoreController.cpp
View File

@ -1,4 +1,5 @@
#include "CoreController.h" #include "CoreController.h"
#include "../memory/SdCardManager.h"
CoreController::CoreController(object_id_t objectId): CoreController::CoreController(object_id_t objectId):
ExtendedControllerBase(objectId, objects::NO_OBJECT, 5) { ExtendedControllerBase(objectId, objects::NO_OBJECT, 5) {
@ -20,6 +21,39 @@ LocalPoolDataSetBase* CoreController::getDataSetHandle(sid_t sid) {
return nullptr; return nullptr;
} }
ReturnValue_t CoreController::initialize() {
// Find a way to store this non-volatile outside of SD cards (ProASIC?)
sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
std::string printoutString;
if(preferredSdCard == sd::SdCard::SLOT_0) {
printoutString = "0";
}
else {
printoutString = "1";
}
// Creator or update status file
ReturnValue_t result = SdCardManager::instance()->updateSdCardStateFile();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Updating SD card state file failed"
<< std::endl;
}
sif::info << "Switching on SD card " << printoutString << ".." << std::endl;
result = SdCardManager::instance()->switchOnSdCard(preferredSdCard);
if(result == SdCardManager::ALREADY_ON) {
sif::info << "SD card " << printoutString << " is already on" << std::endl;
}
else if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Turning SD card on failed"
<< std::endl;
}
else {
sif::info << "SD card " << printoutString << " was switched on" << std::endl;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode, ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) { uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;

2
bsp_q7s/core/CoreController.h
View File

@ -7,6 +7,8 @@ class CoreController: public ExtendedControllerBase {
public: public:
CoreController(object_id_t objectId); CoreController(object_id_t objectId);
ReturnValue_t initialize() override;
ReturnValue_t handleCommandMessage(CommandMessage *message) override; ReturnValue_t handleCommandMessage(CommandMessage *message) override;
void performControlOperation() override; void performControlOperation() override;
private: private:

13
bsp_q7s/core/InitMission.cpp
View File

@ -44,6 +44,7 @@ void initmission::initMission() {
void initmission::initTasks() { void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance(); TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(factory == nullptr) { if(factory == nullptr) {
/* Should never happen ! */ /* Should never happen ! */
return; return;
@ -54,11 +55,18 @@ void initmission::initTasks() {
void (*missedDeadlineFunc) (void) = nullptr; void (*missedDeadlineFunc) (void) = nullptr;
#endif #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 */ /* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
ReturnValue_t result = tmTcDistributor->addComponent( result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
objects::CCSDS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR); initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
} }
@ -229,6 +237,7 @@ void initmission::initTasks() {
tmTcDistributor->startTask(); tmTcDistributor->startTask();
udpBridgeTask->startTask(); udpBridgeTask->startTask();
udpPollingTask->startTask(); udpPollingTask->startTask();
coreController->startTask();
#if TE0720 == 0 #if TE0720 == 0
uartPst->startTask(); uartPst->startTask();

7
bsp_q7s/core/ObjectFactory.cpp
View File

@ -1,3 +1,4 @@
#include <bsp_q7s/boardtest/Q7STestTask.h>
#include "ObjectFactory.h" #include "ObjectFactory.h"
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "tmtc/apid.h" #include "tmtc/apid.h"
@ -621,6 +622,11 @@ void ObjectFactory::produce(void* args){
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR); new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE); 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 #if TE0720 == 1 && TEST_LIBGPIOD == 1
/* Configure MIO0 as input */ /* Configure MIO0 as input */
GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0, GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
@ -695,4 +701,5 @@ void ObjectFactory::produce(void* args){
#if Q7S_ADD_SPI_TEST == 1 #if Q7S_ADD_SPI_TEST == 1
new SpiTestClass(objects::SPI_TEST, gpioComIF); new SpiTestClass(objects::SPI_TEST, gpioComIF);
#endif #endif
} }

3
bsp_q7s/main.cpp
View File

@ -6,12 +6,15 @@
#include "simple/simple.h" #include "simple/simple.h"
#endif #endif
#include <iostream>
/** /**
* @brief This is the main program for the target hardware. * @brief This is the main program for the target hardware.
* @return * @return
*/ */
int main(void) int main(void)
{ {
using namespace std;
#if Q7S_SIMPLE_MODE == 0 #if Q7S_SIMPLE_MODE == 0
return obsw::obsw(); return obsw::obsw();
#else #else

4
bsp_q7s/memory/CMakeLists.txt
View File

@ -1,4 +1,6 @@
target_sources(${TARGET_NAME} PRIVATE target_sources(${TARGET_NAME} PRIVATE
FileSystemManager.cpp FileSystemHandler.cpp
SdCardAccess.cpp SdCardAccess.cpp
SdCardManager.cpp
scratchApi.cpp
) )

65
bsp_q7s/memory/FileSystemHandler.cpp Normal file
View File

@ -0,0 +1,65 @@
#include "FileSystemHandler.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/memory/GenericFileSystemMessage.h"
#include "fsfw/ipc/QueueFactory.h"
FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler):
SystemObject(fileSystemHandler) {
mq = QueueFactory::instance()->createMessageQueue(50);
}
FileSystemHandler::~FileSystemHandler() {
QueueFactory::instance()->deleteMessageQueue(mq);
}
ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
while(true) {
CommandMessage filemsg;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
while(true) {
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;
}
}
}
// 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);
}
}
MessageQueueId_t FileSystemHandler::getCommandQueue() const {
return mq->getId();
}
ReturnValue_t FileSystemHandler::appendToFile(const char *repositoryPath, const char *filename,
const uint8_t *data, size_t size, uint16_t packetNumber, void *args) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::createFile(const char *repositoryPath, const char *filename,
const uint8_t *data, size_t size, void *args) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::deleteFile(const char *repositoryPath, const char *filename,
void *args) {
return HasReturnvaluesIF::RETURN_OK;
}

39
bsp_q7s/memory/FileSystemHandler.h Normal file
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@ -0,0 +1,39 @@
#ifndef BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
#define BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/memory/HasFileSystemIF.h"
class FileSystemHandler: public SystemObject,
public ExecutableObjectIF,
public HasFileSystemIF {
public:
FileSystemHandler(object_id_t fileSystemHandler);
virtual~ FileSystemHandler();
ReturnValue_t performOperation(uint8_t) 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;
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;
};
#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
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@ -1,8 +0,0 @@
#ifndef BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_
#define BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_
#endif /* BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_ */

5
bsp_q7s/memory/SdCardAccess.cpp
View File

@ -1,4 +1,7 @@
#include "SdCardAccess.h" #include "SdCardAccess.h"
SdCardAccess::SdCardAccess() { #include "fsfw/ipc/MutexGuard.h"
SdCardAccess::SdCardAccess(sd::SdCard sdCard) {
} }

4
bsp_q7s/memory/SdCardAccess.h
View File

@ -1,9 +1,11 @@
#ifndef BSP_Q7S_MEMORY_SDCARDACCESS_H_ #ifndef BSP_Q7S_MEMORY_SDCARDACCESS_H_
#define BSP_Q7S_MEMORY_SDCARDACCESS_H_ #define BSP_Q7S_MEMORY_SDCARDACCESS_H_
#include "definitions.h"
class SdCardAccess { class SdCardAccess {
public: public:
SdCardAccess(); SdCardAccess(sd::SdCard sdCard);
private: private:
}; };

150
bsp_q7s/memory/SdCardManager.cpp Normal file
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@ -0,0 +1,150 @@
#include "SdCardManager.h"
#include "fsfw/ipc/MutexFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <fstream>
#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) {
std::pair<bool, bool> active;
ReturnValue_t result = sdCardActive(active);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if((sdCard == sd::SdCard::SLOT_0 and active.first) or
(sdCard == sd::SdCard::SLOT_1 and active.second)) {
return ALREADY_ON;
}
return setSdCardState(sdCard, true);
}
ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard) {
std::pair<bool, bool> active;
ReturnValue_t result = sdCardActive(active);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if((sdCard == sd::SdCard::SLOT_0 and not active.first) or
(sdCard == sd::SdCard::SLOT_1 and not active.second)) {
return ALREADY_OFF;
}
return setSdCardState(sdCard, false);
}
ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
std::string sdstring = "";
std::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";
}
std::ostringstream command;
command << "q7hw sd set " << sdstring << " " << statestring;
int result = std::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::sdCardActive(std::pair<bool, bool>& active) {
using namespace std;
if(not filesystem::exists("/tmp/sd_status.txt")) {
return STATUS_FILE_NEXISTS;
}
// Now the file should exist in any case. Still check whether it exists.
fstream sdStatus("/tmp/sd_status.txt");
if (not sdStatus.good()) {
return STATUS_FILE_NEXISTS;
}
string line;
uint8_t idx = 0;
while (std::getline(sdStatus, line)) {
istringstream iss(line);
string word;
sd::SdCard currentSd = sd::SdCard::SLOT_0;
while(iss >> word) {
if (word == "1:") {
currentSd = sd::SdCard::SLOT_1;
}
if(word == "on") {
if(currentSd == sd::SdCard::SLOT_0) {
active.first = true;
}
else {
active.second = true;
}
}
else if (word == "off") {
if(currentSd == sd::SdCard::SLOT_0) {
active.first = false;
}
else {
active.second = false;
}
}
else {
continue;
}
if(idx > 3) {
sif::warning << "SdCardManager::sdCardActive: Status file has more "
"than 4 lines!" << std::endl;
return STATUS_FILE_FORMAT_INVALID;
}
}
idx++;
}
return HasReturnvaluesIF::RETURN_OK;
}
sd::SdCard SdCardManager::getPreferredSdCard() const {
//int result = std::system("xsc_scratch read PREFSD > /tmp/pref_sd.txt");
return preferredSdCard;
}
void SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
preferredSdCard = sdCard;
}
ReturnValue_t SdCardManager::updateSdCardStateFile() {
int result = std::system("q7hw sd info all > /tmp/sd_status.txt");
if(result == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::warning << "SdCardManager::updateSdCardStateFile: system call failed with code " <<
result << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}

94
bsp_q7s/memory/SdCardManager.h Normal file
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@ -0,0 +1,94 @@
#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>
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:
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_OFF = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
static constexpr ReturnValue_t STATUS_FILE_NEXISTS =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
static constexpr ReturnValue_t STATUS_FILE_FORMAT_INVALID =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 4);
virtual ~SdCardManager();
static void create();
/**
* Returns the single instance of the SD card manager.
*/
static SdCardManager* instance();
void setPreferredSdCard(sd::SdCard sdCard);
sd::SdCard getPreferredSdCard() const;
/**
* Switch on the specified SD card
* @param sdCard
* @return - RETURN_OK on success, ALREADY_ON if it is already on,
* SYSTEM_CALL_ERROR on system error
*/
ReturnValue_t switchOnSdCard(sd::SdCard sdCard);
/**
* Switch off the specified SD card
* @param sdCard
* @return - RETURN_OK on success, ALREADY_ON if it is already on,
* SYSTEM_CALL_ERROR on system error
*/
ReturnValue_t switchOffSdCard(sd::SdCard sdCard);
/**
* Updated the state file or creates one if it does not exist. You need to call this
* function before calling #sdCardActiv
* @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 sdCardActive(std::pair<bool, bool>& active);
sd::SdCard getPreferedSdCard() const;
private:
SdCardManager();
ReturnValue_t setSdCardState(sd::SdCard sdCard, bool on);
sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
static SdCardManager* factoryInstance;
};
#endif /* BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_ */

16
bsp_q7s/memory/definitions.h Normal file
View File

@ -0,0 +1,16 @@
#ifndef BSP_Q7S_MEMORY_DEFINITIONS_H_
#define BSP_Q7S_MEMORY_DEFINITIONS_H_
namespace sd {
enum SdCard {
SLOT_0,
SLOT_1,
BOTH
};
}
#endif /* BSP_Q7S_MEMORY_DEFINITIONS_H_ */

12
bsp_q7s/memory/scratchApi.cpp Normal file
View File

@ -0,0 +1,12 @@
#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;
}

70
bsp_q7s/memory/scratchApi.h Normal file
View File

@ -0,0 +1,70 @@
#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 {
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_ */

12
bsp_q7s/simple/simple.cpp
View File

@ -1,5 +1,17 @@
#include "simple.h" #include "simple.h"
#include "q7sConfig.h"
#if Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST == 1
#include "../boardtest/FileSystemTest.h"
#endif
int simple::simple() { int simple::simple() {
cout << "-- Q7S Simple Application --" << endl;
#if Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST == 1
{
FileSystemTest fileSystemTest;
}
#endif
return 0; return 0;
} }

1
cmake/scripts/Linux/create_cmake_debug_cfg.sh → cmake/scripts/Linux/make_debug_cfg.sh
View File

@ -29,3 +29,4 @@ set -x # Print command
${python} cmake_build_config.py -o "${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 # Use this if commands are added which should not be printed
# set +x # set +x

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

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

2
cmake/scripts/Q7S/simple/simple_make_debug_cfg.sh
View File

@ -31,5 +31,5 @@ fi
echo "Running command (without the leading +):" echo "Running command (without the leading +):"
set -x # Print command set -x # Print command
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \ ${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
-l"${build_dir}" -d "${definitions}" -l "${build_dir}" -d "${definitions}"
# set +x # set +x

2
cmake/scripts/Q7S/simple/simple_ninja_debug_cfg.sh
View File

@ -29,6 +29,6 @@ fi
echo "Running command (without the leading +):" echo "Running command (without the leading +):"
set -x # Print command set -x # Print command
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \ ${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
-l"${build_dir}" -d "${definitions}" -l "${build_dir}" -d "${definitions}"
# set +x # 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"; const char* const SW_NAME = "eive";
#define SW_VERSION 1 #define SW_VERSION 1
#define SW_SUBVERSION 2 #define SW_SUBVERSION 3
#define SW_SUBSUBVERSION 0 #define SW_SUBSUBVERSION 0
#endif /* COMMON_CONFIG_OBSWVERSION_H_ */ #endif /* COMMON_CONFIG_OBSWVERSION_H_ */

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

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 18 KiB

2
fsfw

@ -1 +1 @@
Subproject commit 38f2f69c784c74cd87a10dce6c968325cf1cb472 Subproject commit eef2fd3b7ac764f06ed5d9a3c97c894d92a515fa

2
fsfw_hal

@ -1 +1 @@
Subproject commit 2e243e3b294870b0c93f85c6b8ff0c74f4f9cce7 Subproject commit 8ff09c95a69f1f43fec6104d6cce1e788b2b870d

3
linux/csp/CspComIF.cpp
View File

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

10
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -453,7 +453,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
#if OBSW_ADD_GPS == 1 #if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0, thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
@ -464,7 +464,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2, thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
#if OBSW_ADD_GPS == 1 #if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2, thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2, thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
@ -475,7 +475,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4, thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::GET_WRITE);
#if OBSW_ADD_GPS == 1 #if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4, thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4, thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
@ -486,7 +486,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6, thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
#if OBSW_ADD_GPS == 1 #if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6, thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6, thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
@ -497,7 +497,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8, thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
#if OBSW_ADD_GPS == 1 #if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8, thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.8, thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.8,

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

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

1
linux/utility/CMakeLists.txt
View File

@ -1,4 +1,5 @@
target_sources(${TARGET_NAME} PUBLIC target_sources(${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_ */

344
misc/eclipse/.cproject
View File

@ -19,25 +19,25 @@
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443." name="/" resourcePath=""> <folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443." name="/" resourcePath="">
<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.1176904738" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base"> <toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.1176904738" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1087094604" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/> <targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1087094604" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
<builder arguments="--build ." buildPath="${workspace_loc:/eive-obsw/build-Debug-Host}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/> <builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug-Host}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1026777292" 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.813737526" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base"> <tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.813737526" 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.596367416" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath"/> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.both.asm.option.include.paths.596367416" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
</option>
<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1289649483" superClass="cdt.managedbuild.tool.gnu.assembler.input"/> <inputType id="cdt.managedbuild.tool.gnu.assembler.input.1289649483" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
</tool> </tool>
<tool id="cdt.managedbuild.tool.gnu.archiver.mingw.base.1046377753" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.mingw.base"/> <tool id="cdt.managedbuild.tool.gnu.archiver.mingw.base.1046377753" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.mingw.base"/>
<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.646655988" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base"> <tool id="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.646655988" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base">
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.697709929" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath"> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.697709929" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/> <listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive_obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Host}&quot;"/> <listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/common/config}&quot;"/>
</option> </option>
<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1437856797" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/> <inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1437856797" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
</tool> </tool>
<tool id="cdt.managedbuild.tool.gnu.c.compiler.mingw.base.397223006" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.mingw.base"> <tool id="cdt.managedbuild.tool.gnu.c.compiler.mingw.base.397223006" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.mingw.base">
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.c.compiler.option.include.paths.1689102893" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath"> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.c.compiler.option.include.paths.1689102893" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
<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;${workspace_loc:/eive-obsw/build-Debug-Host}&quot;"/> <listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/common}&quot;"/>
</option> </option>
<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1482659499" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/> <inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1482659499" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
</tool> </tool>
@ -77,19 +77,23 @@
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.2125491129" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/> <targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.2125491129" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
<builder arguments="--build ." buildPath="${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"/> <builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Release-Host}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1840576359" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.1445228447" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base"> <tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.1445228447" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="true" id="gnu.both.asm.option.include.paths.2056449695" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath"/> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.both.asm.option.include.paths.2056449695" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
</option>
<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1571446155" superClass="cdt.managedbuild.tool.gnu.assembler.input"/> <inputType id="cdt.managedbuild.tool.gnu.assembler.input.1571446155" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
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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.archiver.mingw.base.18980373" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.mingw.base"/>
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@ -703,6 +707,7 @@
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@ -857,8 +862,8 @@
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@ -874,138 +879,140 @@
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5
mission/core/GenericFactory.cpp
View File

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

2
thirdparty/libcsp/src/drivers/can/can_socketcan.c vendored
View File

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

2
tmtc

@ -1 +1 @@
Subproject commit fe1bed900adb688cbd3906617c974188a43c5535 Subproject commit 941f46401e13fb6ee5fc653875eebff8496133ec