Merge pull request 'Updated FSFW' (#14) from mueller/master into develop
Reviewed-on: eive/eive_obsw#14
This commit is contained in:
commit
712b9c83cf
@ -19,8 +19,6 @@ if(NOT OS_FSFW)
|
||||
set(OS_FSFW host CACHE STRING "OS for the FSFW.")
|
||||
endif()
|
||||
|
||||
set_property(CACHE OS_FSFW PROPERTY STRINGS host linux)
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||||
|
||||
# Perform steps like loading toolchain files where applicable.
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||||
include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
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||||
pre_project_config()
|
||||
@ -46,7 +44,7 @@ set(FSFW_PATH fsfw)
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||||
set(MISSION_PATH mission)
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set(CSPLIB_PATH libcsp)
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||||
|
||||
set(WARNING_SHADOW_LOCAL FALSE)
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||||
set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
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|
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# Analyse different OS and architecture/target options, determine BSP_PATH,
|
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# display information about compiler etc.
|
||||
@ -91,6 +89,8 @@ add_subdirectory(${MISSION_PATH})
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# Post-Sources preparation
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################################################################################
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||||
|
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set_property(CACHE OS_FSFW PROPERTY STRINGS host linux)
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|
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# Add libraries for all sources.
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target_link_libraries(${TARGET_NAME} PRIVATE
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${LIB_FSFW_NAME}
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@ -165,11 +165,13 @@ endif()
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||||
add_custom_command(
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TARGET ${TARGET_NAME}
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POST_BUILD
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COMMAND echo "Build directory: ${CMAKE_BINARY_DIR}"
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COMMAND echo "Target OSAL: ${OS_FSFW}"
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COMMAND echo "Target Build Type: ${CMAKE_BUILD_TYPE}"
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COMMAND echo "${TARGET_STRING}"
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#COMMAND echo "Build directory: ${CMAKE_BINARY_DIR}"
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#COMMAND echo "Target OSAL: ${OS_FSFW}"
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#COMMAND echo "Target Build Type: ${CMAKE_BUILD_TYPE}"
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#COMMAND echo "${TARGET_STRING}"
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||||
COMMAND ${CMAKE_SIZE} ${TARGET_NAME}${FILE_SUFFIX}
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||||
COMMENT "Build directory: ${CMAKE_BINARY_DIR}\nTarget OSAL: ${OS_FSFW}\n"
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"Target Build Type: ${CMAKE_BUILD_TYPE}\n${TARGET_STRING}"
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||||
)
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||||
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include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
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||||
|
||||
354
README.md
354
README.md
@ -16,55 +16,149 @@ Target systems:
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||||
* Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git
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||||
* Host System
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* Generic software components which are not dependant on hardware can also
|
||||
be run. All host code is contained in the hosted folder
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||||
be run on a host system. All host code is contained in the `bsp_hosted` folder
|
||||
* Tested for Linux (Ubuntu 20.04) and Windows 10
|
||||
* Raspberry Pi
|
||||
* EIVE OBC can be built for Raspberry Pi as well (either directly on Raspberry Pi or by installing a cross compiler)
|
||||
|
||||
The steps in the primary README are related to the main OBC target Q7S.
|
||||
The CMake build system can be used to generate build systems as well (see helper scripts in `cmake/scripts`:
|
||||
|
||||
- Linux (Raspberry Pi): Using the `bsp_rpi` BSP folder, and a very similar cross-compiler.
|
||||
For running the software on a Raspberry Pi, it is recommended to follow the steps specified in
|
||||
[the fsfw example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example/src/branch/mueller/master/doc/README-rpi.md#top) and
|
||||
using the TCF agent to have a similar set-up process also required for the Q7S.
|
||||
- Linux Host: Uses the `bsp_hosted` BSP folder and the CMake Unix Makefiles generator.
|
||||
- Windows Host: Uses the `bsp_hosted` BSP folder, the CMake MinGW Makefiles generator and MSYS2.
|
||||
|
||||
## Setting up development environment
|
||||
|
||||
### Installing Vivado the the Xilinx development tools
|
||||
|
||||
It's also possible to perform debugging with a normal Eclipse installation by installing
|
||||
the TCF plugin. Still, it is necessary to install Vivado to get the toolchain for generating
|
||||
C++ applications. Alternatively you can download the toolchain
|
||||
[from the cloud](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Arbeitsdaten/08_Used%20Components/Q7S/Toolchain&fileid=422486).
|
||||
|
||||
* Install Vivado 2018.2 and Xilinx SDK from https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/vivado-design-tools/archive.html.
|
||||
Install the Vivado Design Suite - HLx Editions - 2018.2 Full Product Installation instead of the updates. It is recommended to use the installer
|
||||
Install the Vivado Design Suite - HLx Editions - 2018.2 Full Product Installation instead of the updates. It is recommended to use the installer.
|
||||
|
||||
* Install settings. In the Devices selection, it is sufficient to pick SoC → Zynq-7000: <br>
|
||||
<img src="./doc/img/xilinx-install.PNG" width="50%"> <br>
|
||||
|
||||
<img src="./doc/img/vivado-edition.png" width="50%"> <br>
|
||||
|
||||
<img src="./doc/img/vivado-hl-design.png" width="50%"> <br>
|
||||
|
||||
<img src="./doc/img/xilinx-install.PNG" width="50%"> <br>
|
||||
|
||||
* For supported OS refer to https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_2/ug973-vivado-release-notes-install-license.pdf
|
||||
* Add path of linux cross-compiler to environment variables SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin
|
||||
* Install make (only on windows, SDK on Linux can use the make installed with the SDK)
|
||||
* Add path of linux cross-compiler to permanent environment variables (`.profile` file in Linux):
|
||||
`<XilinxInstallation>\SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin`
|
||||
or set up path each time before debugging.
|
||||
|
||||
### Installing make on Windows
|
||||
1. Install NodeJS LTS
|
||||
2. Install xpm
|
||||
### Installing CMake and MSYS2 on Windows
|
||||
|
||||
```sh
|
||||
npm install --global xpm
|
||||
```
|
||||
1. Install [MSYS2](https://www.msys2.org/) and [CMake](https://cmake.org/download/) first.
|
||||
|
||||
3. Install Windows build tools (after installation also linux commands like mkdir can be used from windows)
|
||||
2. Open the MinGW64 console. It is recommended to set up aliases in `.bashrc` to navigate to the
|
||||
software repository quickly
|
||||
|
||||
```sh
|
||||
xpm install --global @xpack-dev-tools/windows-build-tools@latest
|
||||
```
|
||||
3. Run the following commands in MinGW64
|
||||
|
||||
## Building the software
|
||||
```sh
|
||||
pacman -Syuuu
|
||||
```
|
||||
|
||||
It is recommended to install the full base development toolchain
|
||||
|
||||
```sh
|
||||
pacman -S base-devel
|
||||
```
|
||||
|
||||
It is also possible to only install required packages
|
||||
|
||||
```sh
|
||||
pacman -S mingw-w64-x86_64-cmake mingw-w64-x86_64-make mingw-w64-x86_64-gcc mingw-w64-x86_64-gdb python3
|
||||
```
|
||||
|
||||
### Installing CMake on Linux
|
||||
|
||||
1. Run the following command
|
||||
|
||||
```sh
|
||||
sudo apt-get install cmake
|
||||
````
|
||||
|
||||
## Building the software with CMake
|
||||
|
||||
When using Windows, run theses steps in MSYS2.
|
||||
|
||||
1. Clone the repository with
|
||||
```sh
|
||||
git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git
|
||||
```
|
||||
|
||||
```sh
|
||||
git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git
|
||||
```
|
||||
|
||||
2. Update all the submodules
|
||||
```sh
|
||||
git submodule init
|
||||
git submodule sync
|
||||
git submodule update
|
||||
```
|
||||
|
||||
3. Open Xilinx SDK 2018.2
|
||||
4. Import project
|
||||
```sh
|
||||
git submodule init
|
||||
git submodule sync
|
||||
git submodule update
|
||||
```
|
||||
|
||||
3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version`.
|
||||
It is recommended to run the shell script `win_path_helper_xilinx_tools.sh` in `cmake/scripts/Q7S`
|
||||
or to set up the [PATH and the CROSS_COMPILE variable permanently](https://unix.stackexchange.com/questions/26047/how-to-correctly-add-a-path-to-path)
|
||||
in the `.profile` file.
|
||||
|
||||
4. Run the CMake configuration to create the build system in a `Debug` folder.
|
||||
Navigate into the `eive_obsw` folder first.
|
||||
|
||||
```sh
|
||||
cd cmake/scripts/Q7S
|
||||
./create_cmake_debug.sh
|
||||
cd ../../..
|
||||
```
|
||||
|
||||
This will invoke a Python script which in turn invokes CMake with the correct
|
||||
arguments to configure CMake for Q7S cross-compilation.
|
||||
|
||||
5. Build the software with
|
||||
```sh
|
||||
cd Debug
|
||||
cmake --build . -j
|
||||
```
|
||||
|
||||
## Setting up default Eclipse for Q7S projects - TCF agent
|
||||
|
||||
The [TCF agent](https://wiki.eclipse.org/TCF) can be used to perform remote debugging on the Q7S.
|
||||
|
||||
1. Install the TCF agent plugin in Eclipse from the [releases](https://www.eclipse.org/tcf/downloads.php). Go to Help → Install New Software and use the download page, for example https://download.eclipse.org/tools/tcf/releases/1.6/1.6.2/ to search for the plugin and install it.
|
||||
|
||||
2. Go to Window → Perspective → Open Perspective and open the **Target Explorer Perspective**.
|
||||
Here, the Q7S should show up if the local port forwarding was set up as explained previously.
|
||||
|
||||
3. A launch configuration was provided, but it might be necessary to adapt it for your own needs. Alternatively:
|
||||
|
||||
- Create a new **TCF Remote Application** by pressing the cogs button at the top or going to Run → Debug Configurations → Remote Application and creating a new one there.
|
||||
|
||||
- Set up the correct image in the main tab (it might be necessary to send the image to the Q7S manually once) and file transfer properties
|
||||
|
||||
- It is also recommended to link the correct Eclipse project.
|
||||
|
||||
After that, comfortable remote debugging should be possible with the Debug button.
|
||||
|
||||
A build configuration and a shell helper script has been provided to set up the path variables and build the Q7S binary
|
||||
on Windows, but a launch configuration needs to be newly created because the IP address and path settings differ
|
||||
from machine to machine.
|
||||
|
||||
## Building in Xilinx SDK 2018.2
|
||||
|
||||
1. Open Xilinx SDK 2018.2
|
||||
2. Import project
|
||||
* File → Import → C/C++ → Existing Code as Makefile Project
|
||||
5. Set build command. Replace \<target\> with either debug or release.
|
||||
3. Set build command. Replace \<target\> with either debug or release.
|
||||
* When on Linux right click project → Properties → C/C++ Build → Set build command to `make <target> -j`
|
||||
* -j causes the compiler to use all available cores
|
||||
* The target is used to either compile the debug or the optimized release build.
|
||||
@ -73,79 +167,53 @@ git submodule update
|
||||
* Target name: all
|
||||
* Uncheck "Same as the target name"
|
||||
* Uncheck "Use builder settings"
|
||||
* As build command type: `make -j <target> WINDOWS=1`
|
||||
6. Run build command by double clicking the created target or by right clicking
|
||||
* As build command type: `cmake --build .`
|
||||
* In the Behaviour tab, you can enable build acceleration
|
||||
4. Run build command by double clicking the created target or by right clicking
|
||||
the project folder and selecting Build Project.
|
||||
|
||||
## Debugging the software (when workstation is directly conncected to Q7S)
|
||||
1. Assign static IP address to Q7S
|
||||
* Open serial console of Q7S (Accessible via the micro-USB of the PIM, see also Q7S user maunal chapter 10.3)
|
||||
* Baudrate 115200
|
||||
* Login to Q7S:
|
||||
* user: root
|
||||
* pw: root
|
||||
* Set IP address and netmask with
|
||||
## TCF-Agent
|
||||
|
||||
1. On reboot, some steps have to be taken on the Q7S. Set static IP address and netmask
|
||||
|
||||
```sh
|
||||
ifconfig eth0 192.168.133.10
|
||||
ifconfig eth0 netmask 255.255.255.0
|
||||
```
|
||||
|
||||
2. Connect Q7S to workstation via ethernet
|
||||
3. Make sure the netmask of the ehternet interface of the workstation matches the netmask of the Q7S
|
||||
* When IP address is set to 192.168.133.10 and the netmask is 255.255.255.0, an example IP address for the workstation
|
||||
is 192.168.133.2
|
||||
4. Run tcf-agent on Q7S
|
||||
* Tcf-agent is not yet integrated in the rootfs of the Q7S. Therefore build tcf-agent manually
|
||||
|
||||
2. `tcfagent` application should run automatically but this can be checked with
|
||||
```sh
|
||||
git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
|
||||
cd org.eclipse.tcf.agent/agent
|
||||
make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1
|
||||
systemctl status tcfagent
|
||||
```
|
||||
|
||||
* Transfer executable agent from org.eclipse.tcf.agent/agent/obj/GNU/Linux/arm/Debug to /tmp of Q7S
|
||||
|
||||
```sh
|
||||
cd obj/GNU/Linux/arm/Debug
|
||||
scp agent root@192.168.133.10:/tmp
|
||||
```
|
||||
|
||||
* On Q7S
|
||||
```sh
|
||||
cd /tmp
|
||||
chmod +x agent
|
||||
```
|
||||
|
||||
* Run agent
|
||||
```sh
|
||||
./agent
|
||||
```
|
||||
|
||||
5. In Xilinx SDK 2018.2 right click on project → Debug As → Debug Configurations
|
||||
6. Right click Xilinx C/C++ applicaton (System Debugger) → New →
|
||||
7. Set Debug Type to Linux Application Debug and Connectin to Linux Agent
|
||||
8. Click New
|
||||
9. Give connection a name
|
||||
10. Set Host to static IP address of Q7S. e.g. 192.168.133.10
|
||||
11. Test connection (This ensures the TCF Agent is running on the Q7S)
|
||||
12. Select Application tab
|
||||
* Project Name: eive_obsw
|
||||
* Local File Path: Path to eiveobsw-linux.elf (in _bin\linux\devel)
|
||||
* Remote File Path: /tmp/eive_obsw.elf
|
||||
3. If the agent is not running, check whether `agent` is located inside `usr/bin`.
|
||||
You can run it manually there. To perform auto-start on boot, have a look at the start-up
|
||||
application section.
|
||||
|
||||
## Debugging the software via Flatsat PC
|
||||
|
||||
Open SSH connection to flatsat PC:
|
||||
|
||||
```sh
|
||||
ssh eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
|
||||
```
|
||||
|
||||
or
|
||||
|
||||
```sh
|
||||
ssh eive@192.168.199.227
|
||||
```
|
||||
|
||||
To access the console of the Q7S run the following:
|
||||
```sh
|
||||
picocom -b 115200 /dev/ttyUSB0
|
||||
```
|
||||
|
||||
If the serial port is blocked for some reason, you can kill
|
||||
the process using it with `q7s_kill`.
|
||||
|
||||
You can use `AltGr` + `X` to exit the picocom session.
|
||||
|
||||
To debug an application, first make sure a static IP address is assigned to the Q7S. Run ifconfig on the Q7S serial console.
|
||||
|
||||
```sh
|
||||
@ -159,19 +227,38 @@ ifconfig eth0 192.168.133.10
|
||||
ifconfig eth0 netmask 255.255.255.0
|
||||
```
|
||||
|
||||
To launch application from Xilinx SDK setup port fowarding on the localhost.
|
||||
To launch application from Xilinx SDK setup port fowarding on the development machine
|
||||
(not on the flatsat!)
|
||||
|
||||
```sh
|
||||
ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
|
||||
```
|
||||
|
||||
This forwards any requests to localhost:1534 to the port 1534 of the Q7S with the IP address 192.168.133.10.
|
||||
This needs to be done every time, so it is recommended to create an alias to do this quickly.
|
||||
|
||||
Note: When now setting up a debug session in the Xilinx SDK, the host must be set to localhost instead of the IP address of the Q7S.
|
||||
|
||||
## Launching an application after boot
|
||||
## Transfering files via SCP
|
||||
|
||||
To transfer files from the local machine to the Q7S, use port forwarding
|
||||
|
||||
```sh
|
||||
ssh -L 1535:192.168.133.10:22 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
|
||||
```
|
||||
|
||||
Then you can copy an `example` file like this
|
||||
|
||||
```sh
|
||||
scp -P 1535 example root@localhost:/tmp
|
||||
```
|
||||
|
||||
## Launching an application at start-up
|
||||
|
||||
Load the root partiton from the flash memory (there are to nor-flash memories and each flash holds two xdi images).
|
||||
Note: It is not possible to modify the current loaded root partition.
|
||||
Note: It is not possible to modify the currently loaded root partition, e.g. creating directories. To do this,
|
||||
the parition needs to be mounted.
|
||||
|
||||
1. Disable write protection of the desired root partition
|
||||
|
||||
```sh
|
||||
@ -183,7 +270,10 @@ Note: It is not possible to modify the current loaded root partition.
|
||||
```sh
|
||||
xsc_mount_copy 0 0 # Mounts the nominal image from nor-flash 0
|
||||
```
|
||||
3. Copy the executable to /bin/usr
|
||||
The mounted partition will be located inside the `/tmp` folder
|
||||
|
||||
3. Copy the executable to `/usr/bin`
|
||||
|
||||
4. Make sure the permissions to execute the application are set
|
||||
```sh
|
||||
chmod +x application
|
||||
@ -208,29 +298,33 @@ Note: It is not possible to modify the current loaded root partition.
|
||||
```
|
||||
6. Enable the service. This is normally done with systemctl enable. However, this is not possible when the service is
|
||||
created for a mounted root partition. Therefore create a symlink as follows.
|
||||
````
|
||||
ln -s '/tmp/the-mounted-xdi-image/lib/systemd/system/example.service' '/tmp/the-mounted-xdi-image/etc/systemd/system/multi-user.target.wants/example.service'
|
||||
````
|
||||
```sh
|
||||
ln -s '/tmp/the-mounted-xdi-image/lib/systemd/system/example.service' '/tmp/the-mounted-xdi-image/etc/systemd/system/multi-user.target.wants/example.service'
|
||||
```
|
||||
|
||||
7. The modified root partition is written back when the partion is locked again.
|
||||
````
|
||||
writeprotect 0 0 1
|
||||
````
|
||||
```sh
|
||||
writeprotect 0 0 1
|
||||
```
|
||||
8. Now verify the application start by booting from the modified image
|
||||
````
|
||||
xsc_boot_copy 0 0
|
||||
````
|
||||
```sh
|
||||
xsc_boot_copy 0 0
|
||||
````
|
||||
|
||||
9. After booting verify if the service is running
|
||||
````
|
||||
systemctl status example
|
||||
````
|
||||
```sh
|
||||
systemctl status example
|
||||
```
|
||||
More detailed information about the used q7s commands can be found in the Q7S user manual.
|
||||
|
||||
### Bringing up CAN
|
||||
````
|
||||
ip link set can0 down
|
||||
ip link set can0 type can loopback off
|
||||
ip link set can0 up type can bitrate 1000000
|
||||
````
|
||||
|
||||
```sh
|
||||
ip link set can0 down
|
||||
ip link set can0 type can loopback off
|
||||
ip link set can0 up type can bitrate 1000000
|
||||
```
|
||||
|
||||
Following command sends 8 bytes to device with id 99 (for petalinux)
|
||||
````
|
||||
cansend can0 -i99 99 88 77 11 33 11 22 99
|
||||
@ -307,17 +401,6 @@ a permanent solution). If running the script before executing the binary does
|
||||
not help or an warning is issue that the soft real time value is invalid,
|
||||
the hard real-time limit of the system might not be high enough (see step 1).
|
||||
|
||||
## Building and running the software on a host system
|
||||
|
||||
The host build can be built with following command
|
||||
|
||||
```sh
|
||||
make -f Makefile-Hosted all -j
|
||||
```
|
||||
|
||||
If compiling on Windows, it is recommended to supply `WINDOWS=1` .
|
||||
A release build can be built by using the `mission` target.
|
||||
|
||||
## Flight Software Framework (FSFW)
|
||||
|
||||
An EIVE fork of the FSFW is submodules into this repository.
|
||||
@ -339,6 +422,7 @@ Alternatively, changes from other upstreams (forks) and branches can be merged l
|
||||
the same way.
|
||||
|
||||
## PCDU
|
||||
|
||||
Connect to serial console of P60 Dock
|
||||
````
|
||||
picocom -b 500000 /dev/ttyUSBx
|
||||
@ -362,3 +446,57 @@ p60-dock # param get out_en[0]
|
||||
GET out_en[0] = 1
|
||||
````
|
||||
|
||||
## Debugging the software (when workstation is directly conncected to Q7S)
|
||||
|
||||
1. Assign static IP address to Q7S
|
||||
* Open serial console of Q7S (Accessible via the micro-USB of the PIM, see also Q7S user maunal chapter 10.3)
|
||||
* Baudrate 115200
|
||||
* Login to Q7S:
|
||||
* user: root
|
||||
* pw: root
|
||||
|
||||
2. Connect Q7S to workstation via ethernet
|
||||
3. Make sure the netmask of the ehternet interface of the workstation matches the netmask of the Q7S
|
||||
* When IP address is set to 192.168.133.10 and the netmask is 255.255.255.0, an example IP address for the workstation
|
||||
is 192.168.133.2
|
||||
|
||||
4. Run tcf-agent on Q7S
|
||||
|
||||
* Tcf-agent is not yet integrated in the rootfs of the Q7S. Therefore build tcf-agent manually
|
||||
|
||||
```sh
|
||||
git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
|
||||
cd org.eclipse.tcf.agent/agent
|
||||
make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1
|
||||
```
|
||||
|
||||
* Transfer executable agent from org.eclipse.tcf.agent/agent/obj/GNU/Linux/arm/Debug to /tmp of Q7S
|
||||
|
||||
```sh
|
||||
cd obj/GNU/Linux/arm/Debug
|
||||
scp agent root@192.168.133.10:/tmp
|
||||
```
|
||||
|
||||
* On Q7S
|
||||
```sh
|
||||
cd /tmp
|
||||
chmod +x agent
|
||||
```
|
||||
|
||||
* Run agent
|
||||
```sh
|
||||
./agent
|
||||
```
|
||||
|
||||
5. In Xilinx SDK 2018.2 right click on project → Debug As → Debug Configurations
|
||||
6. Right click Xilinx C/C++ applicaton (System Debugger) → New →
|
||||
7. Set Debug Type to Linux Application Debug and Connectin to Linux Agent
|
||||
8. Click New
|
||||
9. Give connection a name
|
||||
10. Set Host to static IP address of Q7S. e.g. 192.168.133.10
|
||||
11. Test connection (This ensures the TCF Agent is running on the Q7S)
|
||||
12. Select Application tab
|
||||
* Project Name: eive_obsw
|
||||
* Local File Path: Path to eiveobsw-linux.elf (in _bin\linux\devel)
|
||||
* Remote File Path: /tmp/eive_obsw.elf
|
||||
|
||||
|
||||
@ -4,16 +4,24 @@
|
||||
#include <cstddef>
|
||||
#include <cstdint>
|
||||
|
||||
//! Used to determine whether C++ ostreams are used
|
||||
//! Those can lead to code bloat.
|
||||
//! Used to determine whether C++ ostreams are used which can increase
|
||||
//! the binary size significantly. If this is disabled,
|
||||
//! the C stdio functions can be used alternatively
|
||||
#define FSFW_CPP_OSTREAM_ENABLED 1
|
||||
|
||||
//! Reduced printout to further decrese code size
|
||||
//! Be careful, this also turns off most diagnostic prinouts!
|
||||
#define FSFW_REDUCED_PRINTOUT 0
|
||||
//! More FSFW related printouts depending on level. Useful for development.
|
||||
#define FSFW_VERBOSE_LEVEL 1
|
||||
|
||||
//! Can be used to enable debugging printouts for developing the FSFW
|
||||
#define FSFW_DEBUGGING 0
|
||||
//! Can be used to completely disable printouts, even the C stdio ones.
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_VERBOSE_LEVEL == 0
|
||||
#define FSFW_DISABLE_PRINTOUT 0
|
||||
#endif
|
||||
|
||||
//! Can be used to disable the ANSI color sequences for C stdio.
|
||||
#define FSFW_COLORED_OUTPUT 1
|
||||
|
||||
//! Can be used to disable the ANSI color sequences for C stdio.
|
||||
#define FSFW_COLORED_OUTPUT 1
|
||||
|
||||
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
|
||||
//! additional output which requires the translation files translateObjects
|
||||
@ -21,19 +29,20 @@
|
||||
#define FSFW_OBJ_EVENT_TRANSLATION 0
|
||||
|
||||
#if FSFW_OBJ_EVENT_TRANSLATION == 1
|
||||
#define FSFW_DEBUG_OUTPUT 1
|
||||
//! Specify whether info events are printed too.
|
||||
#define FSFW_DEBUG_INFO 1
|
||||
#include <translateObjects.h>
|
||||
#include <translateEvents.h>
|
||||
#include "objects/translateObjects.h"
|
||||
#include "events/translateEvents.h"
|
||||
#else
|
||||
#define FSFW_DEBUG_OUTPUT 0
|
||||
#endif
|
||||
|
||||
//! When using the newlib nano library, C99 support for stdio facilities
|
||||
//! will not be provided. This define should be set to 1 if this is the case.
|
||||
#define FSFW_NO_C99_IO 1
|
||||
|
||||
//! Specify whether a special mode store is used for Subsystem components.
|
||||
#define FSFW_USE_MODESTORE 0
|
||||
|
||||
namespace fsfwconfig {
|
||||
//! Default timestamp size. The default timestamp will be an eight byte CDC
|
||||
//! short timestamp.
|
||||
@ -49,6 +58,8 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
|
||||
//! simulataneously. This will increase the required RAM for
|
||||
//! each CSB service !
|
||||
static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
|
||||
|
||||
static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_FSFWCONFIG_H_ */
|
||||
|
||||
@ -43,7 +43,7 @@ void InitMission::initTasks(){
|
||||
/* TMTC Distribution */
|
||||
PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()->
|
||||
createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
|
||||
0.100, nullptr);
|
||||
0.2, nullptr);
|
||||
ReturnValue_t result = TmTcDistributor->addComponent(
|
||||
objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
if(result!=HasReturnvaluesIF::RETURN_OK){
|
||||
@ -169,6 +169,7 @@ void InitMission::initTasks(){
|
||||
PusMedPrio->startTask();
|
||||
PusLowPrio->startTask();
|
||||
|
||||
|
||||
// P60DockTask->startTask();
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
|
||||
@ -7,6 +7,11 @@ target_sources(${TARGET_NAME} PUBLIC
|
||||
add_subdirectory(boardconfig)
|
||||
add_subdirectory(boardtest)
|
||||
|
||||
# wiringPi is deprecated unfortunately..
|
||||
#target_link_libraries(${TARGET_NAME} PRIVATE
|
||||
# wiringPi
|
||||
#)
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -14,18 +14,10 @@
|
||||
|
||||
#include <iostream>
|
||||
|
||||
// This is configured for linux without \cr
|
||||
#ifdef LINUX
|
||||
ServiceInterfaceStream sif::debug("DEBUG");
|
||||
ServiceInterfaceStream sif::info("INFO");
|
||||
ServiceInterfaceStream sif::warning("WARNING");
|
||||
ServiceInterfaceStream sif::error("ERROR", false, false, true);
|
||||
#else
|
||||
ServiceInterfaceStream sif::debug("DEBUG", true);
|
||||
ServiceInterfaceStream sif::info("INFO", true);
|
||||
ServiceInterfaceStream sif::warning("WARNING", true);
|
||||
ServiceInterfaceStream sif::error("ERROR", true, false, true);
|
||||
#endif
|
||||
ServiceInterfaceStream sif::error("ERROR");
|
||||
|
||||
ObjectManagerIF *objectManager = nullptr;
|
||||
|
||||
@ -47,11 +39,11 @@ void InitMission::initTasks(){
|
||||
0.100, nullptr);
|
||||
ReturnValue_t result = TmTcDistributor->addComponent(
|
||||
objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
if(result!=HasReturnvaluesIF::RETURN_OK){
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
result = TmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
|
||||
if(result!=HasReturnvaluesIF::RETURN_OK){
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
result = TmTcDistributor->addComponent(objects::TM_FUNNEL);
|
||||
@ -97,11 +89,11 @@ void InitMission::initTasks(){
|
||||
PeriodicTaskIF::MINIMUM_STACK_SIZE,
|
||||
0.200, nullptr);
|
||||
result = PusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
||||
if(result!=HasReturnvaluesIF::RETURN_OK){
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
result = PusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
if(result!=HasReturnvaluesIF::RETURN_OK){
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
|
||||
@ -110,11 +102,11 @@ void InitMission::initTasks(){
|
||||
PeriodicTaskIF::MINIMUM_STACK_SIZE,
|
||||
0.8, nullptr);
|
||||
result = PusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
||||
if(result!=HasReturnvaluesIF::RETURN_OK){
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
result = PusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
|
||||
if(result!=HasReturnvaluesIF::RETURN_OK){
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
|
||||
@ -122,7 +114,7 @@ void InitMission::initTasks(){
|
||||
createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
|
||||
1.6, nullptr);
|
||||
result = PusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
|
||||
if(result!=HasReturnvaluesIF::RETURN_OK){
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
|
||||
@ -139,6 +131,14 @@ void InitMission::initTasks(){
|
||||
|
||||
#endif
|
||||
|
||||
PeriodicTaskIF* SpiTestTask = TaskFactory::instance()->
|
||||
createPeriodicTask("SPI_TEST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
|
||||
2.0, nullptr);
|
||||
result = SpiTestTask->addComponent(objects::SPI_TEST);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add SPI test failed" << std::endl;
|
||||
}
|
||||
|
||||
//Main thread sleep
|
||||
sif::info << "Starting tasks.." << std::endl;
|
||||
TmTcDistributor->startTask();
|
||||
@ -151,6 +151,8 @@ void InitMission::initTasks(){
|
||||
PusMedPrio->startTask();
|
||||
PusLowPrio->startTask();
|
||||
|
||||
SpiTestTask->startTask();
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
TestTimeslotTask->startTask();
|
||||
#endif
|
||||
|
||||
@ -1,5 +1,6 @@
|
||||
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
|
||||
#include "ObjectFactory.h"
|
||||
#include <bsp_rpi/boardtest/SpiTest.h>
|
||||
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
|
||||
|
||||
#include <objects/systemObjectList.h>
|
||||
#include <OBSWConfig.h>
|
||||
@ -42,4 +43,6 @@ void ObjectFactory::produce(){
|
||||
objects::CCSDS_PACKET_DISTRIBUTOR,
|
||||
objects::TM_STORE, objects::TC_STORE);
|
||||
new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
|
||||
|
||||
new SpiTest(objects::SPI_TEST);
|
||||
}
|
||||
|
||||
@ -1,5 +1,6 @@
|
||||
target_sources(${TARGET_NAME} PRIVATE
|
||||
SpiTest.cpp
|
||||
RPiGPIO.cpp
|
||||
)
|
||||
|
||||
|
||||
|
||||
123
bsp_rpi/boardtest/RPiGPIO.cpp
Normal file
123
bsp_rpi/boardtest/RPiGPIO.cpp
Normal file
@ -0,0 +1,123 @@
|
||||
#include "RPiGPIO.h"
|
||||
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
#include <fcntl.h>
|
||||
#include <sys/types.h>
|
||||
#include <unistd.h>
|
||||
#include <cstdint>
|
||||
|
||||
|
||||
int RPiGPIO::enablePin(int pin) {
|
||||
char buffer[BUFFER_MAX];
|
||||
ssize_t bytes_written;
|
||||
int fd;
|
||||
|
||||
fd = open("/sys/class/gpio/export", O_WRONLY);
|
||||
if (fd == -1) {
|
||||
sif::error << "Failed to open export of pin " << pin << " for writing!" << std::endl;
|
||||
return -1;
|
||||
}
|
||||
|
||||
bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
|
||||
write(fd, buffer, bytes_written);
|
||||
close(fd);
|
||||
return 0;
|
||||
}
|
||||
|
||||
int RPiGPIO::disablePin(int pin) {
|
||||
char buffer[BUFFER_MAX];
|
||||
ssize_t bytes_written;
|
||||
int fd;
|
||||
|
||||
fd = open("/sys/class/gpio/unexport", O_WRONLY);
|
||||
if (fd == -1) {
|
||||
sif::error << "Failed to open unexport of pin " << pin << " for writing!" << std::endl;
|
||||
return -1;
|
||||
}
|
||||
|
||||
bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
|
||||
write(fd, buffer, bytes_written);
|
||||
close(fd);
|
||||
return(0);
|
||||
}
|
||||
|
||||
int RPiGPIO::pinDirection(int pin, Directions dir) {
|
||||
|
||||
char path[DIRECTION_MAX];
|
||||
|
||||
snprintf(path, DIRECTION_MAX, "/sys/class/gpio/gpio%d/direction", pin);
|
||||
int fd = open(path, O_WRONLY);
|
||||
if (fd == -1) {
|
||||
sif::error << "Failed to open gpio " << pin << " direction for writing!" << std::endl;
|
||||
return -1;
|
||||
}
|
||||
|
||||
int result = 0;
|
||||
if(dir == Directions::IN) {
|
||||
result = write(fd, "in", IN_WRITE_SIZE);
|
||||
}
|
||||
else {
|
||||
result = write(fd, "out", OUT_WRITE_SIZE);
|
||||
}
|
||||
|
||||
if (result != 0) {
|
||||
sif::error << "Failed to set direction!" << std::endl;
|
||||
return -2;
|
||||
}
|
||||
|
||||
close(fd);
|
||||
return 0;
|
||||
}
|
||||
|
||||
int RPiGPIO::readPin(int pin) {
|
||||
char path[VALUE_MAX];
|
||||
char value_str[3];
|
||||
|
||||
snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
|
||||
int fd = open(path, O_RDONLY);
|
||||
if (fd == -1) {
|
||||
sif::error << "RPiGPIO::readPin: Failed to open GPIO pin " << pin << "!" << std::endl;
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (read(fd, value_str, 3) == -1) {
|
||||
sif::error << "Failed to read value!" << std::endl;
|
||||
return -1;
|
||||
}
|
||||
|
||||
close(fd);
|
||||
char* endPtr = nullptr;
|
||||
|
||||
return strtol(value_str, &endPtr, 10);
|
||||
}
|
||||
|
||||
int RPiGPIO::writePin(int pin, States state) {
|
||||
|
||||
char path[VALUE_MAX];
|
||||
int fd;
|
||||
|
||||
snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
|
||||
fd = open(path, O_WRONLY);
|
||||
if (fd == -1) {
|
||||
sif::error << "RPiGPIO::writePin: Failed to open GPIO pin " << pin << "!" << std::endl;
|
||||
return -1;
|
||||
}
|
||||
|
||||
int result = 0;
|
||||
if(state == States::LOW) {
|
||||
result = write(fd, "0", 1);
|
||||
}
|
||||
else {
|
||||
result = write(fd, "1", 1);
|
||||
}
|
||||
|
||||
|
||||
if (result != 0) {
|
||||
sif::error << "Failed to write pin " << pin << " value to " << static_cast<int>(state)
|
||||
<< "!" << std::endl;
|
||||
return -1;
|
||||
}
|
||||
|
||||
close(fd);
|
||||
return 0;
|
||||
}
|
||||
41
bsp_rpi/boardtest/RPiGPIO.h
Normal file
41
bsp_rpi/boardtest/RPiGPIO.h
Normal file
@ -0,0 +1,41 @@
|
||||
#ifndef BSP_RPI_BOARDTEST_RPIGPIO_H_
|
||||
#define BSP_RPI_BOARDTEST_RPIGPIO_H_
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
/**
|
||||
* @brief Really simple C++ GPIO wrapper for the Raspberry Pi, using the sysfs interface.
|
||||
* Use BCM pins notation (https://pinout.xyz/#)
|
||||
*
|
||||
*/
|
||||
class RPiGPIO {
|
||||
public:
|
||||
enum Directions {
|
||||
IN = 0,
|
||||
OUT = 1
|
||||
};
|
||||
|
||||
enum States {
|
||||
LOW = 0,
|
||||
HIGH = 1
|
||||
};
|
||||
|
||||
static int enablePin(int pin);
|
||||
static int disablePin(int pin);
|
||||
static int pinDirection(int pin, Directions dir);
|
||||
static int readPin(int pin);
|
||||
static int writePin(int pin, States state);
|
||||
|
||||
private:
|
||||
|
||||
|
||||
static constexpr uint8_t BUFFER_MAX = 3;
|
||||
static constexpr uint8_t DIRECTION_MAX = 35;
|
||||
static constexpr uint8_t VALUE_MAX = 30;
|
||||
|
||||
static constexpr uint8_t IN_WRITE_SIZE = 3;
|
||||
static constexpr uint8_t OUT_WRITE_SIZE = 4;
|
||||
};
|
||||
|
||||
|
||||
#endif /* BSP_RPI_BOARDTEST_RPIGPIO_H_ */
|
||||
@ -1,13 +1,31 @@
|
||||
#include "SpiTest.h"
|
||||
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <wiringPi.h>
|
||||
|
||||
|
||||
|
||||
SpiTest::SpiTest(object_id_t objectId): SystemObject(objectId) {
|
||||
wiringPiSetupGpio();
|
||||
sif::info << "Setting up Raspberry Pi WiringPi library." << std::endl;
|
||||
// wiringPiSetupGpio();
|
||||
|
||||
// pinMode(SS_MGM_0_LIS3, OUTPUT);
|
||||
// pinMode(SS_MGM_1_RM, OUTPUT);
|
||||
// pinMode(SS_GYRO_0_ADIS, OUTPUT);
|
||||
// pinMode(SS_GYRO_1_L3G, OUTPUT);
|
||||
// pinMode(SS_GYRO_2_L3G, OUTPUT);
|
||||
// pinMode(SS_MGM_2_LIS3, OUTPUT);
|
||||
// pinMode(SS_MGM_3_RM, OUTPUT);
|
||||
//
|
||||
// digitalWrite(SS_MGM_0_LIS3, HIGH);
|
||||
// digitalWrite(SS_MGM_1_RM, HIGH);
|
||||
// digitalWrite(SS_GYRO_0_ADIS, HIGH);
|
||||
// digitalWrite(SS_GYRO_1_L3G, HIGH);
|
||||
// digitalWrite(SS_GYRO_2_L3G, HIGH);
|
||||
// digitalWrite(SS_MGM_2_LIS3, HIGH);
|
||||
// digitalWrite(SS_MGM_3_RM, HIGH);
|
||||
|
||||
int spiFd = open(spiDeviceName.c_str(), O_RDWR);
|
||||
if (spiFd < 0){
|
||||
|
||||
@ -6,13 +6,27 @@
|
||||
#include <linux/spi/spidev.h>
|
||||
#include <string>
|
||||
|
||||
class SpiTest: public ExecutableObjectIF, SystemObject {
|
||||
class SpiTest:
|
||||
public SystemObject,
|
||||
public ExecutableObjectIF {
|
||||
public:
|
||||
SpiTest(object_id_t objectId);
|
||||
|
||||
ReturnValue_t performOperation(uint8_t opCode) override;
|
||||
ReturnValue_t initialize() override;
|
||||
private:
|
||||
// These chip selects (BCM number) will be pulled high if not used
|
||||
// ACS board specific.
|
||||
enum SpiChipSelects {
|
||||
SS_MGM_0_LIS3 = 0, //!< MGM 0, LIS3MDLTR, U6, A side
|
||||
SS_MGM_1_RM = 1, //!< MGM 1, RM3100, U7, A side
|
||||
SS_GYRO_0_ADIS = 2, //!< Gyro 0, ADIS16485, U3, A side
|
||||
SS_GYRO_1_L3G = 3, //!< Gyro 1, L3GD20H, U4, A side
|
||||
SS_GYRO_2_L3G = 4, //!< Gyro 2, L3GD20h, U5, B side
|
||||
SS_MGM_2_LIS3 = 17, //!< MGM 2, LIS3MDLTR, U8, B side
|
||||
SS_MGM_3_RM = 27, //!< MGM 3, RM3100, U9, B side
|
||||
};
|
||||
|
||||
const std::string spiDeviceName = "/dev/spidev0.0";
|
||||
int spiFd = 0;
|
||||
|
||||
|
||||
@ -55,8 +55,8 @@ target_compile_options(${TARGET_NAME} PRIVATE
|
||||
add_custom_command(
|
||||
TARGET ${TARGET_NAME}
|
||||
POST_BUILD
|
||||
COMMAND echo Generating binary file ${CMAKE_PROJECT_NAME}.bin..
|
||||
COMMAND ${CMAKE_OBJCOPY} -O binary ${TARGET_NAME} ${TARGET_NAME}.bin
|
||||
COMMENT "Generating binary file ${CMAKE_PROJECT_NAME}.bin.."
|
||||
)
|
||||
|
||||
endfunction()
|
||||
@ -19,15 +19,15 @@ if(${OS_FSFW} STREQUAL linux AND TGT_BSP)
|
||||
)
|
||||
elseif (${TGT_BSP} MATCHES "arm/raspberrypi")
|
||||
if(NOT DEFINED ENV{RASPBIAN_ROOTFS})
|
||||
if(NOT RASPBIAN_ROOTFS)
|
||||
if(NOT DEFINED RASPBIAN_ROOTFS)
|
||||
message(WARNING "No RASPBIAN_ROOTFS environmental or CMake variable set!")
|
||||
set(ENV{RASPBIAN_ROOTFS} "$ENV{HOME}/raspberrypi/rootfs")
|
||||
else()
|
||||
set(ENV{RASPBIAN_ROOTFS} "${RASPBIAN_ROOTFS}")
|
||||
endif()
|
||||
else()
|
||||
message(STATUS
|
||||
"RASPBIAN_ROOTFS from environmental variables used: "
|
||||
"$ENV{RASPBIAN_ROOTFS}"
|
||||
"RASPBIAN_ROOTFS from environmental variables used: $ENV{RASPBIAN_ROOTFS}"
|
||||
)
|
||||
endif()
|
||||
|
||||
@ -36,12 +36,8 @@ if(${OS_FSFW} STREQUAL linux AND TGT_BSP)
|
||||
message(STATUS "No RASPBERRY_VERSION specified, setting to 4")
|
||||
set(RASPBERRY_VERSION "4" CACHE STRING "Raspberry Pi version")
|
||||
else()
|
||||
message(STATUS
|
||||
"Setting RASPBERRY_VERSION to ${RASPBERRY_VERSION}"
|
||||
)
|
||||
set(RASPBERRY_VERSION
|
||||
${RASPBERRY_VERSION} CACHE STRING "Raspberry Pi version"
|
||||
)
|
||||
message(STATUS "Setting RASPBERRY_VERSION to ${RASPBERRY_VERSION}")
|
||||
set(RASPBERRY_VERSION ${RASPBERRY_VERSION} CACHE STRING "Raspberry Pi version")
|
||||
set(ENV{RASPBERRY_VERSION} ${RASPBERRY_VERSION})
|
||||
endif()
|
||||
else()
|
||||
|
||||
@ -1,13 +1,13 @@
|
||||
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
|
||||
|
||||
#if(NOT DEFINED ENV{Q7S_ROOTFS})
|
||||
if(NOT DEFINED ENV{Q7S_SYSROOT})
|
||||
# message(FATAL_ERROR
|
||||
# "Define the Q7S_ROOTFS variable to "
|
||||
# "point to the raspbian rootfs."
|
||||
# )
|
||||
#else()
|
||||
# set(SYSROOT_PATH "$ENV{Q7S_ROOTFS}")
|
||||
#endif()
|
||||
else()
|
||||
set(SYSROOT_PATH "$ENV{Q7S_SYSROOT}")
|
||||
endif()
|
||||
|
||||
if(NOT DEFINED ENV{CROSS_COMPILE})
|
||||
set(CROSS_COMPILE "arm-linux-gnueabihf")
|
||||
|
||||
4
cmake/scripts/Q7S/win_path_helper_xilinx_tools.sh
Normal file
4
cmake/scripts/Q7S/win_path_helper_xilinx_tools.sh
Normal file
@ -0,0 +1,4 @@
|
||||
export PATH=$PATH:"/c/Xilinx/SDK/2018.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
|
||||
export CROSS_COMPILE="arm-linux-gnueabihf"
|
||||
|
||||
export Q7S_SYSROOT="/c/Xilinx/SDK/2018.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/arm-linux-gnueabihf/libc"
|
||||
BIN
doc/Q7S-user-manual.pdf
Normal file
BIN
doc/Q7S-user-manual.pdf
Normal file
Binary file not shown.
BIN
doc/img/vivado-edition.png
Normal file
BIN
doc/img/vivado-edition.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 36 KiB |
BIN
doc/img/vivado-hl-design.png
Normal file
BIN
doc/img/vivado-hl-design.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 50 KiB |
2
fsfw
2
fsfw
@ -1 +1 @@
|
||||
Subproject commit 1ac2479b28c1114b0876123e0db4155abfbf06fe
|
||||
Subproject commit 50733e223adaf9fc95d9728c62a026ea6efac1d2
|
||||
@ -1,19 +1,27 @@
|
||||
#ifndef FSFWCONFIG_FSFWCONFIG_H_
|
||||
#define FSFWCONFIG_FSFWCONFIG_H_
|
||||
#ifndef CONFIG_FSFWCONFIG_H_
|
||||
#define CONFIG_FSFWCONFIG_H_
|
||||
|
||||
#include <cstddef>
|
||||
#include <cstdint>
|
||||
|
||||
//! Used to determine whether C++ ostreams are used
|
||||
//! Those can lead to code bloat.
|
||||
//! Used to determine whether C++ ostreams are used which can increase
|
||||
//! the binary size significantly. If this is disabled,
|
||||
//! the C stdio functions can be used alternatively
|
||||
#define FSFW_CPP_OSTREAM_ENABLED 1
|
||||
|
||||
//! Reduced printout to further decrese code size
|
||||
//! Be careful, this also turns off most diagnostic prinouts!
|
||||
#define FSFW_REDUCED_PRINTOUT 0
|
||||
//! More FSFW related printouts depending on level. Useful for development.
|
||||
#define FSFW_VERBOSE_LEVEL 1
|
||||
|
||||
//! Can be used to enable debugging printouts for developing the FSFW
|
||||
#define FSFW_DEBUGGING 0
|
||||
//! Can be used to completely disable printouts, even the C stdio ones.
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_VERBOSE_LEVEL == 0
|
||||
#define FSFW_DISABLE_PRINTOUT 0
|
||||
#endif
|
||||
|
||||
//! Can be used to disable the ANSI color sequences for C stdio.
|
||||
#define FSFW_COLORED_OUTPUT 1
|
||||
|
||||
//! Can be used to disable the ANSI color sequences for C stdio.
|
||||
#define FSFW_COLORED_OUTPUT 1
|
||||
|
||||
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
|
||||
//! additional output which requires the translation files translateObjects
|
||||
@ -21,19 +29,20 @@
|
||||
#define FSFW_OBJ_EVENT_TRANSLATION 0
|
||||
|
||||
#if FSFW_OBJ_EVENT_TRANSLATION == 1
|
||||
#define FSFW_DEBUG_OUTPUT 1
|
||||
//! Specify whether info events are printed too.
|
||||
#define FSFW_DEBUG_INFO 1
|
||||
#include <translateObjects.h>
|
||||
#include <translateEvents.h>
|
||||
#include "objects/translateObjects.h"
|
||||
#include "events/translateEvents.h"
|
||||
#else
|
||||
#define FSFW_DEBUG_OUTPUT 0
|
||||
#endif
|
||||
|
||||
//! When using the newlib nano library, C99 support for stdio facilities
|
||||
//! will not be provided. This define should be set to 1 if this is the case.
|
||||
#define FSFW_NO_C99_IO 1
|
||||
|
||||
//! Specify whether a special mode store is used for Subsystem components.
|
||||
#define FSFW_USE_MODESTORE 0
|
||||
|
||||
namespace fsfwconfig {
|
||||
//! Default timestamp size. The default timestamp will be an eight byte CDC
|
||||
//! short timestamp.
|
||||
@ -49,6 +58,8 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
|
||||
//! simulataneously. This will increase the required RAM for
|
||||
//! each CSB service !
|
||||
static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
|
||||
|
||||
static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
|
||||
}
|
||||
|
||||
#endif /* FSFWCONFIG_FSFWCONFIG_H_ */
|
||||
#endif /* CONFIG_FSFWCONFIG_H_ */
|
||||
|
||||
@ -2,10 +2,15 @@
|
||||
#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
|
||||
|
||||
#include <cstdint>
|
||||
#include <fsfw/objectmanager/frameworkObjects.h>
|
||||
|
||||
// The objects will be instantiated in the ID order
|
||||
namespace objects {
|
||||
enum sourceObjects: uint32_t {
|
||||
/* 0x53 reserved for FSFW */
|
||||
FW_ADDRESS_START = PUS_SERVICE_1_VERIFICATION,
|
||||
FW_ADDRESS_END = TIME_STAMPER,
|
||||
|
||||
/* First Byte 0x50-0x52 reserved for PUS Services **/
|
||||
CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
|
||||
PUS_PACKET_DISTRIBUTOR = 0x50000200,
|
||||
@ -21,13 +26,6 @@ namespace objects {
|
||||
|
||||
TM_FUNNEL = 0x52000002,
|
||||
|
||||
/* Test Task */
|
||||
|
||||
TEST_TASK = 0x42694269,
|
||||
DUMMY_INTERFACE = 0xCAFECAFE,
|
||||
DUMMY_HANDLER = 0x4400AFFE,
|
||||
P60DOCK_TEST_TASK = 0x00005060,
|
||||
|
||||
/* 0x49 ('I') for Communication Interfaces **/
|
||||
ARDUINO_COM_IF = 0x49000001,
|
||||
CSP_COM_IF = 0x49000002,
|
||||
@ -36,7 +34,14 @@ namespace objects {
|
||||
P60DOCK_HANDLER = 0x44000001,
|
||||
PDU1_HANDLER = 0x44000002,
|
||||
PDU2_HANDLER = 0x44000003,
|
||||
ACU_HANDLER = 0x44000004
|
||||
ACU_HANDLER = 0x44000004,
|
||||
|
||||
/* 0x54 ('T') for test handlers */
|
||||
TEST_TASK = 0x54694269,
|
||||
SPI_TEST = 0x54000010,
|
||||
DUMMY_INTERFACE = 0x5400CAFE,
|
||||
DUMMY_HANDLER = 0x5400AFFE,
|
||||
P60DOCK_TEST_TASK = 0x00005060,
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
@ -142,7 +142,7 @@ csp_iface_t * csp_can_socketcan_init(const char * ifc, int bitrate, int promisc)
|
||||
struct sockaddr_can addr;
|
||||
pthread_t rx_thread;
|
||||
|
||||
printf("Init can interface %s\n", ifc);
|
||||
printf("-I-: Initiating CAN interface %s\n", ifc);
|
||||
|
||||
#ifdef CSP_HAVE_LIBSOCKETCAN
|
||||
/* Set interface up */
|
||||
|
||||
@ -15,11 +15,11 @@
|
||||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443" name="eive-mingw-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<configuration artifactName="${ProjName}" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443" name="eive-mingw-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443." name="/" resourcePath="">
|
||||
<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.1176904738" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
|
||||
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1087094604" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
|
||||
<builder arguments="--build ." buildPath="${workspace_loc:/fsfw_example/Debug}" 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="${workspace_loc:/eive_obsw/Debug}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.813737526" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1289649483" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
|
||||
</tool>
|
||||
@ -230,7 +230,7 @@
|
||||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration artifactName="${ProjName}" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug-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="" 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">
|
||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851." name="/" resourcePath="">
|
||||
<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1971474557" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1813444167" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
|
||||
@ -505,54 +505,342 @@
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
</cconfiguration>
|
||||
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689">
|
||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-debug-win">
|
||||
<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<project id="eive_obsw.null.1109622296" name="eive_obsw"/>
|
||||
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug-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">
|
||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689." name="/" resourcePath="">
|
||||
<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1439714522" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1064018737" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.command.prefix.1389281148" name="Prefix" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.command.prefix" value="arm-linux-gnueabihf-" valueType="string"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.command.suffix.1817399597" name="Suffix" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.command.suffix"/>
|
||||
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<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.archiver.890211237" name="GNU Arm Cross Archiver" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.archiver"/>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.createflash.1213883186" name="GNU Arm Cross Create Flash Image" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.createflash"/>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.createlisting.390884748" name="GNU Arm Cross Create Listing" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.createlisting">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.source.1189745672" name="Display source (--source|-S)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.source" value="true" valueType="boolean"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.allheaders.585328601" name="Display all headers (--all-headers|-x)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.allheaders" value="true" valueType="boolean"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.demangle.1361871599" name="Demangle names (--demangle|-C)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.demangle" value="true" valueType="boolean"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.linenumbers.382131227" name="Display line numbers (--line-numbers|-l)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.linenumbers" value="true" valueType="boolean"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.wide.393816223" name="Wide lines (--wide|-w)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.wide" value="true" valueType="boolean"/>
|
||||
</tool>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize.1328928455" name="GNU Arm Cross Print Size" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format.608263053" name="Size format" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format"/>
|
||||
</tool>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
<sourceEntries>
|
||||
<entry excluding="fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
</sourceEntries>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
</cconfiguration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<project id="eive_obsw.null.1062489770" name="eive_obsw"/>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
|
||||
<storageModule moduleId="refreshScope" versionNumber="2">
|
||||
<configuration configurationName="eive-linux-host-debug"/>
|
||||
<configuration configurationName="eive-mingw-release"/>
|
||||
<configuration configurationName="eive-linux-host-release"/>
|
||||
<configuration configurationName="eive-linux-host-debug">
|
||||
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
|
||||
</configuration>
|
||||
<configuration configurationName="eive-mingw-debug">
|
||||
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
|
||||
</configuration>
|
||||
<configuration configurationName="Default">
|
||||
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
|
||||
</configuration>
|
||||
<configuration configurationName="eive-rpi-debug"/>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
|
||||
<storageModule moduleId="scannerConfiguration">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.646655988;cdt.managedbuild.tool.gnu.cpp.compiler.input.1437856797">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075.;cdt.managedbuild.tool.gnu.c.compiler.base.623389075;cdt.managedbuild.tool.gnu.c.compiler.input.1382191457">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075.;cdt.managedbuild.tool.gnu.cpp.compiler.base.1522927967;cdt.managedbuild.tool.gnu.cpp.compiler.input.305765911">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249.;cdt.managedbuild.tool.gnu.c.compiler.mingw.base.473677411;cdt.managedbuild.tool.gnu.c.compiler.input.2060052812">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.539225324;cdt.managedbuild.tool.gnu.cpp.compiler.input.1848997248">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.;cdt.managedbuild.tool.gnu.cpp.compiler.base.1405808772;cdt.managedbuild.tool.gnu.cpp.compiler.input.1960112549">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.;cdt.managedbuild.tool.gnu.c.compiler.base.1946711528;cdt.managedbuild.tool.gnu.c.compiler.input.584209663">
|
||||
<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.c.compiler.mingw.base.397223006;cdt.managedbuild.tool.gnu.c.compiler.input.1482659499">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings">
|
||||
<doc-comment-owner id="org.eclipse.cdt.ui.doxygen">
|
||||
<path value=""/>
|
||||
</doc-comment-owner>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
|
||||
<buildTargets>
|
||||
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j16</buildArguments>
|
||||
<buildTarget>clean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="hardclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j16</buildArguments>
|
||||
<buildTarget>hardclean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
</buildTargets>
|
||||
</storageModule>
|
||||
<storageModule moduleId="scannerConfiguration">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.2047596104;cdt.managedbuild.toolchain.gnu.base.2047596104.1629235648;cdt.managedbuild.tool.gnu.c.compiler.base.1751527394;cdt.managedbuild.tool.gnu.c.compiler.input.72239787">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.2047596104;cdt.managedbuild.toolchain.gnu.base.2047596104.1629235648;cdt.managedbuild.tool.gnu.cpp.compiler.base.1852610587;cdt.managedbuild.tool.gnu.cpp.compiler.input.1985567520">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
</storageModule>
|
||||
</cproject>
|
||||
@ -0,0 +1,33 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
|
||||
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/eive_obsw"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443"/>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
|
||||
<listEntry value="/eive_obsw"/>
|
||||
</listAttribute>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
|
||||
<listEntry value="4"/>
|
||||
</listAttribute>
|
||||
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><memoryBlockExpressionList context="reserved-for-future-use"/>"/>
|
||||
<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
|
||||
</launchConfiguration>
|
||||
@ -44,7 +44,7 @@ uint32_t GPSHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
}
|
||||
|
||||
ReturnValue_t GPSHandler::initializeLocalDataPool(
|
||||
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
|
||||
@ -29,7 +29,7 @@ protected:
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged() override;
|
||||
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
private:
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#include <mission/devices/GyroL3GD20Handler.h>
|
||||
#include <fsfw/datapool/PoolReadHelper.h>
|
||||
|
||||
GyroHandler::GyroHandler(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF *comCookie):
|
||||
@ -171,14 +172,13 @@ ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
|
||||
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
|
||||
float temperature = 25.0 + temperaturOffset;
|
||||
|
||||
result = dataset.read(20);
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
PoolReadHelper readSet(&dataset);
|
||||
if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.angVelocX = angVelocX;
|
||||
dataset.angVelocY = angVelocY;
|
||||
dataset.angVelocZ = angVelocZ;
|
||||
dataset.temperature = temperature;
|
||||
dataset.setValidity(true, true);
|
||||
result = dataset.commit(20);
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -194,7 +194,7 @@ uint32_t GyroHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandler::initializeLocalDataPool(
|
||||
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y,
|
||||
|
||||
@ -37,7 +37,7 @@ protected:
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged() override;
|
||||
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
private:
|
||||
|
||||
@ -257,13 +257,13 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
|
||||
sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl;
|
||||
}
|
||||
#endif
|
||||
ReturnValue_t result = dataset.read(20);
|
||||
ReturnValue_t result = dataset.read();
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.fieldStrengthX = mgmX;
|
||||
dataset.fieldStrengthY = mgmY;
|
||||
dataset.fieldStrengthZ = mgmZ;
|
||||
dataset.setValidity(true, true);
|
||||
dataset.commit(20);
|
||||
dataset.commit();
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -278,10 +278,10 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
|
||||
<< std::endl;
|
||||
}
|
||||
#endif
|
||||
ReturnValue_t result = dataset.read(20);
|
||||
ReturnValue_t result = dataset.read();
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.temperature = tempValue;
|
||||
dataset.commit(20);
|
||||
dataset.commit();
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -423,7 +423,7 @@ void MGMHandlerLIS3MDL::modeChanged(void) {
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
|
||||
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
|
||||
|
||||
@ -52,7 +52,7 @@ protected:
|
||||
const uint8_t *packet) override;
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged(void) override;
|
||||
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
private:
|
||||
|
||||
@ -304,7 +304,7 @@ void MGMHandlerRM3100::modeChanged(void) {
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
|
||||
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y,
|
||||
@ -339,13 +339,13 @@ ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
|
||||
}
|
||||
#endif
|
||||
|
||||
ReturnValue_t result = primaryDataset.read(20);
|
||||
ReturnValue_t result = primaryDataset.read();
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
primaryDataset.fieldStrengthX = fieldStrengthX;
|
||||
primaryDataset.fieldStrengthY = fieldStrengthY;
|
||||
primaryDataset.fieldStrengthZ = fieldStrengthZ;
|
||||
primaryDataset.setValidity(true, true);
|
||||
result = primaryDataset.commit(20);
|
||||
result = primaryDataset.commit();
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
@ -55,7 +55,7 @@ protected:
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged(void) override;
|
||||
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
private:
|
||||
|
||||
2
tmtc
2
tmtc
@ -1 +1 @@
|
||||
Subproject commit b1dc449ccfd7de558a87ebc7aae77b1eaf32c934
|
||||
Subproject commit 7e64595d1a34732ed5d178cbbae634104634763f
|
||||
Loading…
Reference in New Issue
Block a user