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eive/eive-obsw
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Merge pull request 'GPS Refactoring' (#123) from mueller/gps-tests into develop
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Reviewed-on: #123
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>
This commit is contained in:
Jakob Meier 2022-01-17 15:42:04 +01:00
commit 7138d29041
20 changed files with 230 additions and 271 deletions
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2
CMakeLists.txt
View File

@ -66,6 +66,7 @@ set(LIB_ARCSEC wire)
set(THIRD_PARTY_FOLDER thirdparty)
set(LIB_CXX_FS -lstdc++fs)
set(LIB_CATCH2 Catch2)
set(LIB_GPS gps)
set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
# Set path names
@ -221,6 +222,7 @@ if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG))
if(TGT_BSP MATCHES "arm/q7s")
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_ARCSEC}
${LIB_GPS}
)
endif()
endif()

3
Justfile
View File

@ -5,5 +5,8 @@ default: q7s-debug-make
q7s-debug-make:
{{python_script}} -o linux -g make -b debug -t "arm/q7s" -l build-Debug-Q7S
q7s-release-make:
{{python_script}} -o linux -g make -b release -t "arm/q7s" -l build-Release-Q7S
q7s-debug-ninja:
{{python_script}} -o linux -g ninja -b debug -t "arm/q7s" -l build-Debug-Q7S

21
README.md
View File

@ -1045,26 +1045,7 @@ cat file.bin | hexdump -v -n X
## Preparation of a fresh rootfs and SD card
This section summarizes important changes between a fresh rootfs and the current
EIVE implementation
### rootfs
- Mount point `/mnt/sd0` created for SD card 0. Created with `mkdir`
- Mount point `/mnt/sd1` created for SD card 1. Created with `mkdir`
- Folder `scripts` in `/home/root` folder.
- `scripts` folder currently contains a few shell helper scripts
- Folder `profile.d` in `/etc` folder which contains the `path-set.sh` script
which is sourced at software startup
- Library `libwire.so` in `/usr/lib` folder
### SD Cards
- Folder `bin` for binaries, for example the OBSW
- Folder `misc` for miscellaneous files. Contains `ls` for directory listings
- Folder `tc` for telecommands
- Folder `tm` for telemetry
- Folder `xdi` for XDI components (e.g. for firmware or device tree updates)
See [q7s-package repository README](https://egit.irs.uni-stuttgart.de/eive/q7s-package)
# <a id="static-code-analysis"></a> Running cppcheck on the Software

2
bsp_linux_board/ObjectFactory.cpp
View File

@ -14,7 +14,7 @@
#include "mission/core/GenericFactory.h"
#include "mission/utility/TmFunnel.h"
#include <mission/devices/GPSHyperionHandler.h>
#include "mission/devices/GyroADIS16507Handler.h"
#include "mission/devices/GyroADIS1650XHandler.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"

42
bsp_q7s/boardtest/Q7STestTask.cpp
View File

@ -12,17 +12,28 @@
#include "test/DummyParameter.h"
#include <nlohmann/json.hpp>
#include <gps.h>
#include <libgpsmm.h>
#include <ctime>
#include <iostream>
#include <iomanip>
#include <fstream>
#include <cstdio>
Q7STestTask::Q7STestTask(object_id_t objectId): TestTask(objectId) {
doTestSdCard = false;
doTestScratchApi = false;
doTestGps = false;
}
ReturnValue_t Q7STestTask::performOneShotAction() {
//testSdCard();
//testScratchApi();
if (doTestSdCard) {
testSdCard();
}
if (doTestScratchApi) {
testScratchApi();
}
//testJsonLibDirect();
//testDummyParams();
//testProtHandler();
@ -31,6 +42,13 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
return TestTask::performOneShotAction();
}
ReturnValue_t Q7STestTask::performPeriodicAction() {
if(doTestGps) {
testGpsDaemon();
}
return TestTask::performPeriodicAction();
}
void Q7STestTask::testSdCard() {
using namespace std;
Stopwatch stopwatch;
@ -224,6 +242,26 @@ void Q7STestTask::testProtHandler() {
}
}
void Q7STestTask::testGpsDaemon() {
gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
gps_data_t* gps;
gps = gpsmm.read();
if(gps == nullptr) {
sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
}
sif::info << "-- Q7STestTask: GPS shared memory read test --" << std::endl;
time_t timeRaw = gps->fix.time.tv_sec;
std::tm* time = gmtime(&timeRaw);
sif::info << "Time: " << std::put_time(time, "%c %Z") << std::endl;
sif::info << "Visible satellites: " << gps->satellites_visible << std::endl;
sif::info << "Satellites used: " << gps->satellites_used << std::endl;
sif::info << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
sif::info << "Latitude: " << gps->fix.latitude << std::endl;
sif::info << "Longitude: " << gps->fix.longitude << std::endl;
sif::info << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
}
void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
auto fsHandler = ObjectManager::instance()->
get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);

7
bsp_q7s/boardtest/Q7STestTask.h
View File

@ -9,8 +9,15 @@ public:
ReturnValue_t initialize() override;
private:
bool doTestSdCard = false;
bool doTestScratchApi = false;
bool doTestGps = false;
CoreController* coreController = nullptr;
ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
void testGpsDaemon();
void testSdCard();
void fileTests();

9
bsp_q7s/core/InitMission.cpp
View File

@ -117,6 +117,13 @@ void initmission::initTasks() {
}
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
PeriodicTaskIF* acsCtrl = factory->createPeriodicTask(
"ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = acsCtrl->addComponent(objects::GPS_CONTROLLER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER);
}
# if BOARD_TE0720 == 0
// FS task, task interval does not matter because it runs in permanent loop, priority low
// because it is a non-essential background task
@ -202,6 +209,8 @@ void initmission::initTasks() {
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#endif
acsCtrl->startTask();
sif::info << "Tasks started.." << std::endl;
}

17
bsp_q7s/core/ObjectFactory.cpp
View File

@ -449,14 +449,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GPS0_HANDLER;
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
// GNSS reset pins are active low
gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), gpio::DIR_OUT,
gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GPS1_HANDLER;
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), gpio::DIR_OUT,
gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
@ -476,13 +476,13 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
// Enable pins for GNSS
consumer.str("");
consumer << "0x" << std::hex << objects::GPS0_HANDLER;
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(),
gpio::DIR_OUT, gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GPS1_HANDLER;
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
@ -570,14 +570,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
resetArgsGnss0.gnss1 = false;
resetArgsGnss0.gpioComIF = gpioComIF;
resetArgsGnss0.waitPeriodMs = 100;
auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_DEV,
UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
uartCookieGps0->setToFlushInput(true);
uartCookieGps0->setReadCycles(6);
auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
uartCookieGps0, debugGps);
auto gpsHandler0 = new GPSHyperionHandler(objects::GPS_CONTROLLER, objects::NO_OBJECT,
debugGps);
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
gpsHandler0->setStartUpImmediately();
}
void ObjectFactory::createHeaterComponents() {

2
bsp_q7s/devices/startracker/StrHelper.cpp
View File

@ -634,7 +634,7 @@ ReturnValue_t StrHelper::checkFlashActionReply(uint8_t region_, uint32_t address
<< std::endl;
return result;
}
uint16_t length;
uint16_t length = 0;
size = sizeof(length);
const uint8_t* lengthData = data + LENGTH_OFFSET;
result = SerializeAdapter::deSerialize(&length, lengthData, &size,

3
common/config/commonObjects.h
View File

@ -79,8 +79,7 @@ enum commonObjects: uint32_t {
SUS_12 = 0x44120043,
SUS_13 = 0x44120044,
GPS0_HANDLER = 0x44130045,
GPS1_HANDLER = 0x44130146,
GPS_CONTROLLER = 0x44130045,
RW1 = 0x44120047,
RW2 = 0x44120148,

2
fsfw

@ -1 +1 @@
Subproject commit b98c85d33fd79853e674f75dadd0a082a962aee4
Subproject commit c1e0bcee6db652d6c474c87a4099e61ecf86b694

14
linux/boardtest/SpiTestClass.cpp
View File

@ -297,31 +297,31 @@ void SpiTestClass::acsInit() {
GpiodRegularByChip* gpio = nullptr;
std::string rpiGpioName = "gpiochip0";
gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
gpio::DIR_OUT, 1);
gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
gpio::DIR_OUT, 1);
gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
gpio::DIR_OUT, 1);
gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
gpio::DIR_OUT, 1);
gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, gyro3L3gd20ChipSelect, "GYRO_2_L3G",
gpio::DIR_OUT, 1);
gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
gpio::DIR_OUT, 1);
gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
gpio::DIR_OUT, 1);
gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
#elif defined(XIPHOS_Q7S)
GpiodRegularByLineName* gpio = nullptr;

4
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -47,8 +47,6 @@ debugging. */
#define OBSW_ADD_PLOC_MPSOC 0
#define OBSW_ADD_SUN_SENSORS 0
#define OBSW_ADD_ACS_BOARD 0
#define OBSW_ADD_GPS_0 0
#define OBSW_ADD_GPS_1 0
#define OBSW_ADD_RW 0
#define OBSW_ADD_RTD_DEVICES 0
#define OBSW_ADD_TMP_DEVICES 0
@ -109,7 +107,7 @@ debugging. */
#define OBSW_DEBUG_STARTRACKER 0
#define OBSW_DEBUG_PLOC_MPSOC 0
#define OBSW_DEBUG_PLOC_SUPERVISOR 0
#define OBSW_DEBUG_PDEC_HANDLER 1
#define OBSW_DEBUG_PDEC_HANDLER 0
/*******************************************************************/
/** Hardcoded */

32
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -614,38 +614,6 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_ACS_BOARD == 1
#if OBSW_ADD_GPS_0 == 1
uartPstEmpty = false;
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
#endif /* OBSW_ADD_GPS_0 == 1 */
#if OBSW_ADD_GPS_1 == 1
uartPstEmpty = false;
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
#endif /* OBSW_ADD_GPS_1 == 1 */
#endif /* OBSW_ADD_ACS_BOARD == 1 */
#if OBSW_ADD_STAR_TRACKER == 1
uartPstEmpty = false;
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);

257
mission/devices/GPSHyperionHandler.cpp
View File

@ -4,57 +4,44 @@
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/timemanager/Clock.h"
#include "lwgps/lwgps.h"
#ifdef FSFW_OSAL_LINUX
#include <gps.h>
#include <libgpsmm.h>
#endif
#include <cmath>
#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
#include <filesystem>
#include <fstream>
#endif
GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, bool debugHyperionGps):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), gpsSet(this),
GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t parentId,
bool debugHyperionGps):
ExtendedControllerBase(objectId, objects::NO_OBJECT), gpsSet(this),
debugHyperionGps(debugHyperionGps) {
lwgps_init(&gpsData);
}
GPSHyperionHandler::~GPSHyperionHandler() {}
void GPSHyperionHandler::doStartUp() {
if(internalState == InternalStates::NONE) {
commandExecuted = false;
internalState = InternalStates::WAIT_FIRST_MESSAGE;
}
if(internalState == InternalStates::WAIT_FIRST_MESSAGE) {
if(commandExecuted) {
internalState = InternalStates::IDLE;
setMode(MODE_ON);
commandExecuted = false;
}
}
void GPSHyperionHandler::performControlOperation() {
#ifdef FSFW_OSAL_LINUX
readGpsDataFromGpsd();
#endif
}
void GPSHyperionHandler::doShutDown() {
internalState = InternalStates::NONE;
commandExecuted = false;
setMode(_MODE_POWER_DOWN);
LocalPoolDataSetBase* GPSHyperionHandler::getDataSetHandle(sid_t sid) {
return nullptr;
}
ReturnValue_t GPSHyperionHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
ReturnValue_t GPSHyperionHandler::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
// By default, send nothing
rawPacketLen = 0;
switch(deviceCommand) {
ReturnValue_t GPSHyperionHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch(actionId) {
case(GpsHyperion::TRIGGER_RESET_PIN): {
if(resetCallback != nullptr) {
PoolReadGuard pg(&gpsSet);
@ -69,99 +56,6 @@ ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// Pass data to GPS library
if(len > 0) {
// sif::debug << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
// TODO: Check whether data is valid by checking whether NMEA start string is valid?
commandExecuted = true;
}
int result = lwgps_process(&gpsData, start, len);
if(result != 1) {
sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps"
<< std::endl;
}
else {
// The data from the device will generally be read all at once. Therefore, we
// can set all field here
PoolReadGuard pg(&gpsSet);
if(pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed"
<< std::endl;
#endif
}
// Print messages
if(gpsData.is_valid) {
// Set all entries valid now, set invalid on case basis if values are sanitized
gpsSet.setValidity(true, true);
}
// Negative latitude -> South direction
gpsSet.latitude.value = gpsData.latitude;
// Negative longitude -> West direction
gpsSet.longitude.value = gpsData.longitude;
if(gpsData.altitude > 600000.0 or gpsData.altitude < 400000.0) {
gpsSet.altitude.setValid(false);
}
else {
gpsSet.altitude.setValid(true);
gpsSet.altitude.value = gpsData.altitude;
}
gpsSet.fixMode.value = gpsData.fix_mode;
gpsSet.satInUse.value = gpsData.sats_in_use;
Clock::TimeOfDay_t timeStruct = {};
timeStruct.day = gpsData.date;
timeStruct.hour = gpsData.hours;
timeStruct.minute = gpsData.minutes;
timeStruct.month = gpsData.month;
timeStruct.second = gpsData.seconds;
// Convert two-digit year to full year (AD)
timeStruct.year = gpsData.year + 2000;
timeval timeval = {};
Clock::convertTimeOfDayToTimeval(&timeStruct, &timeval);
gpsSet.year = timeStruct.year;
gpsSet.month = gpsData.month;
gpsSet.day = gpsData.date;
gpsSet.hours = gpsData.hours;
gpsSet.minutes = gpsData.minutes;
gpsSet.seconds = gpsData.seconds;
gpsSet.unixSeconds = timeval.tv_sec;
if(debugHyperionGps) {
sif::info << "GPS Data" << std::endl;
printf("Valid status: %d\n", gpsData.is_valid);
printf("Latitude: %f degrees\n", gpsData.latitude);
printf("Longitude: %f degrees\n", gpsData.longitude);
printf("Altitude: %f meters\n", gpsData.altitude);
}
#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
std::string filename = "/mnt/sd0/gps_log.txt";
std::ofstream gpsFile;
if(not std::filesystem::exists(filename)) {
gpsFile.open(filename, std::ofstream::out);
}
gpsFile.open(filename, std::ofstream::out | std::ofstream::app);
gpsFile.write("\n", 1);
gpsFile.write(reinterpret_cast<const char*>(start), len);
#endif
}
*foundLen = len;
*foundId = GpsHyperion::GPS_REPLY;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t GPSHyperionHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 5000;
}
ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
@ -180,35 +74,108 @@ ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
return HasReturnvaluesIF::RETURN_OK;
}
void GPSHyperionHandler::fillCommandAndReplyMap() {
// Reply length does not matter, packets should always arrive periodically
insertInReplyMap(GpsHyperion::GPS_REPLY, 4, &gpsSet, 0, true);
insertInCommandMap(GpsHyperion::TRIGGER_RESET_PIN);
}
void GPSHyperionHandler::modeChanged() {
internalState = InternalStates::NONE;
}
void GPSHyperionHandler::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
void *args) {
this->resetCallback = resetCallback;
resetCallbackArgs = args;
}
void GPSHyperionHandler::debugInterface(uint8_t positionTracker, object_id_t objectId,
uint32_t parameter) {
}
ReturnValue_t GPSHyperionHandler::initialize() {
ReturnValue_t result = DeviceHandlerBase::initialize();
ReturnValue_t result = ExtendedControllerBase::initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
// Enable reply immediately for now
return updatePeriodicReply(true, GpsHyperion::GPS_REPLY);
return result;
}
ReturnValue_t GPSHyperionHandler::acceptExternalDeviceCommands() {
return DeviceHandlerBase::acceptExternalDeviceCommands();
ReturnValue_t GPSHyperionHandler::handleCommandMessage(CommandMessage *message) {
return ExtendedControllerBase::handleCommandMessage(message);
}
#ifdef FSFW_OSAL_LINUX
void GPSHyperionHandler::readGpsDataFromGpsd() {
// The data from the device will generally be read all at once. Therefore, we
// can set all field here
gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
gps_data_t* gps;
gps = gpsmm.read();
if(gps == nullptr) {
sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
}
PoolReadGuard pg(&gpsSet);
if(pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed"
<< std::endl;
#endif
}
// Print messages
if((gps->set & MODE_SET) != MODE_SET) {
// Could not even set mode
gpsSet.setValidity(false, true);
return;
}
if(gps->satellites_used > 0) {
gpsSet.setValidity(true, true);
}
gpsSet.satInUse.value = gps->satellites_used;
gpsSet.satInView.value = gps->satellites_visible;
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
gpsSet.fixMode = gps->fix.mode;
if(std::isfinite(gps->fix.latitude)) {
// Negative latitude -> South direction
gpsSet.latitude.value = gps->fix.latitude;
} else {
gpsSet.latitude.setValid(false);
}
if(std::isfinite(gps->fix.longitude)) {
// Negative longitude -> West direction
gpsSet.longitude.value = gps->fix.longitude;
} else {
gpsSet.longitude.setValid(false);
}
if(std::isfinite(gps->fix.altitude)) {
gpsSet.altitude.value = gps->fix.altitude;
} else {
gpsSet.altitude.setValid(false);
}
if(std::isfinite(gps->fix.speed)) {
gpsSet.speed.value = gps->fix.speed;
} else {
gpsSet.speed.setValid(false);
}
gpsSet.unixSeconds.value = gps->fix.time.tv_sec;
timeval time = {};
time.tv_sec = gpsSet.unixSeconds.value;
time.tv_usec = gps->fix.time.tv_nsec / 1000;
Clock::TimeOfDay_t timeOfDay = {};
Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
gpsSet.year = timeOfDay.year;
gpsSet.month = timeOfDay.month;
gpsSet.day = timeOfDay.day;
gpsSet.hours = timeOfDay.hour;
gpsSet.minutes = timeOfDay.minute;
gpsSet.seconds = timeOfDay.second;
if(debugHyperionGps) {
sif::info << "-- Hyperion GPS Data --" << std::endl;
time_t timeRaw = gps->fix.time.tv_sec;
std::tm* time = gmtime(&timeRaw);
std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl;
std::cout << "Visible satellites: " << gps->satellites_visible << std::endl;
std::cout << "Satellites used: " << gps->satellites_used << std::endl;
std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
std::cout << "Latitude: " << gps->fix.latitude << std::endl;
std::cout << "Longitude: " << gps->fix.longitude << std::endl;
std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
}
}
#endif

50
mission/devices/GPSHyperionHandler.h
View File

@ -3,8 +3,8 @@
#include "fsfw/FSFW.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/controller/ExtendedControllerBase.h"
#include "devicedefinitions/GPSDefinitions.h"
#include "lwgps/lwgps.h"
/**
* @brief Device handler for the Hyperion HT-GPS200 device
@ -12,58 +12,38 @@
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
*/
class GPSHyperionHandler: public DeviceHandlerBase {
class GPSHyperionHandler: public ExtendedControllerBase {
public:
GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, bool debugHyperionGps = false);
GPSHyperionHandler(object_id_t objectId, object_id_t parentId,
bool debugHyperionGps = false);
virtual ~GPSHyperionHandler();
using gpioResetFunction_t = ReturnValue_t (*) (void* args);
void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void*args);
ReturnValue_t acceptExternalDeviceCommands() override;
ReturnValue_t handleCommandMessage(CommandMessage *message) override;
void performControlOperation() override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) override;
ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data,
size_t size) override;
ReturnValue_t initialize() override;
protected:
gpioResetFunction_t resetCallback = nullptr;
void* resetCallbackArgs = nullptr;
enum class InternalStates {
NONE,
WAIT_FIRST_MESSAGE,
IDLE
};
InternalStates internalState = InternalStates::NONE;
bool commandExecuted = false;
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged() override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
virtual void debugInterface(uint8_t positionTracker = 0,
object_id_t objectId = 0, uint32_t parameter = 0) override;
private:
lwgps_t gpsData = {};
GpsPrimaryDataset gpsSet;
bool debugHyperionGps = false;
void readGpsDataFromGpsd();
};
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

22
mission/devices/devicedefinitions/GPSDefinitions.h
View File

@ -15,15 +15,17 @@ enum GpsPoolIds: lp_id_t {
LATITUDE = 0,
LONGITUDE = 1,
ALTITUDE = 2,
FIX_MODE = 3,
SATS_IN_USE = 4,
UNIX_SECONDS = 5,
YEAR = 6,
MONTH = 7,
DAY = 8,
HOURS = 9,
MINUTES = 10,
SECONDS = 11
SPEED = 3,
FIX_MODE = 4,
SATS_IN_USE = 5,
SATS_IN_VIEW = 6,
UNIX_SECONDS = 7,
YEAR = 8,
MONTH = 9,
DAY = 10,
HOURS = 11,
MINUTES = 12,
SECONDS = 13
};
enum GpsFixModes: uint8_t {
@ -47,8 +49,10 @@ public:
lp_var_t<double> longitude = lp_var_t<double>(sid.objectId,
GpsHyperion::LONGITUDE, this);
lp_var_t<double> altitude = lp_var_t<double>(sid.objectId, GpsHyperion::ALTITUDE, this);
lp_var_t<double> speed = lp_var_t<double>(sid.objectId, GpsHyperion::SPEED, this);
lp_var_t<uint8_t> fixMode = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::FIX_MODE, this);
lp_var_t<uint8_t> satInUse = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::SATS_IN_USE, this);
lp_var_t<uint8_t> satInView = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::SATS_IN_VIEW, this);
lp_var_t<uint16_t> year = lp_var_t<uint16_t>(sid.objectId, GpsHyperion::YEAR, this);
lp_var_t<uint8_t> month = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::MONTH, this);
lp_var_t<uint8_t> day = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::DAY, this);

8
scripts/rpi-port.sh Executable file
View File

@ -0,0 +1,8 @@
#!/bin/bash
echo "-L 1538:raspberrypi.local:1538 for Raspberry Pi connect with TCF agent"
echo "-L 1539:raspberrypi.local:22 for Raspberry Pi file transfers"
ssh -L 1538:raspberrypi.local:1534 \
-L 1539:raspberrypi.local:22 \
eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 \
-t 'CONSOLE_PREFIX="[RPi Tunnel]" /bin/bash'

2
thirdparty/arcsec_star_tracker vendored

@ -1 +1 @@
Subproject commit f596c53315f1f81facb28faec3150612a5ad2ca0
Subproject commit 2d10c6b85ea4cab4f4baf1918c51d54eee4202c2

2
tmtc

@ -1 +1 @@
Subproject commit dfed6b7adf957ba46ff04e0885a5948ea080d59d
Subproject commit c86cd1874f605a89277e1b8fcf4496f9302c941e