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eive/eive-obsw
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Merge pull request 'Added FSFW HAL, some GPIO modules moved, FSFW update' (#27) from mueller/added-fsfw-hal into develop

Browse Source 
Reviewed-on: eive/eive_obsw#27
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>
This commit is contained in:
Jakob Meier 2021-04-25 12:34:26 +02:00
commit 76c31a4d13
30 changed files with 48 additions and 33 deletions
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3
.gitmodules vendored
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@ -13,3 +13,6 @@
[submodule "thirdparty/lwgps"] [submodule "thirdparty/lwgps"]
path = thirdparty/lwgps path = thirdparty/lwgps
url = https://github.com/rmspacefish/lwgps.git url = https://github.com/rmspacefish/lwgps.git
[submodule "fsfw_hal"]
path = fsfw_hal
url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw_hal.git

6
CMakeLists.txt
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@ -40,6 +40,7 @@ set(TARGET_NAME ${CMAKE_PROJECT_NAME})
set(LIB_FSFW_NAME fsfw) set(LIB_FSFW_NAME fsfw)
set(LIB_ETL_NAME etl) set(LIB_ETL_NAME etl)
set(LIB_CSP_NAME libcsp) set(LIB_CSP_NAME libcsp)
set(LIB_FSFW_HAL_NAME fsfw_hal)
set(LIB_LWGPS_NAME lwgps) set(LIB_LWGPS_NAME lwgps)
set(THIRD_PARTY_FOLDER thirdparty) set(THIRD_PARTY_FOLDER thirdparty)
@ -50,6 +51,7 @@ set(TEST_PATH test/testtasks)
set(LINUX_PATH linux) set(LINUX_PATH linux)
set(COMMON_PATH common) set(COMMON_PATH common)
set(FSFW_HAL_LIB_PATH fsfw_hal)
set(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp) set(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp)
set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl) set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl)
set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps) set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps)
@ -68,10 +70,12 @@ if(TGT_BSP)
set(FSFW_CONFIG_PATH "fsfwconfig") set(FSFW_CONFIG_PATH "fsfwconfig")
set(ADD_LINUX_FILES TRUE) set(ADD_LINUX_FILES TRUE)
set(ADD_CSP_LIB TRUE) set(ADD_CSP_LIB TRUE)
set(FSFW_HAL_ADD_LINUX ON)
endif() endif()
if(${TGT_BSP} MATCHES "arm/raspberrypi") if(${TGT_BSP} MATCHES "arm/raspberrypi")
add_definitions(-DRASPBERRY_PI) add_definitions(-DRASPBERRY_PI)
set(FSFW_HAL_ADD_RASPBERRY_PI ON)
endif() endif()
if(${TGT_BSP} MATCHES "arm/q7s") if(${TGT_BSP} MATCHES "arm/q7s")
@ -113,6 +117,7 @@ add_subdirectory(${BSP_PATH})
add_subdirectory(${FSFW_PATH}) add_subdirectory(${FSFW_PATH})
add_subdirectory(${MISSION_PATH}) add_subdirectory(${MISSION_PATH})
add_subdirectory(${TEST_PATH}) add_subdirectory(${TEST_PATH})
add_subdirectory(${FSFW_HAL_LIB_PATH})
add_subdirectory(${COMMON_PATH}) add_subdirectory(${COMMON_PATH})
################################################################################ ################################################################################
@ -126,6 +131,7 @@ target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_FSFW_NAME} ${LIB_FSFW_NAME}
${LIB_OS_NAME} ${LIB_OS_NAME}
${LIB_LWGPS_NAME} ${LIB_LWGPS_NAME}
${LIB_FSFW_HAL_NAME}
) )
if(ADD_ETL_LIB) if(ADD_ETL_LIB)

14
bsp_q7s/ObjectFactory.cpp
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@ -24,15 +24,17 @@
#include <linux/csp/CspComIF.h> #include <linux/csp/CspComIF.h>
#include <linux/i2c/I2cCookie.h> #include <linux/i2c/I2cCookie.h>
#include <linux/i2c/I2cComIF.h> #include <linux/i2c/I2cComIF.h>
#include <linux/gpio/LinuxLibgpioIF.h> #include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <linux/gpio/GpioCookie.h> #include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/datapoollocal/LocalDataPoolManager.h> #include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h> #include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h> #include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h> #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
/* UDP server includes */
#include <fsfw/osal/common/UdpTmTcBridge.h>
#include <fsfw/osal/common/UdpTcPollingTask.h>
#if TEST_LIBGPIOD == 1 #if TEST_LIBGPIOD == 1
#include <linux/boardtest/LibgpiodTest.h> #include <linux/boardtest/LibgpiodTest.h>
@ -170,10 +172,10 @@ void ObjectFactory::produce(){
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000); gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
#endif #endif
new TmTcUnixUdpBridge(objects::UDP_BRIDGE, new UdpTmTcBridge(objects::UDP_BRIDGE,
objects::CCSDS_PACKET_DISTRIBUTOR, objects::CCSDS_PACKET_DISTRIBUTOR,
objects::TM_STORE, objects::TC_STORE); objects::TM_STORE, objects::TC_STORE);
new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE); new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
#if TE0720 == 1 && TEST_LIBGPIOD == 1 #if TE0720 == 1 && TEST_LIBGPIOD == 1
/* Configure MIO0 as input */ /* Configure MIO0 as input */

2
bsp_q7s/devices/HeaterHandler.cpp
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@ -2,7 +2,7 @@
#include <fsfwconfig/devices/powerSwitcherList.h> #include <fsfwconfig/devices/powerSwitcherList.h>
#include <fsfw/ipc/QueueFactory.h> #include <fsfw/ipc/QueueFactory.h>
#include <devices/gpioIds.h> #include <devices/gpioIds.h>
#include <linux/gpio/GpioCookie.h> #include <fsfw_hal/common/gpio/GpioCookie.h>
HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_, HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, uint8_t mainLineSwitch_) : CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, uint8_t mainLineSwitch_) :

2
bsp_q7s/devices/HeaterHandler.h
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@ -10,7 +10,7 @@
#include <fsfw/devicehandlers/DeviceHandlerIF.h> #include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/timemanager/Countdown.h> #include <fsfw/timemanager/Countdown.h>
#include <linux/gpio/GpioIF.h> #include <fsfw_hal/common/gpio/GpioIF.h>
#include <unordered_map> #include <unordered_map>
/** /**

2
bsp_q7s/devices/SolarArrayDeploymentHandler.cpp
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@ -3,7 +3,7 @@
#include <devices/powerSwitcherList.h> #include <devices/powerSwitcherList.h>
#include <devices/gpioIds.h> #include <devices/gpioIds.h>
#include <linux/gpio/GpioCookie.h> #include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/ipc/QueueFactory.h> #include <fsfw/ipc/QueueFactory.h>

4
bsp_q7s/devices/SolarArrayDeploymentHandler.h
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@ -1,8 +1,6 @@
#ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ #ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
#define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ #define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
#include <linux/gpio/GpioIF.h>
#include <fsfw/objectmanager/SystemObject.h> #include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h> #include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
@ -11,7 +9,7 @@
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h> #include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/timemanager/Countdown.h> #include <fsfw/timemanager/Countdown.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <unordered_map> #include <unordered_map>
/** /**

19
bsp_rpi/ObjectFactory.cpp
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@ -1,5 +1,5 @@
#include "ObjectFactory.h" #include "ObjectFactory.h"
#include <bsp_rpi/gpio/GPIORPi.h> #include <fsfw_hal/linux/rpi/GpioRPi.h>
#include <fsfwconfig/objects/systemObjectList.h> #include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/devices/addresses.h> #include <fsfwconfig/devices/addresses.h>
@ -11,11 +11,10 @@
#include <linux/boardtest/LibgpiodTest.h> #include <linux/boardtest/LibgpiodTest.h>
#include <linux/boardtest/SpiTestClass.h> #include <linux/boardtest/SpiTestClass.h>
#include <linux/gpio/GpioCookie.h>
#include <linux/gpio/LinuxLibgpioIF.h>
#include <linux/spi/SpiCookie.h> #include <linux/spi/SpiCookie.h>
#include <linux/spi/SpiComIF.h> #include <linux/spi/SpiComIF.h>
#include <mission/devices/GyroL3GD20Handler.h>
#include <mission/core/GenericFactory.h> #include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h> #include <mission/utility/TmFunnel.h>
#include <mission/devices/MGMHandlerLIS3MDL.h> #include <mission/devices/MGMHandlerLIS3MDL.h>
@ -24,11 +23,15 @@
#include <fsfw/datapoollocal/LocalDataPoolManager.h> #include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h> #include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h> #include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h> #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
#include <fsfw/tasks/TaskFactory.h> #include <fsfw/tasks/TaskFactory.h>
#include <mission/devices/GyroL3GD20Handler.h>
/* UDP server includes */
#include <fsfw/osal/common/UdpTmTcBridge.h>
#include <fsfw/osal/common/UdpTcPollingTask.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
void Factory::setStaticFrameworkObjectIds() { void Factory::setStaticFrameworkObjectIds() {
@ -54,10 +57,10 @@ void ObjectFactory::produce(){
Factory::setStaticFrameworkObjectIds(); Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects(); ObjectFactory::produceGenericObjects();
new TmTcUnixUdpBridge(objects::UDP_BRIDGE, new UdpTmTcBridge(objects::UDP_BRIDGE,
objects::CCSDS_PACKET_DISTRIBUTOR, objects::CCSDS_PACKET_DISTRIBUTOR,
objects::TM_STORE, objects::TC_STORE); objects::TM_STORE, objects::TC_STORE);
new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE); new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF); GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);

1
bsp_rpi/gpio/CMakeLists.txt
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@ -1,5 +1,4 @@
target_sources(${TARGET_NAME} PUBLIC target_sources(${TARGET_NAME} PUBLIC
GPIORPi.cpp
) )

3
cmake/scripts/cmake_build_config.py
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@ -26,6 +26,9 @@ def main():
"Information)", default="debug") "Information)", default="debug")
parser.add_argument("-l", "--builddir", type=str, help="Specify build directory.") parser.add_argument("-l", "--builddir", type=str, help="Specify build directory.")
parser.add_argument("-g", "--generator", type=str, help="CMake Generator") parser.add_argument("-g", "--generator", type=str, help="CMake Generator")
parser.add_argument("-d", "--defines",
help="Additional custom defines passed to CMake (supply without -D prefix!)",
nargs="*", type=str)
parser.add_argument("-t", "--target-bsp", type=str, help="Target BSP, combination of architecture and machine") parser.add_argument("-t", "--target-bsp", type=str, help="Target BSP, combination of architecture and machine")
args = parser.parse_args() args = parser.parse_args()

2
fsfw

@ -1 +1 @@
Subproject commit 83d0db824289b28dbad81cce0c80276c4fc839c8 Subproject commit f2da31239c43422f7254b8f4a26e663cffd8e3f3

1
fsfw_hal Submodule

@ -0,0 +1 @@
Subproject commit 20b4b5d5d3c5f1af807634e75f859ded2dc74012

2
fsfwconfig/devices/gpioIds.h
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@ -1,7 +1,7 @@
#ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_ #ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_
#define FSFWCONFIG_DEVICES_GPIOIDS_H_ #define FSFWCONFIG_DEVICES_GPIOIDS_H_
#include <linux/gpio/GpioIF.h> #include <fsfw_hal/common/gpio/GpioIF.h>
namespace gpioIds { namespace gpioIds {
enum gpioId_t { enum gpioId_t {

2
linux/CMakeLists.txt
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@ -1,4 +1,4 @@
add_subdirectory(gpio) # add_subdirectory(gpio)
add_subdirectory(i2c) add_subdirectory(i2c)
add_subdirectory(csp) add_subdirectory(csp)
add_subdirectory(spi) add_subdirectory(spi)

0
linux/gpio/CMakeLists.txt → linux/archive/gpio/CMakeLists.txt
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0
linux/gpio/GpioCookie.cpp → linux/archive/gpio/GpioCookie.cpp
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0
linux/gpio/GpioCookie.h → linux/archive/gpio/GpioCookie.h
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0
linux/gpio/GpioIF.h → linux/archive/gpio/GpioIF.h
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0
linux/gpio/LinuxLibgpioIF.cpp → linux/archive/gpio/LinuxLibgpioIF.cpp
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0
linux/gpio/LinuxLibgpioIF.h → linux/archive/gpio/LinuxLibgpioIF.h
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0
linux/gpio/gpioDefinitions.h → linux/archive/gpio/gpioDefinitions.h
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4
linux/boardtest/LibgpiodTest.h
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@ -2,8 +2,8 @@
#define TEST_TESTTASKS_LIBGPIODTEST_H_ #define TEST_TESTTASKS_LIBGPIODTEST_H_
#include "TestTask.h" #include "TestTask.h"
#include <linux/gpio/GpioIF.h> #include <fsfw_hal/common/gpio/GpioIF.h>
#include <linux/gpio/GpioCookie.h> #include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/objectmanager/SystemObject.h> #include <fsfw/objectmanager/SystemObject.h>
/** /**

4
linux/boardtest/SpiTestClass.cpp
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@ -7,9 +7,9 @@
#include <fsfw/tasks/TaskFactory.h> #include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h> #include <fsfw/timemanager/Stopwatch.h>
#include <linux/gpio/gpioDefinitions.h>
#include <linux/gpio/GpioCookie.h>
#include <linux/utility/Utility.h> #include <linux/utility/Utility.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <linux/spi/spidev.h> #include <linux/spi/spidev.h>
#include <fcntl.h> #include <fcntl.h>

2
linux/boardtest/SpiTestClass.h
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@ -1,7 +1,7 @@
#ifndef LINUX_BOARDTEST_SPITESTCLASS_H_ #ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
#define LINUX_BOARDTEST_SPITESTCLASS_H_ #define LINUX_BOARDTEST_SPITESTCLASS_H_
#include <linux/gpio/GpioIF.h> #include <fsfw_hal/common/gpio/GpioIF.h>
#include <linux/spi/SpiCookie.h> #include <linux/spi/SpiCookie.h>
#include <test/testtasks/TestTask.h> #include <test/testtasks/TestTask.h>

2
linux/spi/SpiComIF.h
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@ -3,7 +3,7 @@
#include <fsfw/devicehandlers/DeviceCommunicationIF.h> #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h> #include <fsfw/objectmanager/SystemObject.h>
#include <linux/gpio/GpioIF.h> #include <fsfw_hal/common/gpio/GpioIF.h>
#include <linux/spi/spiDefinitions.h> #include <linux/spi/spiDefinitions.h>
#include <returnvalues/classIds.h> #include <returnvalues/classIds.h>

2
linux/spi/SpiCookie.h
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@ -3,7 +3,7 @@
#include "spiDefinitions.h" #include "spiDefinitions.h"
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <linux/gpio/gpioDefinitions.h> #include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <linux/spi/spidev.h> #include <linux/spi/spidev.h>
class SpiCookie: public CookieIF { class SpiCookie: public CookieIF {

0
bsp_rpi/gpio/GPIORPi.cpp → misc/archive/GPIORPi.cpp
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0
bsp_rpi/gpio/GPIORPi.h → misc/archive/GPIORPi.h
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2
misc/eclipse/.project
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@ -7,7 +7,7 @@
<buildSpec> <buildSpec>
<buildCommand> <buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name> <name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
<triggers>clean,full,incremental,</triggers> <triggers>full,incremental,</triggers>
<arguments> <arguments>
</arguments> </arguments>
</buildCommand> </buildCommand>

2
tmtc

@ -1 +1 @@
Subproject commit 5f1803b66393210ded8c5d88fbc28cd8130cef91 Subproject commit 74c61842c87e6a25751904116fdc82dd61a14333