eive/eive-obsw
eive/eive-obsw
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Merge branch 'mueller/master' of https://egit.irs.uni-stuttgart.de/eive/eive_obsw into mueller/master

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Robin Müller 2020-12-30 23:39:15 +01:00
commit 7eba60ba29
17 changed files with 664 additions and 132 deletions
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5
CMakeLists.txt
View File

@ -44,6 +44,8 @@ set(FSFW_PATH fsfw)
set(MISSION_PATH mission) set(MISSION_PATH mission)
set(CSPLIB_PATH libcsp) set(CSPLIB_PATH libcsp)
set(WARNING_SHADOW_LOCAL FALSE)
# Analyse different OS and architecture/target options, determine BSP_PATH, # Analyse different OS and architecture/target options, determine BSP_PATH,
# display information about compiler etc. # display information about compiler etc.
include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake) include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
@ -87,6 +89,8 @@ add_subdirectory(${MISSION_PATH})
# Post-Sources preparation # Post-Sources preparation
################################################################################ ################################################################################
set_property(CACHE OS_FSFW PROPERTY STRINGS host linux)
# Add libraries for all sources. # Add libraries for all sources.
target_link_libraries(${TARGET_NAME} PRIVATE target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_FSFW_NAME} ${LIB_FSFW_NAME}
@ -110,7 +114,6 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
set(WARNING_FLAGS set(WARNING_FLAGS
-Wall -Wall
-Wextra -Wextra
-Wshadow=local
-Wimplicit-fallthrough=1 -Wimplicit-fallthrough=1
-Wno-unused-parameter -Wno-unused-parameter
-Wno-psabi -Wno-psabi

354
README.md
View File

@ -16,55 +16,149 @@ Target systems:
* Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git * Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git
* Host System * Host System
* Generic software components which are not dependant on hardware can also * Generic software components which are not dependant on hardware can also
be run. All host code is contained in the hosted folder 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 * Tested for Linux (Ubuntu 20.04) and Windows 10
* Raspberry Pi * Raspberry Pi
* EIVE OBC can be built for Raspberry Pi as well (either directly on Raspberry Pi or by installing a cross compiler) * 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 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 ## 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 Vivado 2018.2 and Xilinx SDK from https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/vivado-design-tools/archive.html.
Install the Vivado Design Suite - HLx Editions - 2018.2 Full Product Installation instead of the updates. It is recommended to use the installer Install the Vivado Design Suite - HLx Editions - 2018.2 Full Product Installation instead of the updates. It is recommended to use the installer.
* Install settings. In the Devices selection, it is sufficient to pick SoC &rarr; Zynq-7000: <br> * Install settings. In the Devices selection, it is sufficient to pick SoC &rarr; Zynq-7000: <br>
<img src="./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 * 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 * Add path of linux cross-compiler to permanent environment variables (`.profile` file in Linux):
* Install make (only on windows, SDK on Linux can use the make installed with the SDK) `<XilinxInstallation>\SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin`
or set up path each time before debugging.
### Installing make on Windows ### Installing CMake and MSYS2 on Windows
1. Install NodeJS LTS
2. Install xpm
```sh 1. Install [MSYS2](https://www.msys2.org/) and [CMake](https://cmake.org/download/) first.
npm install --global xpm
```
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 3. Run the following commands in MinGW64
xpm install --global @xpack-dev-tools/windows-build-tools@latest
```
## 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 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 2. Update all the submodules
```sh
git submodule init
git submodule sync
git submodule update
```
3. Open Xilinx SDK 2018.2 ```sh
4. Import project 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 &rarr; 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 &rarr; Perspective &rarr; 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 &rarr; Debug Configurations &rarr; 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 &rarr; Import &rarr; C/C++ &rarr; Existing Code as Makefile Project * File &rarr; Import &rarr; C/C++ &rarr; 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 &rarr; Properties &rarr; C/C++ Build &rarr; Set build command to `make <target> -j` * When on Linux right click project &rarr; Properties &rarr; C/C++ Build &rarr; Set build command to `make <target> -j`
* -j causes the compiler to use all available cores * -j causes the compiler to use all available cores
* The target is used to either compile the debug or the optimized release build. * The target is used to either compile the debug or the optimized release build.
@ -73,79 +167,53 @@ git submodule update
* Target name: all * Target name: all
* Uncheck "Same as the target name" * Uncheck "Same as the target name"
* Uncheck "Use builder settings" * Uncheck "Use builder settings"
* As build command type: `make -j <target> WINDOWS=1` * As build command type: `cmake --build .`
6. Run build command by double clicking the created target or by right clicking * 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. the project folder and selecting Build Project.
## Debugging the software (when workstation is directly conncected to Q7S) ## TCF-Agent
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) 1. On reboot, some steps have to be taken on the Q7S. Set static IP address and netmask
* Baudrate 115200
* Login to Q7S:
* user: root
* pw: root
* Set IP address and netmask with
```sh ```sh
ifconfig eth0 192.168.133.10 ifconfig eth0 192.168.133.10
ifconfig eth0 netmask 255.255.255.0 ifconfig eth0 netmask 255.255.255.0
``` ```
2. Connect Q7S to workstation via ethernet 2. `tcfagent` application should run automatically but this can be checked with
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 ```sh
git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git systemctl status tcfagent
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 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
```sh application section.
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 &rarr; Debug As &rarr; Debug Configurations
6. Right click Xilinx C/C++ applicaton (System Debugger) &rarr; New &rarr;
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
## Debugging the software via Flatsat PC ## Debugging the software via Flatsat PC
Open SSH connection to flatsat PC: Open SSH connection to flatsat PC:
```sh ```sh
ssh eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 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: To access the console of the Q7S run the following:
```sh ```sh
picocom -b 115200 /dev/ttyUSB0 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. To debug an application, first make sure a static IP address is assigned to the Q7S. Run ifconfig on the Q7S serial console.
```sh ```sh
@ -159,19 +227,38 @@ ifconfig eth0 192.168.133.10
ifconfig eth0 netmask 255.255.255.0 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 ```sh
ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 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 forwards any requests to localhost:1534 to the port 1534 of the Q7S with the IP address 192.168.133.10.
This needs to be done every time, so it is recommended to create an alias to do this quickly.
Note: When now setting up a debug session in the Xilinx SDK, the host must be set to localhost instead of the IP address of the Q7S. Note: When now setting up a debug session in the Xilinx SDK, 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). 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 1. Disable write protection of the desired root partition
```sh ```sh
@ -183,7 +270,10 @@ Note: It is not possible to modify the current loaded root partition.
```sh ```sh
xsc_mount_copy 0 0 # Mounts the nominal image from nor-flash 0 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 4. Make sure the permissions to execute the application are set
```sh ```sh
chmod +x application 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 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. created for a mounted root partition. Therefore create a symlink as follows.
```` ```sh
ln -s '/tmp/the-mounted-xdi-image/lib/systemd/system/example.service' '/tmp/the-mounted-xdi-image/etc/systemd/system/multi-user.target.wants/example.service' 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. 7. The modified root partition is written back when the partion is locked again.
```` ```sh
writeprotect 0 0 1 writeprotect 0 0 1
```` ```
8. Now verify the application start by booting from the modified image 8. Now verify the application start by booting from the modified image
```` ```sh
xsc_boot_copy 0 0 xsc_boot_copy 0 0
```` ````
9. After booting verify if the service is running 9. After booting verify if the service is running
```` ```sh
systemctl status example systemctl status example
```` ```
More detailed information about the used q7s commands can be found in the Q7S user manual. More detailed information about the used q7s commands can be found in the Q7S user manual.
### Bringing up CAN ### Bringing up CAN
````
ip link set can0 down ```sh
ip link set can0 type can loopback off ip link set can0 down
ip link set can0 up type can bitrate 1000000 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) Following command sends 8 bytes to device with id 99 (for petalinux)
```` ````
cansend can0 -i99 99 88 77 11 33 11 22 99 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, 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). 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) ## Flight Software Framework (FSFW)
An EIVE fork of the FSFW is submodules into this repository. 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. the same way.
## PCDU ## PCDU
Connect to serial console of P60 Dock Connect to serial console of P60 Dock
```` ````
picocom -b 500000 /dev/ttyUSBx picocom -b 500000 /dev/ttyUSBx
@ -362,3 +446,57 @@ p60-dock # param get out_en[0]
GET out_en[0] = 1 GET out_en[0] = 1
```` ````
## Debugging the software (when workstation is directly conncected to Q7S)
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 &rarr; Debug As &rarr; Debug Configurations
6. Right click Xilinx C/C++ applicaton (System Debugger) &rarr; New &rarr;
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
bsp_q7s/InitMission.cpp
View File

@ -43,7 +43,7 @@ void InitMission::initTasks(){
/* TMTC Distribution */ /* TMTC Distribution */
PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()-> PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()->
createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.100, nullptr); 0.2, nullptr);
ReturnValue_t result = TmTcDistributor->addComponent( ReturnValue_t result = TmTcDistributor->addComponent(
objects::CCSDS_PACKET_DISTRIBUTOR); objects::CCSDS_PACKET_DISTRIBUTOR);
if(result!=HasReturnvaluesIF::RETURN_OK){ if(result!=HasReturnvaluesIF::RETURN_OK){
@ -169,6 +169,7 @@ void InitMission::initTasks(){
PusMedPrio->startTask(); PusMedPrio->startTask();
PusLowPrio->startTask(); PusLowPrio->startTask();
// P60DockTask->startTask(); // P60DockTask->startTask();
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1

1
bsp_rpi/CMakeLists.txt
View File

@ -5,6 +5,7 @@ target_sources(${TARGET_NAME} PUBLIC
) )
add_subdirectory(boardconfig) add_subdirectory(boardconfig)
add_subdirectory(boardtest)

7
bsp_rpi/boardtest/CMakeLists.txt Normal file
View File

@ -0,0 +1,7 @@
target_sources(${TARGET_NAME} PRIVATE
SpiTest.cpp
)

43
bsp_rpi/boardtest/SpiTest.cpp Normal file
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@ -0,0 +1,43 @@
#include "SpiTest.h"
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <wiringPi.h>
SpiTest::SpiTest(object_id_t objectId): SystemObject(objectId) {
wiringPiSetupGpio();
int spiFd = open(spiDeviceName.c_str(), O_RDWR);
if (spiFd < 0){
sif::error << "Could not open SPI device!" << std::endl;
}
spiMode = SPI_MODE_3;
int ret = ioctl(spiFd, SPI_IOC_WR_MODE, &spiMode);
if(ret < 0) {
sif::error << "Could not set write mode!" << std::endl;
}
/* Datenrate setzen */
ret = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &spiSpeed);
if(ret < 0) {
sif::error << "Could not SPI speed!" << std::endl;
}
}
ReturnValue_t SpiTest::performOperation(uint8_t opCode) {
if(oneShot) {
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiTest::initialize() {
//transferHandle.rx_buf = reinterpret_cast<__u64>(receiveBuffer);
//transferHandle.tx_buf = reinterpret_cast<__u64>(sendBuffer);
//transferHandle.speed_hz = 976000;
//transferHandle.len = 2;
return HasReturnvaluesIF::RETURN_OK;
}

31
bsp_rpi/boardtest/SpiTest.h Normal file
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@ -0,0 +1,31 @@
#ifndef BSP_LINUX_TEST_SPITEST_H_
#define BSP_LINUX_TEST_SPITEST_H_
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <linux/spi/spidev.h>
#include <string>
class SpiTest: public ExecutableObjectIF, SystemObject {
public:
SpiTest(object_id_t objectId);
ReturnValue_t performOperation(uint8_t opCode) override;
ReturnValue_t initialize() override;
private:
const std::string spiDeviceName = "/dev/spidev0.0";
int spiFd = 0;
uint8_t spiMode = SPI_MODE_3;
uint32_t spiSpeed = 976000;
uint8_t sendBuffer[32];
uint8_t receiveBuffer[32];
struct spi_ioc_transfer transferHandle;
bool oneShot = true;
};
#endif /* BSP_LINUX_TEST_SPITEST_H_ */

8
cmake/Q7SCrossCompileConfig.cmake
View File

@ -1,13 +1,13 @@
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command # 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 # message(FATAL_ERROR
# "Define the Q7S_ROOTFS variable to " # "Define the Q7S_ROOTFS variable to "
# "point to the raspbian rootfs." # "point to the raspbian rootfs."
# ) # )
#else() else()
# set(SYSROOT_PATH "$ENV{Q7S_ROOTFS}") set(SYSROOT_PATH "$ENV{Q7S_SYSROOT}")
#endif() endif()
if(NOT DEFINED ENV{CROSS_COMPILE}) if(NOT DEFINED ENV{CROSS_COMPILE})
set(CROSS_COMPILE "arm-linux-gnueabihf") set(CROSS_COMPILE "arm-linux-gnueabihf")

4
cmake/scripts/Q7S/win_path_helper_xilinx_tools.sh Normal file
View 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"

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2
fsfw

@ -1 +1 @@
Subproject commit 8ef6283bf4f5cf5d12131c48365a753825fea637 Subproject commit 1ac2479b28c1114b0876123e0db4155abfbf06fe

2
libcsp/include/CMakeLists.txt
View File

@ -1,7 +1,5 @@
target_include_directories(${LIB_CSP_NAME} PRIVATE target_include_directories(${LIB_CSP_NAME} PRIVATE
${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_CURRENT_SOURCE_DIR}/csp
${CMAKE_CURRENT_SOURCE_DIR}/csp/crypto
) )
target_include_directories(${LIB_CSP_NAME} INTERFACE target_include_directories(${LIB_CSP_NAME} INTERFACE

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

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

322
misc/eclipse/.cproject
View File

@ -15,7 +15,7 @@
</extensions> </extensions>
</storageModule> </storageModule>
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<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443." name="/" resourcePath=""> <folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443." name="/" resourcePath="">
<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.1176904738" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base"> <toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.1176904738" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1087094604" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/> <targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1087094604" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
@ -230,7 +230,7 @@
</extensions> </extensions>
</storageModule> </storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0"> <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">
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<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1971474557" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base"> <toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1971474557" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
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@ -505,6 +505,294 @@
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</storageModule>
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2
misc/eclipse/.project
View File

@ -7,7 +7,7 @@
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