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squashed EIVE software

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This commit is contained in:
Robin Müller
2026-04-15 13:25:48 +02:00
parent eced94f335
commit 996aa72fb4
823 changed files with 115952 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
linux/CMakeLists.txt
+19
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add_subdirectory(utility)
add_subdirectory(callbacks)
add_subdirectory(boardtest)
add_subdirectory(ipcore)
add_subdirectory(com)
add_subdirectory(acs)
add_subdirectory(tcs)
add_subdirectory(payload)
if(EIVE_ADD_LINUX_FSFWCONFIG)
add_subdirectory(fsfwconfig)
endif()
# Dependency on proprietary library
if(TGT_BSP MATCHES "arm/q7s")
add_subdirectory(power)
endif()
target_sources(${OBSW_NAME} PUBLIC ObjectFactory.cpp scheduling.cpp)
linux/ObjectFactory.cpp
+355
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#include "ObjectFactory.h"
#include <fsfw/power/PowerSwitchIF.h>
#include <fsfw/subsystem/Subsystem.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/linux/serial/SerialCookie.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <linux/acs/SusPolling.h>
#include <linux/callbacks/gpioCallbacks.h>
#include <linux/tcs/Max31865RtdPolling.h>
#include <mission/acs/SusHandler.h>
#include <mission/controller/AcsController.h>
#include <mission/controller/PowerController.h>
#include <mission/genericFactory.h>
#include <mission/payload/ScexDeviceHandler.h>
#include <mission/system/acs/SusAssembly.h>
#include <mission/system/acs/SusFdir.h>
#include <mission/system/tcs/RtdFdir.h>
#include <mission/system/tcs/TcsBoardAssembly.h>
#include <mission/tcs/Max31865EiveHandler.h>
#include "OBSWConfig.h"
#include "devConf.h"
#include "devices/gpioIds.h"
#include "mission/system/acs/acsModeTree.h"
#include "mission/system/payload/payloadModeTree.h"
#include "mission/system/power/epsModeTree.h"
void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
PowerSwitchIF& pwrSwitcher, std::string spiDev,
bool swap0And6) {
using namespace gpio;
new SusPolling(objects::SUS_POLLING_TASK, *spiComIF, *gpioComIF);
GpioCookie* gpioCookieSus = new GpioCookie();
GpioCallback* susgpio = nullptr;
susgpio = new GpioCallback("Chip select SUS 0", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_0, susgpio);
susgpio = new GpioCallback("Chip select SUS 1", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
susgpio = new GpioCallback("Chip select SUS 2", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
susgpio = new GpioCallback("Chip select SUS 3", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
susgpio = new GpioCallback("Chip select SUS 4", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
susgpio = new GpioCallback("Chip select SUS 5", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
susgpio = new GpioCallback("Chip select SUS 6", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
susgpio = new GpioCallback("Chip select SUS 7", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
susgpio = new GpioCallback("Chip select SUS 8", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
susgpio = new GpioCallback("Chip select SUS 9", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
susgpio = new GpioCallback("Chip select SUS 10", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
susgpio = new GpioCallback("Chip select SUS 11", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
gpioChecker(gpioComIF->addGpios(gpioCookieSus), "Sun Sensors");
#if OBSW_ADD_SUN_SENSORS == 1
SusFdir* fdir = nullptr;
std::array<SusHandler*, 12> susHandlers = {};
SpiCookie* spiCookie =
new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, susMax1227::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[0] =
new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
susHandlers[0]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, susMax1227::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[1] =
new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
susHandlers[1]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, susMax1227::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[2] =
new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
susHandlers[2]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, susMax1227::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[3] =
new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
susHandlers[3]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, susMax1227::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[4] =
new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
susHandlers[4]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, susMax1227::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[5] =
new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
susHandlers[5]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, susMax1227::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[6] =
new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
susHandlers[6]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, susMax1227::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[7] =
new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
susHandlers[7]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, susMax1227::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[8] =
new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
susHandlers[8]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, susMax1227::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[9] =
new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
susHandlers[9]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, susMax1227::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[10] =
new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
susHandlers[10]->setCustomFdir(fdir);
spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, susMax1227::MAX_CMD_SIZE,
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[11] =
new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
susHandlers[11]->setCustomFdir(fdir);
for (auto& sus : susHandlers) {
if (sus != nullptr) {
#if OBSW_TEST_SUS == 1
sus->setStartUpImmediately();
sus->setToGoToNormalMode(true);
#endif
#if OBSW_DEBUG_SUS == 1
sus->enablePeriodicPrintout(true, 3);
#endif
}
}
std::array<DeviceHandlerBase*, 12> susDhbs;
for (unsigned i = 0; i < susDhbs.size(); i++) {
susDhbs[i] = susHandlers[i];
}
createSusAssy(pwrSwitcher, susDhbs);
#endif /* OBSW_ADD_SUN_SENSORS == 1 */
}
void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
PowerSwitchIF* pwrSwitcher, SpiComIF* comIF) {
using namespace gpio;
GpioCookie* rtdGpioCookie = new GpioCookie;
GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_0, gpioRtdIc0);
GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_1, gpioRtdIc1);
GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_2, gpioRtdIc2);
GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc3);
GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc4);
GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc5);
GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc6);
GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc7);
GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc8);
GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc9);
GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc10);
GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc11);
GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc12);
GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc13);
GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc14);
GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc15);
gpioChecker(gpioComIF->addGpios(rtdGpioCookie), "RTDs");
#if OBSW_ADD_RTD_DEVICES == 1
using namespace EiveMax31855;
// ! NOTE !
// The chip selects for device 9 and 11 are swapped here. It is strongly suspected the cables
// for those devices were swapped during integration. This is probably the easiest way to
// fix the issue.
std::array<std::pair<address_t, gpioId_t>, NUM_RTDS> cookieArgs = {{
{addresses::RTD_IC_0, gpioIds::RTD_IC_0},
{addresses::RTD_IC_1, gpioIds::RTD_IC_1},
{addresses::RTD_IC_2, gpioIds::RTD_IC_2},
{addresses::RTD_IC_3, gpioIds::RTD_IC_3},
{addresses::RTD_IC_4, gpioIds::RTD_IC_4},
{addresses::RTD_IC_5, gpioIds::RTD_IC_5},
{addresses::RTD_IC_6, gpioIds::RTD_IC_6},
{addresses::RTD_IC_7, gpioIds::RTD_IC_7},
{addresses::RTD_IC_8, gpioIds::RTD_IC_8},
{addresses::RTD_IC_11, gpioIds::RTD_IC_11},
{addresses::RTD_IC_10, gpioIds::RTD_IC_10},
{addresses::RTD_IC_9, gpioIds::RTD_IC_9},
{addresses::RTD_IC_12, gpioIds::RTD_IC_12},
{addresses::RTD_IC_13, gpioIds::RTD_IC_13},
{addresses::RTD_IC_14, gpioIds::RTD_IC_14},
{addresses::RTD_IC_15, gpioIds::RTD_IC_15},
}};
// HSPD: Heatspreader
std::array<SpiCookie*, NUM_RTDS> rtdCookies = {};
std::array<Max31865EiveHandler*, NUM_RTDS> rtds = {};
RtdFdir* rtdFdir = nullptr;
TcsBoardAssembly* tcsBoardAss =
ObjectFactory::createTcsBoardAssy(*pwrSwitcher, tcs::TCS_BOARD_SHORTLY_UNAVAILABLE);
// Create special low level reader communication interface
new Max31865RtdPolling(objects::SPI_RTD_COM_IF, comIF, gpioComIF);
for (uint8_t idx = 0; idx < NUM_RTDS; idx++) {
rtdCookies[idx] = new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second,
MAX31865::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
rtdCookies[idx]->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RTD_CS_TIMEOUT);
Max31865ReaderCookie* rtdLowLevelCookie =
new Max31865ReaderCookie(RTD_INFOS[idx].first, idx, RTD_INFOS[idx].second, rtdCookies[idx]);
rtds[idx] =
new Max31865EiveHandler(RTD_INFOS[idx].first, objects::SPI_RTD_COM_IF, rtdLowLevelCookie);
rtds[idx]->setDeviceInfo(idx, RTD_INFOS[idx].second);
ReturnValue_t result = rtds[idx]->connectModeTreeParent(*tcsBoardAss);
if (result != returnvalue::OK) {
sif::error << "Connecting RTD " << static_cast<int>(idx) << " to RTD Assembly failed"
<< std::endl;
}
rtdFdir = new RtdFdir(RTD_INFOS[idx].first);
rtds[idx]->setCustomFdir(rtdFdir);
#if OBSW_DEBUG_RTD == 1
rtds[idx]->setDebugMode(true, 5);
#endif
#if OBSW_TEST_RTD == 1
rtds[idx]->setInstantNormal(true);
rtds[idx]->setStartUpImmediately();
#endif
}
#endif // OBSW_ADD_RTD_DEVICES == 1
}
void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
SdCardMountedIF& mountedIF, bool onImmediately,
std::optional<power::Switch_t> switchId) {
auto* cookie = new SerialCookie(objects::SCEX, uartDev, serial::SCEX_BAUD, 4096);
cookie->setTwoStopBits();
// cookie->setParityEven();
auto scexUartReader = new ScexUartReader(objects::SCEX_UART_READER);
auto scexHandler = new ScexDeviceHandler(objects::SCEX, *scexUartReader, cookie, mountedIF);
if (onImmediately) {
scexHandler->setStartUpImmediately();
}
if (switchId) {
scexHandler->setPowerSwitcher(*pwrSwitcher, switchId.value());
}
scexHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
}
AcsController* ObjectFactory::createAcsController(bool connectSubsystem, bool enableHkSets,
SdCardMountedIF& mountedIF) {
auto acsCtrl = new AcsController(objects::ACS_CONTROLLER, enableHkSets, mountedIF);
if (connectSubsystem) {
acsCtrl->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
}
return acsCtrl;
}
PowerController* ObjectFactory::createPowerController(bool connectSubsystem, bool enableHkSets) {
auto pwrCtrl = new PowerController(objects::POWER_CONTROLLER, enableHkSets);
if (connectSubsystem) {
pwrCtrl->connectModeTreeParent(satsystem::eps::EPS_SUBSYSTEM);
}
return pwrCtrl;
}
void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
if (result != returnvalue::OK) {
sif::error << "ObjectFactory: Adding GPIOs failed for " << output << std::endl;
}
}
linux/ObjectFactory.h
+38
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@@ -0,0 +1,38 @@
#pragma once
#include <fsfw/power/definitions.h>
#include <fsfw/returnvalues/returnvalue.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <mission/com/CcsdsIpCoreHandler.h>
#include <mission/memory/SdCardMountedIF.h>
#include <mission/tcs/HeaterHandler.h>
#include <mission/tmtc/CfdpTmFunnel.h>
#include <mission/tmtc/PusTmFunnel.h>
#include <optional>
#include <string>
class GpioIF;
class SpiComIF;
class PowerSwitchIF;
class AcsController;
class PowerController;
namespace ObjectFactory {
void createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF& pwrSwitcher,
std::string spiDev, bool swap0And6);
void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher,
SpiComIF* comIF);
void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
SdCardMountedIF& mountedIF, bool onImmediately,
std::optional<power::Switch_t> switchId);
void gpioChecker(ReturnValue_t result, std::string output);
AcsController* createAcsController(bool connectSubsystem, bool enableHkSets,
SdCardMountedIF& mountedIF);
PowerController* createPowerController(bool connectSubsystem, bool enableHkSets);
} // namespace ObjectFactory
linux/acs/AcsBoardPolling.cpp
+837
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#include "AcsBoardPolling.h"
#include <fcntl.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <fsfw_hal/linux/utility.h>
#include <mission/acs/gyroAdisHelpers.h>
#include <sys/ioctl.h>
#include "devices/gpioIds.h"
using namespace returnvalue;
AcsBoardPolling::AcsBoardPolling(object_id_t objectId, SpiComIF& lowLevelComIF, GpioIF& gpioIF)
: SystemObject(objectId), spiComIF(lowLevelComIF), gpioIF(gpioIF) {
semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
semaphore->acquire();
ipcLock = MutexFactory::instance()->createMutex();
}
ReturnValue_t AcsBoardPolling::performOperation(uint8_t operationCode) {
while (true) {
ipcLock->lockMutex(LOCK_TYPE, LOCK_TIMEOUT);
state = InternalState::IDLE;
ipcLock->unlockMutex();
semaphore->acquire();
// Give all tasks or the PST some time to submit all consecutive requests.
TaskFactory::delayTask(2);
{
// Measured to take 0-1 ms in debug build.
// Stopwatch watch;
gyroAdisHandler(gyro0Adis);
gyroAdisHandler(gyro2Adis);
gyroL3gHandler(gyro1L3g);
gyroL3gHandler(gyro3L3g);
mgmRm3100Handler(mgm1Rm3100);
mgmRm3100Handler(mgm3Rm3100);
mgmLis3Handler(mgm0Lis3);
mgmLis3Handler(mgm2Lis3);
}
// To prevent task being not reactivated by tardy tasks
TaskFactory::delayTask(20);
}
return returnvalue::OK;
}
ReturnValue_t AcsBoardPolling::initialize() { return returnvalue::OK; }
ReturnValue_t AcsBoardPolling::initializeInterface(CookieIF* cookie) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if (spiCookie == nullptr) {
return returnvalue::FAILED;
}
switch (spiCookie->getChipSelectPin()) {
case (gpioIds::MGM_0_LIS3_CS): {
mgm0Lis3.cookie = spiCookie;
break;
}
case (gpioIds::MGM_1_RM3100_CS): {
mgm1Rm3100.cookie = spiCookie;
break;
}
case (gpioIds::MGM_2_LIS3_CS): {
mgm2Lis3.cookie = spiCookie;
break;
}
case (gpioIds::MGM_3_RM3100_CS): {
mgm3Rm3100.cookie = spiCookie;
break;
}
case (gpioIds::GYRO_0_ADIS_CS): {
gyro0Adis.cookie = spiCookie;
break;
}
case (gpioIds::GYRO_1_L3G_CS): {
gyro1L3g.cookie = spiCookie;
break;
}
case (gpioIds::GYRO_2_ADIS_CS): {
gyro2Adis.cookie = spiCookie;
break;
}
case (gpioIds::GYRO_3_L3G_CS): {
gyro3L3g.cookie = spiCookie;
break;
}
default: {
sif::error << "AcsBoardPollingTask: invalid spi cookie" << std::endl;
}
}
return spiComIF.initializeInterface(cookie);
}
ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* sendData,
size_t sendLen) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if (spiCookie == nullptr) {
return returnvalue::FAILED;
}
auto handleAdisRequest = [&](GyroAdis& adis) {
if (sendLen != sizeof(acs::Adis1650XRequest)) {
sif::error << "AcsBoardPolling: invalid adis request send length";
adis.replyResult = returnvalue::FAILED;
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::Adis1650XRequest*>(sendData);
if (req->mode != adis.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
adis.type = req->type;
adis.decRate = req->cfg.decRateReg;
// The initial countdown is handled by the device handler now.
// adis.countdown.setTimeout(adis1650x::START_UP_TIME);
if (adis.type == adis1650x::Type::ADIS16507) {
adis.ownReply.data.accelScaling = adis1650x::ACCELEROMETER_RANGE_16507;
} else if (adis.type == adis1650x::Type::ADIS16505) {
adis.ownReply.data.accelScaling = adis1650x::ACCELEROMETER_RANGE_16505;
} else {
sif::warning << "AcsBoardPolling: Unknown ADIS type" << std::endl;
}
adis.replyResult = returnvalue::FAILED;
adis.performStartup = true;
} else if (req->mode == acs::SimpleSensorMode::OFF) {
adis.performStartup = false;
adis.ownReply.cfgWasSet = false;
adis.ownReply.dataWasSet = false;
adis.replyResult = returnvalue::OK;
}
adis.mode = req->mode;
}
return returnvalue::OK;
};
auto handleL3gRequest = [&](GyroL3g& gyro) {
if (sendLen != sizeof(acs::GyroL3gRequest)) {
sif::error << "AcsBoardPolling: invalid l3g request send length";
gyro.replyResult = returnvalue::FAILED;
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::GyroL3gRequest*>(sendData);
if (req->mode != gyro.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
std::memcpy(gyro.sensorCfg, req->ctrlRegs, 5);
gyro.performStartup = true;
gyro.replyResult = returnvalue::FAILED;
} else {
gyro.ownReply.cfgWasSet = false;
gyro.replyResult = returnvalue::OK;
}
gyro.mode = req->mode;
}
return returnvalue::OK;
};
auto handleLis3Request = [&](MgmLis3& mgm) {
if (sendLen != sizeof(acs::MgmLis3Request)) {
sif::error << "AcsBoardPolling: invalid lis3 request send length";
mgm.replyResult = returnvalue::FAILED;
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::MgmLis3Request*>(sendData);
if (req->mode != mgm.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
mgm.performStartup = true;
mgm.replyResult = returnvalue::FAILED;
} else {
mgm.ownReply.dataWasSet = false;
mgm.replyResult = returnvalue::OK;
mgm.ownReply.temperatureWasSet = false;
}
mgm.mode = req->mode;
}
return returnvalue::OK;
};
auto handleRm3100Request = [&](MgmRm3100& mgm) {
if (sendLen != sizeof(acs::MgmRm3100Request)) {
sif::error << "AcsBoardPolling: invalid rm3100 request send length";
mgm.replyResult = returnvalue::FAILED;
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::MgmRm3100Request*>(sendData);
if (req->mode != mgm.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
mgm.performStartup = true;
mgm.replyResult = returnvalue::FAILED;
} else {
mgm.ownReply.dataWasRead = false;
mgm.replyResult = returnvalue::OK;
}
mgm.mode = req->mode;
}
return returnvalue::OK;
};
{
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
switch (spiCookie->getChipSelectPin()) {
case (gpioIds::MGM_0_LIS3_CS): {
handleLis3Request(mgm0Lis3);
break;
}
case (gpioIds::MGM_1_RM3100_CS): {
handleRm3100Request(mgm1Rm3100);
break;
}
case (gpioIds::MGM_2_LIS3_CS): {
handleLis3Request(mgm2Lis3);
break;
}
case (gpioIds::MGM_3_RM3100_CS): {
handleRm3100Request(mgm3Rm3100);
break;
}
case (gpioIds::GYRO_0_ADIS_CS): {
handleAdisRequest(gyro0Adis);
break;
}
case (gpioIds::GYRO_2_ADIS_CS): {
handleAdisRequest(gyro2Adis);
break;
}
case (gpioIds::GYRO_1_L3G_CS): {
handleL3gRequest(gyro1L3g);
break;
}
case (gpioIds::GYRO_3_L3G_CS): {
handleL3gRequest(gyro3L3g);
break;
}
}
if (state == InternalState::IDLE) {
state = InternalState::IS_BUSY;
}
}
semaphore->release();
return returnvalue::OK;
}
ReturnValue_t AcsBoardPolling::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
ReturnValue_t AcsBoardPolling::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
return returnvalue::OK;
}
ReturnValue_t AcsBoardPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
size_t* size) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if (spiCookie == nullptr) {
return returnvalue::FAILED;
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
auto handleAdisReply = [&](GyroAdis& gyro) {
std::memcpy(&gyro.readerReply, &gyro.ownReply, sizeof(acs::Adis1650XReply));
*buffer = reinterpret_cast<uint8_t*>(&gyro.readerReply);
*size = sizeof(acs::Adis1650XReply);
return gyro.replyResult;
};
auto handleL3gReply = [&](GyroL3g& gyro) {
std::memcpy(&gyro.readerReply, &gyro.ownReply, sizeof(acs::GyroL3gReply));
*buffer = reinterpret_cast<uint8_t*>(&gyro.readerReply);
*size = sizeof(acs::GyroL3gReply);
return gyro.replyResult;
};
auto handleRm3100Reply = [&](MgmRm3100& mgm) {
std::memcpy(&mgm.readerReply, &mgm.ownReply, sizeof(acs::MgmRm3100Reply));
*buffer = reinterpret_cast<uint8_t*>(&mgm.readerReply);
*size = sizeof(acs::MgmRm3100Reply);
return mgm.replyResult;
};
auto handleLis3Reply = [&](MgmLis3& mgm) {
std::memcpy(&mgm.readerReply, &mgm.ownReply, sizeof(acs::MgmLis3Reply));
*buffer = reinterpret_cast<uint8_t*>(&mgm.readerReply);
*size = sizeof(acs::MgmLis3Reply);
return mgm.replyResult;
};
switch (spiCookie->getChipSelectPin()) {
case (gpioIds::MGM_0_LIS3_CS): {
return handleLis3Reply(mgm0Lis3);
}
case (gpioIds::MGM_1_RM3100_CS): {
return handleRm3100Reply(mgm1Rm3100);
}
case (gpioIds::MGM_2_LIS3_CS): {
return handleLis3Reply(mgm2Lis3);
}
case (gpioIds::MGM_3_RM3100_CS): {
return handleRm3100Reply(mgm3Rm3100);
}
case (gpioIds::GYRO_0_ADIS_CS): {
return handleAdisReply(gyro0Adis);
}
case (gpioIds::GYRO_2_ADIS_CS): {
return handleAdisReply(gyro2Adis);
}
case (gpioIds::GYRO_1_L3G_CS): {
return handleL3gReply(gyro1L3g);
}
case (gpioIds::GYRO_3_L3G_CS): {
return handleL3gReply(gyro3L3g);
}
}
return returnvalue::OK;
}
void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
ReturnValue_t result;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
bool gyroPerformStartup = false;
{
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mode = l3g.mode;
gyroPerformStartup = l3g.performStartup;
}
if (mode == acs::SimpleSensorMode::NORMAL) {
if (gyroPerformStartup) {
cmdBuf[0] = l3gd20h::CTRL_REG_1 | l3gd20h::AUTO_INCREMENT_MASK;
std::memcpy(cmdBuf.data() + 1, l3g.sensorCfg, 5);
result = spiComIF.sendMessage(l3g.cookie, cmdBuf.data(), 6);
if (result != returnvalue::OK) {
l3g.replyResult = result;
}
// Ignore useless reply and red config
cmdBuf[0] = l3gd20h::CTRL_REG_1 | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
std::memset(cmdBuf.data() + 1, 0, 5);
result = spiComIF.sendMessage(l3g.cookie, cmdBuf.data(), 6);
if (result != returnvalue::OK) {
l3g.replyResult = result;
}
result = spiComIF.readReceivedMessage(l3g.cookie, &rawReply, &dummy);
if (result != returnvalue::OK) {
l3g.replyResult = result;
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
// Cross check configuration as verification that communication is working
for (uint8_t idx = 0; idx < 5; idx++) {
if (rawReply[idx + 1] != l3g.sensorCfg[idx]) {
sif::warning << "AcsBoardPolling: l3g config check missmatch" << std::endl;
l3g.replyResult = returnvalue::FAILED;
return;
}
}
l3g.replyResult = returnvalue::OK;
l3g.performStartup = false;
l3g.ownReply.cfgWasSet = true;
l3g.ownReply.sensitivity = l3gd20h::ctrlReg4ToSensitivity(l3g.sensorCfg[3]);
}
cmdBuf[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
std::memset(cmdBuf.data() + 1, 0, l3gd20h::READ_LEN);
result = spiComIF.sendMessage(l3g.cookie, cmdBuf.data(), l3gd20h::READ_LEN + 1);
if (result != returnvalue::OK) {
l3g.replyResult = returnvalue::FAILED;
return;
}
result = spiComIF.readReceivedMessage(l3g.cookie, &rawReply, &dummy);
if (result != returnvalue::OK) {
l3g.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
// The regular read function always returns the full sensor config as well. Use that
// to verify communications.
for (uint8_t idx = 0; idx < 5; idx++) {
if (rawReply[idx + 1] != l3g.sensorCfg[idx]) {
sif::warning << "AcsBoardPolling: l3g config check missmatch" << std::endl;
l3g.replyResult = returnvalue::FAILED;
return;
}
}
l3g.replyResult = returnvalue::OK;
l3g.ownReply.statusReg = rawReply[l3gd20h::STATUS_IDX];
l3g.ownReply.angVelocities[0] = (rawReply[l3gd20h::OUT_X_H] << 8) | rawReply[l3gd20h::OUT_X_L];
l3g.ownReply.angVelocities[1] = (rawReply[l3gd20h::OUT_Y_H] << 8) | rawReply[l3gd20h::OUT_Y_L];
l3g.ownReply.angVelocities[2] = (rawReply[l3gd20h::OUT_Z_H] << 8) | rawReply[l3gd20h::OUT_Z_L];
l3g.ownReply.tempOffsetRaw = rawReply[l3gd20h::TEMPERATURE_IDX];
}
}
ReturnValue_t AcsBoardPolling::writeAdisReg(SpiCookie& cookie) {
ReturnValue_t result = returnvalue::OK;
int retval = 0;
// Prepare transfer
int fileDescriptor = 0;
std::string device = spiComIF.getSpiDev();
UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
if (fileHelper.getOpenResult() != returnvalue::OK) {
return spi::OPENING_FILE_FAILED;
}
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
uint32_t spiSpeed = 0;
cookie.getSpiParameters(spiMode, spiSpeed, nullptr);
spiComIF.setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
cookie.assignWriteBuffer(cmdBuf.data());
cookie.setTransferSize(2);
gpioId_t gpioId = cookie.getChipSelectPin();
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0;
MutexIF* mutex = spiComIF.getCsMutex();
cookie.getMutexParams(timeoutType, timeoutMs);
if (mutex == nullptr) {
sif::warning << "GyroADIS16507Handler::spiSendCallback: "
"Mutex or GPIO interface invalid"
<< std::endl;
return returnvalue::FAILED;
}
size_t idx = 0;
spi_ioc_transfer* transferStruct = cookie.getTransferStructHandle();
uint64_t origTx = transferStruct->tx_buf;
uint64_t origRx = transferStruct->rx_buf;
for (idx = 0; idx < 4; idx += 2) {
result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "AcsBoardPolling: Failed to lock mutex" << std::endl;
#endif
return result;
}
// Pull SPI CS low. For now, no support for active high given
if (gpioId != gpio::NO_GPIO) {
gpioIF.pullLow(gpioId);
}
// Execute transfer
// Initiate a full duplex SPI transfer.
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie.getTransferStructHandle());
if (retval < 0) {
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = spi::FULL_DUPLEX_TRANSFER_FAILED;
}
#if FSFW_HAL_SPI_WIRETAPPING == 1
comIf->performSpiWiretapping(cookie);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
if (gpioId != gpio::NO_GPIO) {
gpioIF.pullHigh(gpioId);
}
mutex->unlockMutex();
transferStruct->tx_buf += 2;
transferStruct->rx_buf += 2;
if (idx < 4) {
usleep(adis1650x::STALL_TIME_MICROSECONDS);
}
}
transferStruct->tx_buf = origTx;
transferStruct->rx_buf = origRx;
cookie.setTransferSize(0);
return returnvalue::OK;
}
ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen) {
ReturnValue_t result = returnvalue::OK;
int retval = 0;
// Prepare transfer
int fileDescriptor = 0;
std::string device = spiComIF.getSpiDev();
UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
if (fileHelper.getOpenResult() != returnvalue::OK) {
return spi::OPENING_FILE_FAILED;
}
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
uint32_t spiSpeed = 0;
cookie.getSpiParameters(spiMode, spiSpeed, nullptr);
spiComIF.setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
cookie.assignWriteBuffer(cmdBuf.data());
cookie.setTransferSize(2);
gpioId_t gpioId = cookie.getChipSelectPin();
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0;
MutexIF* mutex = spiComIF.getCsMutex();
cookie.getMutexParams(timeoutType, timeoutMs);
if (mutex == nullptr) {
sif::warning << "GyroADIS16507Handler::spiSendCallback: "
"Mutex or GPIO interface invalid"
<< std::endl;
return returnvalue::FAILED;
}
size_t idx = 0;
spi_ioc_transfer* transferStruct = cookie.getTransferStructHandle();
uint64_t origTx = transferStruct->tx_buf;
uint64_t origRx = transferStruct->rx_buf;
while (idx < transferLen) {
result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "AcsBoardPolling: Failed to lock mutex" << std::endl;
#endif
return result;
}
// Pull SPI CS low. For now, no support for active high given
if (gpioId != gpio::NO_GPIO) {
gpioIF.pullLow(gpioId);
}
// Execute transfer
// Initiate a full duplex SPI transfer.
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie.getTransferStructHandle());
if (retval < 0) {
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = spi::FULL_DUPLEX_TRANSFER_FAILED;
}
#if FSFW_HAL_SPI_WIRETAPPING == 1
comIf->performSpiWiretapping(cookie);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
if (gpioId != gpio::NO_GPIO) {
gpioIF.pullHigh(gpioId);
}
mutex->unlockMutex();
idx += 2;
transferStruct->tx_buf += 2;
transferStruct->rx_buf += 2;
if (idx < transferLen) {
usleep(adis1650x::STALL_TIME_MICROSECONDS);
}
}
transferStruct->tx_buf = origTx;
transferStruct->rx_buf = origRx;
cookie.setTransferSize(transferLen);
return returnvalue::OK;
}
void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
ReturnValue_t result;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
bool mustPerformStartup = false;
uint16_t decRate = 0;
{
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mode = gyro.mode;
decRate = gyro.decRate;
mustPerformStartup = gyro.performStartup;
}
if (mode == acs::SimpleSensorMode::OFF) {
return;
}
if (mustPerformStartup) {
adis1650x::prepareWriteRegCommand(adis1650x::DEC_RATE_REG, decRate, cmdBuf.data(),
cmdBuf.size());
writeAdisReg(*gyro.cookie);
uint8_t regList[6];
// Read configuration
regList[0] = adis1650x::DIAG_STAT_REG;
regList[1] = adis1650x::FILTER_CTRL_REG;
regList[2] = adis1650x::RANG_MDL_REG;
regList[3] = adis1650x::MSC_CTRL_REG;
regList[4] = adis1650x::DEC_RATE_REG;
regList[5] = adis1650x::PROD_ID_REG;
size_t transferLen =
adis1650x::prepareReadCommand(regList, sizeof(regList), cmdBuf.data(), cmdBuf.size());
result = readAdisCfg(*gyro.cookie, transferLen);
if (result != returnvalue::OK) {
gyro.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
if (result != returnvalue::OK or rawReply == nullptr) {
gyro.replyResult = result;
return;
}
uint16_t prodId = (rawReply[12] << 8) | rawReply[13];
if (((gyro.type == adis1650x::Type::ADIS16505) and (prodId != adis1650x::PROD_ID_16505)) or
((gyro.type == adis1650x::Type::ADIS16507) and (prodId != adis1650x::PROD_ID_16507))) {
sif::warning << "AcsPollingTask: Invalid ADIS product ID " << prodId << std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
uint16_t decRateReadBack = (rawReply[10] << 8) | rawReply[11];
if (decRateReadBack != decRate) {
sif::warning << "AcsPollingTask: DEC rate configuration failed. Read " << decRateReadBack
<< ", expected " << decRate << std::endl;
gyro.replyResult = returnvalue::FAILED;
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
gyro.ownReply.cfgWasSet = true;
gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
gyro.ownReply.cfg.rangMdl = (rawReply[6] << 8) | rawReply[7];
gyro.ownReply.cfg.mscCtrlReg = (rawReply[8] << 8) | rawReply[9];
gyro.ownReply.cfg.decRateReg = decRateReadBack;
gyro.ownReply.cfg.prodId = prodId;
gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
gyro.performStartup = false;
gyro.replyResult = returnvalue::OK;
}
// Read regular registers
std::memcpy(cmdBuf.data(), adis1650x::BURST_READ_ENABLE.data(),
adis1650x::BURST_READ_ENABLE.size());
std::memset(cmdBuf.data() + 2, 0, 10 * 2);
result = spiComIF.sendMessage(gyro.cookie, cmdBuf.data(), adis1650x::SENSOR_READOUT_SIZE);
if (result != returnvalue::OK) {
gyro.replyResult = returnvalue::FAILED;
return;
}
result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
if (result != returnvalue::OK or rawReply == nullptr) {
gyro.replyResult = returnvalue::FAILED;
return;
}
uint16_t checksum = (rawReply[20] << 8) | rawReply[21];
// Now verify the read checksum with the expected checksum according to datasheet p. 20
uint16_t calcChecksum = 0;
for (size_t idx = 2; idx < 20; idx++) {
calcChecksum += rawReply[idx];
}
if (checksum != calcChecksum) {
sif::warning << "AcsPollingTask: Invalid ADIS reply checksum" << std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
auto burstMode = adis1650x::burstModeFromMscCtrl(gyro.ownReply.cfg.mscCtrlReg);
if (burstMode != adis1650x::BurstModes::BURST_16_BURST_SEL_0) {
sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Analysis for select burst mode"
" not implemented!"
<< std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
gyro.replyResult = returnvalue::OK;
gyro.ownReply.dataWasSet = true;
gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
gyro.ownReply.data.angVelocities[1] = (rawReply[6] << 8) | rawReply[7];
gyro.ownReply.data.angVelocities[2] = (rawReply[8] << 8) | rawReply[9];
gyro.ownReply.data.accelerations[0] = (rawReply[10] << 8) | rawReply[11];
gyro.ownReply.data.accelerations[1] = (rawReply[12] << 8) | rawReply[13];
gyro.ownReply.data.accelerations[2] = (rawReply[14] << 8) | rawReply[15];
gyro.ownReply.data.temperatureRaw = (rawReply[16] << 8) | rawReply[17];
}
void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
ReturnValue_t result;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
bool mustPerformStartup = false;
{
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mode = mgm.mode;
mustPerformStartup = mgm.performStartup;
}
if (mode == acs::SimpleSensorMode::NORMAL) {
if (mustPerformStartup) {
// To check valid communication, read back identification
// register which should always be the same value.
cmdBuf[0] = mgmLis3::readCommand(mgmLis3::IDENTIFY_DEVICE_REG_ADDR);
cmdBuf[1] = 0x00;
result = spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), 2);
if (result != OK) {
mgm.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(mgm.cookie, &rawReply, &dummy);
if (result != OK) {
mgm.replyResult = result;
return;
}
if (rawReply[1] != mgmLis3::DEVICE_ID) {
sif::error << "AcsPollingTask: invalid MGM lis3 device ID" << std::endl;
mgm.replyResult = result;
return;
}
mgm.cfg[0] = mgmLis3::CTRL_REG1_DEFAULT;
mgm.cfg[1] = mgmLis3::CTRL_REG2_DEFAULT;
mgm.cfg[2] = mgmLis3::CTRL_REG3_DEFAULT;
mgm.cfg[3] = mgmLis3::CTRL_REG4_DEFAULT;
mgm.cfg[4] = mgmLis3::CTRL_REG5_DEFAULT;
cmdBuf[0] = mgmLis3::writeCommand(mgmLis3::CTRL_REG1, true);
std::memcpy(cmdBuf.data() + 1, mgm.cfg, 5);
result = spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), 6);
if (result != OK) {
mgm.replyResult = result;
return;
}
// Done here. We can always read back config and data during periodic handling
mgm.performStartup = false;
mgm.replyResult = returnvalue::OK;
}
cmdBuf[0] = mgmLis3::readCommand(mgmLis3::CTRL_REG1, true);
std::memset(cmdBuf.data() + 1, 0, mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS);
result =
spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS + 1);
if (result != returnvalue::OK) {
mgm.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(mgm.cookie, &rawReply, &dummy);
if (result != returnvalue::OK) {
mgm.replyResult = result;
return;
}
// Verify communication by re-checking config
if (rawReply[1] != mgm.cfg[0] or rawReply[2] != mgm.cfg[1] or rawReply[3] != mgm.cfg[2] or
rawReply[4] != mgm.cfg[3] or rawReply[5] != mgm.cfg[4]) {
mgm.replyResult = returnvalue::FAILED;
return;
}
{
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mgm.ownReply.dataWasSet = true;
mgm.ownReply.sensitivity = mgmLis3::getSensitivityFactor(mgmLis3::getSensitivity(mgm.cfg[1]));
mgm.ownReply.mgmValuesRaw[0] =
(rawReply[mgmLis3::X_HIGHBYTE_IDX] << 8) | rawReply[mgmLis3::X_LOWBYTE_IDX];
mgm.ownReply.mgmValuesRaw[1] =
(rawReply[mgmLis3::Y_HIGHBYTE_IDX] << 8) | rawReply[mgmLis3::Y_LOWBYTE_IDX];
mgm.ownReply.mgmValuesRaw[2] =
(rawReply[mgmLis3::Z_HIGHBYTE_IDX] << 8) | rawReply[mgmLis3::Z_LOWBYTE_IDX];
}
// Read tempetature
cmdBuf[0] = mgmLis3::readCommand(mgmLis3::TEMP_LOWBYTE, true);
result = spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), 3);
if (result != returnvalue::OK) {
mgm.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(mgm.cookie, &rawReply, &dummy);
if (result != returnvalue::OK) {
mgm.replyResult = result;
return;
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mgm.replyResult = returnvalue::OK;
mgm.ownReply.temperatureWasSet = true;
mgm.ownReply.temperatureRaw = (rawReply[2] << 8) | rawReply[1];
}
}
void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
ReturnValue_t result;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
bool mustPerformStartup = false;
{
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mode = mgm.mode;
mustPerformStartup = mgm.performStartup;
}
if (mode == acs::SimpleSensorMode::NORMAL) {
if (mustPerformStartup) {
// Configure CMM first
cmdBuf[0] = mgmRm3100::CMM_REGISTER;
cmdBuf[1] = mgmRm3100::CMM_VALUE;
result = spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), 2);
if (result != OK) {
mgm.replyResult = result;
return;
}
// Read back register
cmdBuf[0] = mgmRm3100::CMM_REGISTER | mgmRm3100::READ_MASK;
cmdBuf[1] = 0;
result = spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), 2);
if (result != OK) {
mgm.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(mgm.cookie, &rawReply, &dummy);
if (result != OK) {
mgm.replyResult = result;
return;
}
// For some reason, bit 1 is sometimes set on the reply, even if it is not set for the
// command.. Ignore it for now by clearing it.
rawReply[1] &= ~(1 << 1);
if (rawReply[1] != mgmRm3100::CMM_VALUE) {
sif::error << "AcsBoardPolling: MGM RM3100 read back CMM invalid" << std::endl;
mgm.replyResult = result;
return;
}
// Configure TMRC register
cmdBuf[0] = mgmRm3100::TMRC_REGISTER;
// hardcoded for now
cmdBuf[1] = mgm.tmrcValue;
result = spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), 2);
if (result != OK) {
mgm.replyResult = result;
return;
}
// Read back and verify value
cmdBuf[0] = mgmRm3100::TMRC_REGISTER | mgmRm3100::READ_MASK;
cmdBuf[1] = 0;
result = spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), 2);
if (result != OK) {
mgm.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(mgm.cookie, &rawReply, &dummy);
if (result != OK) {
mgm.replyResult = result;
return;
}
if (rawReply[1] != mgm.tmrcValue) {
sif::error << "AcsBoardPolling: MGM RM3100 read back TMRC invalid" << std::endl;
mgm.replyResult = result;
return;
}
mgm.performStartup = false;
mgm.replyResult = returnvalue::OK;
}
// Regular read operation
cmdBuf[0] = mgmRm3100::MEASUREMENT_REG_START | mgmRm3100::READ_MASK;
std::memset(cmdBuf.data() + 1, 0, 9);
result = spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), 10);
if (result != OK) {
mgm.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(mgm.cookie, &rawReply, &dummy);
if (result != OK) {
mgm.replyResult = result;
return;
}
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
for (uint8_t idx = 0; idx < 3; idx++) {
// Hardcoded, but note that the gain depends on the cycle count
// value which is configurable!
mgm.ownReply.scaleFactors[idx] = 1.0 / mgmRm3100::DEFAULT_GAIN;
}
mgm.ownReply.dataWasRead = true;
mgm.replyResult = returnvalue::OK;
// Bitshift trickery to account for 24 bit signed value.
mgm.ownReply.mgmValuesRaw[0] =
((rawReply[1] << 24) | (rawReply[2] << 16) | (rawReply[3] << 8)) >> 8;
mgm.ownReply.mgmValuesRaw[1] =
((rawReply[4] << 24) | (rawReply[5] << 16) | (rawReply[6] << 8)) >> 8;
mgm.ownReply.mgmValuesRaw[2] =
((rawReply[7] << 24) | (rawReply[8] << 16) | (rawReply[9] << 8)) >> 8;
}
}
linux/acs/AcsBoardPolling.h
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#ifndef LINUX_DEVICES_ACSBOARDPOLLING_H_
#define LINUX_DEVICES_ACSBOARDPOLLING_H_
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tasks/SemaphoreIF.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <mission/acs/acsBoardPolling.h>
#include <mission/acs/gyroAdisHelpers.h>
class AcsBoardPolling : public SystemObject,
public ExecutableObjectIF,
public DeviceCommunicationIF {
public:
AcsBoardPolling(object_id_t objectId, SpiComIF& lowLevelComIF, GpioIF& gpioIF);
ReturnValue_t performOperation(uint8_t operationCode) override;
ReturnValue_t initialize() override;
private:
enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
MutexIF* ipcLock;
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t LOCK_TIMEOUT = 20;
static constexpr char LOCK_CTX[] = "AcsBoardPolling";
SemaphoreIF* semaphore;
std::array<uint8_t, 32> cmdBuf;
struct DevBase {
SpiCookie* cookie = nullptr;
bool performStartup = false;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
ReturnValue_t replyResult = returnvalue::OK;
};
struct GyroAdis : public DevBase {
adis1650x::Type type;
uint16_t decRate;
Countdown countdown;
acs::Adis1650XReply ownReply;
acs::Adis1650XReply readerReply;
};
GyroAdis gyro0Adis{};
GyroAdis gyro2Adis{};
struct GyroL3g : public DevBase {
uint8_t sensorCfg[5];
acs::GyroL3gReply ownReply;
acs::GyroL3gReply readerReply;
};
GyroL3g gyro1L3g{};
GyroL3g gyro3L3g{};
struct MgmRm3100 : public DevBase {
uint8_t tmrcValue = mgmRm3100::TMRC_DEFAULT_37HZ_VALUE;
acs::MgmRm3100Reply ownReply;
acs::MgmRm3100Reply readerReply;
};
MgmRm3100 mgm1Rm3100;
MgmRm3100 mgm3Rm3100;
struct MgmLis3 : public DevBase {
uint8_t cfg[5]{};
acs::MgmLis3Reply ownReply;
acs::MgmLis3Reply readerReply;
};
MgmLis3 mgm0Lis3;
MgmLis3 mgm2Lis3;
uint8_t* rawReply = nullptr;
size_t dummy = 0;
SpiComIF& spiComIF;
GpioIF& gpioIF;
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
void gyroL3gHandler(GyroL3g& l3g);
void gyroAdisHandler(GyroAdis& gyro);
void mgmLis3Handler(MgmLis3& mgm);
void mgmRm3100Handler(MgmRm3100& mgm);
// This fumction configures the register as specified on p.21 of the datasheet.
ReturnValue_t writeAdisReg(SpiCookie& cookie);
// Special readout: 16us stall time between small 2 byte transfers.
ReturnValue_t readAdisCfg(SpiCookie& spiCookie, size_t transferLen);
};
#endif /* LINUX_DEVICES_ACSBOARDPOLLING_H_ */
linux/acs/CMakeLists.txt
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target_sources(${OBSW_NAME} PUBLIC AcsBoardPolling.cpp ImtqPollingTask.cpp
RwPollingTask.cpp SusPolling.cpp)
# Dependency on proprietary library
if(TGT_BSP MATCHES "arm/q7s")
target_sources(${OBSW_NAME} PUBLIC StrComHandler.cpp)
endif()
if(EIVE_BUILD_GPSD_GPS_HANDLER)
target_sources(${OBSW_NAME} PRIVATE GpsHyperionLinuxController.cpp)
endif()
linux/acs/GPSDefinitions.h
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#ifndef MISSION_ACS_ARCHIVE_GPSDEFINITIONS_H_
#define MISSION_ACS_ARCHIVE_GPSDEFINITIONS_H_
#include "eive/eventSubsystemIds.h"
#include "fsfw/datapoollocal/StaticLocalDataSet.h"
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
namespace GpsHyperion {
enum FixMode : uint8_t { NOT_SEEN = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3 };
enum GnssChip : uint8_t { A_SIDE = 0, B_SIDE = 1 };
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::GPS_HANDLER;
//! [EXPORT] : [COMMENT] Fix has changed. P1: New fix. P2: Missed fix changes
//! 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix
static constexpr Event GPS_FIX_CHANGE = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
//! [EXPORT] : [COMMENT] Could not get fix in maximum allowed time. Trying to reset both GNSS
//! devices. P1: Maximum allowed time to get a fix after the GPS was switched on.
static constexpr Event CANT_GET_FIX = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
//! [EXPORT] : [COMMENT] Failed to reset an GNNS Device. P1: Board-Side.
static constexpr Event RESET_FAIL = event::makeEvent(SUBSYSTEM_ID, 2, severity::HIGH);
static constexpr DeviceCommandId_t GPS_REPLY = 0;
static constexpr DeviceCommandId_t TRIGGER_RESET_PIN_GNSS = 5;
enum SetIds : uint32_t {
CORE_DATASET,
SKYVIEW_DATASET,
};
enum GpsPoolIds : lp_id_t {
LATITUDE,
LONGITUDE,
ALTITUDE,
SPEED,
FIX_MODE,
SATS_IN_USE,
SATS_IN_VIEW,
UNIX_SECONDS,
YEAR,
MONTH,
DAY,
HOURS,
MINUTES,
SECONDS,
SKYVIEW_UNIX_SECONDS,
PRN_ID,
AZIMUTH,
ELEVATION,
SIGNAL2NOISE,
USED,
};
static constexpr uint8_t CORE_DATASET_ENTRIES = 14;
static constexpr uint8_t SKYVIEW_ENTRIES = 6;
static constexpr uint8_t MAX_SATELLITES = 30;
} // namespace GpsHyperion
class GpsPrimaryDataset : public StaticLocalDataSet<GpsHyperion::CORE_DATASET_ENTRIES> {
public:
GpsPrimaryDataset(object_id_t gpsId)
: StaticLocalDataSet(sid_t(gpsId, GpsHyperion::CORE_DATASET)) {
setAllVariablesReadOnly();
}
lp_var_t<double> latitude = lp_var_t<double>(sid.objectId, GpsHyperion::LATITUDE, this);
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);
lp_var_t<uint8_t> hours = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::HOURS, this);
lp_var_t<uint8_t> minutes = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::MINUTES, this);
lp_var_t<uint8_t> seconds = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::SECONDS, this);
lp_var_t<uint32_t> unixSeconds =
lp_var_t<uint32_t>(sid.objectId, GpsHyperion::UNIX_SECONDS, this);
private:
friend class GpsHyperionLinuxController;
friend class GpsCtrlDummy;
GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, GpsHyperion::CORE_DATASET) {}
};
class SkyviewDataset : public StaticLocalDataSet<GpsHyperion::SKYVIEW_ENTRIES> {
public:
SkyviewDataset(object_id_t gpsId)
: StaticLocalDataSet(sid_t(gpsId, GpsHyperion::SKYVIEW_DATASET)) {
setAllVariablesReadOnly();
}
lp_var_t<double> unixSeconds =
lp_var_t<double>(sid.objectId, GpsHyperion::SKYVIEW_UNIX_SECONDS, this);
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES> prn_id =
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::PRN_ID, this);
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES> azimuth =
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::AZIMUTH, this);
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES> elevation =
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::ELEVATION, this);
lp_vec_t<double, GpsHyperion::MAX_SATELLITES> signal2noise =
lp_vec_t<double, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::SIGNAL2NOISE, this);
lp_vec_t<uint8_t, GpsHyperion::MAX_SATELLITES> used =
lp_vec_t<uint8_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::USED, this);
private:
friend class GpsHyperionLinuxController;
friend class GpsCtrlDummy;
SkyviewDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, GpsHyperion::SKYVIEW_DATASET) {}
};
#endif /* MISSION_ACS_ARCHIVE_GPSDEFINITIONS_H_ */
linux/acs/GpsHyperionLinuxController.cpp
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#include "GpsHyperionLinuxController.h"
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include "OBSWConfig.h"
#include "fsfw/FSFW.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/timemanager/Clock.h"
#include "linux/utility/utility.h"
#include "mission/utility/compileTime.h"
#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
#include <filesystem>
#include <fstream>
#endif
#include <cmath>
#include <ctime>
GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
bool enableHkSets, bool debugHyperionGps)
: ExtendedControllerBase(objectId),
gpsSet(this),
skyviewSet(this),
enableHkSets(enableHkSets),
debugHyperionGps(debugHyperionGps) {}
GpsHyperionLinuxController::~GpsHyperionLinuxController() {
gps_stream(&gps, WATCH_DISABLE, nullptr);
gps_close(&gps);
}
LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) {
switch (sid.ownerSetId) {
case GpsHyperion::CORE_DATASET:
return &gpsSet;
case GpsHyperion::SKYVIEW_DATASET:
return &skyviewSet;
default:
return nullptr;
}
return nullptr;
}
ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
if (mode == MODE_ON) {
maxTimeToReachFix.resetTimer();
gainedNewFix.timeOut();
} else if (mode == MODE_NORMAL) {
return HasModesIF::INVALID_MODE;
}
if (mode == MODE_OFF) {
maxTimeToReachFix.timeOut();
gainedNewFix.timeOut();
PoolReadGuard pg(&gpsSet);
gpsSet.setValidity(false, true);
// The ctrl is off, so it cannot detect the data from the devices.
handleFixChangedEvent(GpsHyperion::FixMode::NOT_SEEN);
gpsSet.fixMode.value = GpsHyperion::FixMode::NOT_SEEN;
oneShotSwitches.reset();
}
return returnvalue::OK;
}
ReturnValue_t GpsHyperionLinuxController::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch (actionId) {
case (GpsHyperion::TRIGGER_RESET_PIN_GNSS): {
if (resetCallback != nullptr) {
PoolReadGuard pg(&gpsSet);
// Set HK entries invalid
gpsSet.setValidity(false, true);
ReturnValue_t result = resetCallback(data, size, resetCallbackArgs);
if (result != returnvalue::OK) {
return result;
}
return HasActionsIF::EXECUTION_FINISHED;
}
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
}
return HasActionsIF::INVALID_ACTION_ID;
}
ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::SPEED, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 60.0});
localDataPoolMap.emplace(GpsHyperion::SKYVIEW_UNIX_SECONDS, new PoolEntry<double>());
localDataPoolMap.emplace(GpsHyperion::PRN_ID, new PoolEntry<int16_t>());
localDataPoolMap.emplace(GpsHyperion::AZIMUTH, new PoolEntry<int16_t>());
localDataPoolMap.emplace(GpsHyperion::ELEVATION, new PoolEntry<int16_t>());
localDataPoolMap.emplace(GpsHyperion::SIGNAL2NOISE, new PoolEntry<double>());
localDataPoolMap.emplace(GpsHyperion::USED, new PoolEntry<uint8_t>());
poolManager.subscribeForRegularPeriodicPacket({skyviewSet.getSid(), false, 120.0});
return returnvalue::OK;
}
void GpsHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
void *args) {
this->resetCallback = resetCallback;
resetCallbackArgs = args;
}
ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
handleQueue();
poolManager.performHkOperation();
while (true) {
#if OBSW_THREAD_TRACING == 1
trace::threadTrace(opCounter, "GPS CTRL");
#endif
bool callAgainImmediately = readGpsDataFromGpsd();
if (not callAgainImmediately) {
handleQueue();
poolManager.performHkOperation();
TaskFactory::delayTask(250);
}
}
// Should never be reached.
return returnvalue::OK;
}
ReturnValue_t GpsHyperionLinuxController::initialize() {
ReturnValue_t result = ExtendedControllerBase::initialize();
if (result != returnvalue::OK) {
return result;
}
auto openError = [&](const char *type, int error) {
// Opening failed
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
<< " failed | Error " << error << " | " << gps_errstr(error) << std::endl;
#endif
};
if (readMode == ReadModes::SOCKET) {
int retval = gps_open("localhost", DEFAULT_GPSD_PORT, &gps);
if (retval != 0) {
openError("Socket", retval);
return ObjectManager::CHILD_INIT_FAILED;
}
gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
} else if (readMode == ReadModes::SHM) {
int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
if (retval != 0) {
openError("SHM", retval);
return ObjectManager::CHILD_INIT_FAILED;
}
}
return result;
}
ReturnValue_t GpsHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
return ExtendedControllerBase::handleCommandMessage(message);
}
void GpsHyperionLinuxController::performControlOperation() {}
bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
auto readError = [&]() {
if (oneShotSwitches.gpsReadFailedSwitch) {
oneShotSwitches.gpsReadFailedSwitch = false;
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
"Error "
<< errno << " | " << gps_errstr(errno) << std::endl;
}
};
// GPS is off, no point in reading data from GPSD.
if (mode == MODE_OFF) {
return false;
}
unsigned int readIdx = 0;
if (readMode == ReadModes::SOCKET) {
// Poll the GPS.
while (gps_waiting(&gps, 0)) {
int retval = gps_read(&gps);
if (retval < 0) {
readError();
return false;
}
readIdx++;
if (readIdx >= 40) {
sif::warning << "GpsHyperionLinuxController: Received " << readIdx
<< " GPSD message consecutively" << std::endl;
break;
}
}
if (readIdx > 0) {
oneShotSwitches.gpsReadFailedSwitch = true;
handleGpsReadData();
}
} else if (readMode == ReadModes::SHM) {
sif::error << "GpsHyperionLinuxController::readGpsDataFromGpsdPermanentLoop: "
"SHM read not implemented"
<< std::endl;
}
return false;
}
ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
bool modeIsSet = true;
if (MODE_SET != (MODE_SET & gps.set)) {
if (mode != MODE_OFF) {
modeIsSet = false;
} else {
// GPS ctrl is off anyway, so do other handling
return returnvalue::FAILED;
}
}
ReturnValue_t result = handleCoreTelemetry(modeIsSet);
if (result != returnvalue::OK) {
return result;
}
result = handleSkyviewTelemetry();
return result;
}
ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
PoolReadGuard pg(&gpsSet);
if (pg.getReadResult() != returnvalue::OK) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading dataset failed" << std::endl;
#endif
return returnvalue::FAILED;
}
bool validFix = false;
uint8_t newFix = 0;
if (modeIsSet) {
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
if (gps.fix.mode == GpsHyperion::FixMode::FIX_2D or
gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
validFix = true;
maxTimeToReachFix.resetTimer();
}
newFix = gps.fix.mode;
}
if (gpsSet.fixMode.value != newFix) {
handleFixChangedEvent(newFix);
}
gpsSet.fixMode = newFix;
gpsSet.fixMode.setValid(modeIsSet);
// We are supposed to be on and functioning, but no fix was found
if (not validFix) {
if (maxTimeToReachFix.hasTimedOut()) {
// Set HK entries invalid
gpsSet.setValidity(false, true);
if (oneShotSwitches.cantGetFixSwitch) {
sif::warning << "GpsHyperionLinuxController: No fix detected in allowed "
<< maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl;
triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs());
oneShotSwitches.cantGetFixSwitch = false;
// Try resetting the devices
if (resetCallback != nullptr) {
uint8_t chip = GpsHyperion::GnssChip::A_SIDE;
ReturnValue_t result = resetCallback(&chip, 1, resetCallbackArgs);
if (result != returnvalue::OK) {
triggerEvent(GpsHyperion::RESET_FAIL, chip);
}
chip = GpsHyperion::GnssChip::B_SIDE;
result = resetCallback(&chip, 1, resetCallbackArgs);
if (result != returnvalue::OK) {
triggerEvent(GpsHyperion::RESET_FAIL, chip);
}
}
}
}
}
// Only set on specific messages, so only set a valid flag to invalid
// if not set for more than a full message set (10 messages here)
if (SATELLITE_SET == (SATELLITE_SET & gps.set)) {
gpsSet.satInUse.value = gps.satellites_used;
gpsSet.satInView.value = gps.satellites_visible;
if (not gpsSet.satInUse.isValid()) {
gpsSet.satInUse.setValid(true);
gpsSet.satInView.setValid(true);
}
satNotSetCounter = 0;
} else {
if (satNotSetCounter < 10) {
satNotSetCounter++;
} else {
gpsSet.satInUse.value = 0;
gpsSet.satInUse.setValid(false);
gpsSet.satInView.value = 0;
gpsSet.satInView.setValid(false);
}
}
// LATLON is set for every message, no need for a counter
bool latValid = false;
bool longValid = false;
if (modeIsSet) {
if (LATLON_SET == (LATLON_SET & gps.set)) {
if (std::isfinite(gps.fix.latitude)) {
// Negative latitude -> South direction
gpsSet.latitude.value = gps.fix.latitude;
// As specified in gps.h: Only valid if mode >= 2
if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
latValid = true;
}
}
if (std::isfinite(gps.fix.longitude)) {
// Negative longitude -> West direction
gpsSet.longitude.value = gps.fix.longitude;
// As specified in gps.h: Only valid if mode >= 2
if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
longValid = true;
}
}
}
}
gpsSet.latitude.setValid(latValid);
gpsSet.longitude.setValid(longValid);
// ALTITUDE is set for every message, no need for a counter
bool altitudeValid = false;
if (modeIsSet) {
if (ALTITUDE_SET == (ALTITUDE_SET & gps.set) && std::isfinite(gps.fix.altitude)) {
gpsSet.altitude.value = gps.fix.altitude;
// As specified in gps.h: Only valid if mode == 3
if (gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
altitudeValid = true;
}
}
}
gpsSet.altitude.setValid(altitudeValid);
// SPEED is set for every message, no need for a counter
bool speedValid = false;
if (modeIsSet) {
if (SPEED_SET == (SPEED_SET & gps.set) && std::isfinite(gps.fix.speed)) {
gpsSet.speed.value = gps.fix.speed;
speedValid = true;
}
}
gpsSet.speed.setValid(speedValid);
// TIME is set for every message, no need for a counter
bool timeValid = false;
if (TIME_SET == (TIME_SET & gps.set)) {
// To prevent totally incorrect times from being declared valid.
if (gpsSet.satInView.isValid() and gpsSet.satInView.value >= 1) {
timeValid = true;
}
timeval time = {};
#if LIBGPS_VERSION_MINOR <= 17
gpsSet.unixSeconds.value = std::floor(gps.fix.time);
double fractionalPart = gps.fix.time - gpsSet.unixSeconds.value;
time.tv_usec = fractionalPart * 1000.0 * 1000.0;
#else
gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
time.tv_usec = gps.fix.time.tv_nsec / 1000;
#endif
time.tv_sec = gpsSet.unixSeconds.value;
// If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC
// and no time file available) we set it with the roughly valid time from the GPS.
// NTP might only work if the time difference between sys time and current time is not too
// large.
overwriteTimeIfNotSane(time, validFix);
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;
}
gpsSet.unixSeconds.setValid(timeValid);
gpsSet.year.setValid(timeValid);
gpsSet.month.setValid(timeValid);
gpsSet.day.setValid(timeValid);
gpsSet.hours.setValid(timeValid);
gpsSet.minutes.setValid(timeValid);
gpsSet.seconds.setValid(timeValid);
if (debugHyperionGps) {
sif::info << "-- Hyperion GPS Data --" << std::endl;
#if LIBGPS_VERSION_MINOR <= 17
time_t timeRaw = gpsSet.unixSeconds.value;
#else
time_t timeRaw = gps.fix.time.tv_sec;
#endif
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;
#if LIBGPS_VERSION_MINOR <= 17
std::cout << "Altitude(MSL): " << gps.fix.altitude << std::endl;
#else
std::cout << "Altitude(MSL): " << gps.fix.altMSL << std::endl;
#endif
std::cout << "Speed(m/s): " << gps.fix.speed << std::endl;
std::time_t t = std::time(nullptr);
std::tm tm = *std::gmtime(&t);
std::cout << "C Time: " << std::put_time(&tm, "%c") << std::endl;
}
return returnvalue::OK;
}
ReturnValue_t GpsHyperionLinuxController::handleSkyviewTelemetry() {
PoolReadGuard pg(&skyviewSet);
if (pg.getReadResult() != returnvalue::OK) {
return returnvalue::FAILED;
}
skyviewSet.unixSeconds.value = gps.skyview_time;
for (int sat = 0; sat < GpsHyperion::MAX_SATELLITES; sat++) {
skyviewSet.prn_id.value[sat] = gps.skyview[sat].PRN;
skyviewSet.azimuth.value[sat] = gps.skyview[sat].azimuth;
skyviewSet.elevation.value[sat] = gps.skyview[sat].elevation;
skyviewSet.signal2noise.value[sat] = gps.skyview[sat].ss;
skyviewSet.used.value[sat] = gps.skyview[sat].used;
}
return returnvalue::OK;
}
void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool validFix) {
if (not timeInit and validFix) {
if (not utility::timeSanityCheck()) {
#if OBSW_VERBOSE_LEVEL >= 1
time_t timeRaw = time.tv_sec;
std::tm *timeTm = std::gmtime(&timeRaw);
sif::info << "Overwriting invalid system time from GPS data directly: "
<< std::put_time(timeTm, "%c %Z") << std::endl;
#endif
// For some reason, the clock needs to be somewhat correct for NTP to work. Really dumb..
Clock::setClock(&time);
}
timeInit = true;
}
}
void GpsHyperionLinuxController::handleFixChangedEvent(uint8_t newFix) {
if (gainedNewFix.hasTimedOut()) {
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, newFix, fixChangeCounter);
fixChangeCounter = 0;
gainedNewFix.resetTimer();
return;
}
fixChangeCounter++;
gainedNewFix.resetTimer();
}
linux/acs/GpsHyperionLinuxController.h
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#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#include <common/config/eive/eventSubsystemIds.h>
#include <fsfw/FSFW.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <linux/acs/GPSDefinitions.h>
#include <mission/utility/trace.h>
#ifdef FSFW_OSAL_LINUX
#include <gps.h>
#include <libgpsmm.h>
#endif
/**
* @brief Device handler for the Hyperion HT-GPS200 device
* @details
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
* This device handler can only be used on Linux system where the gpsd daemon with shared memory
* export is running.
*/
class GpsHyperionLinuxController : public ExtendedControllerBase {
public:
// 15 minutes
static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 15;
enum ReadModes { SHM = 0, SOCKET = 1 };
GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId, bool enableHkSets,
bool debugHyperionGps = false);
virtual ~GpsHyperionLinuxController();
using gpioResetFunction_t = ReturnValue_t (*)(const uint8_t* actionData, size_t len, void* args);
ReturnValue_t performOperation(uint8_t opCode) override;
void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
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;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t handleGpsReadData();
ReturnValue_t handleCoreTelemetry(bool modeIsSet);
ReturnValue_t handleSkyviewTelemetry();
private:
GpsPrimaryDataset gpsSet;
SkyviewDataset skyviewSet;
gps_data_t gps = {};
bool enableHkSets = false;
const char* currentClientBuf = nullptr;
ReadModes readMode = ReadModes::SOCKET;
Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
Countdown gainedNewFix = Countdown(60 * 2 * 1000);
uint32_t fixChangeCounter = 0;
bool timeInit = false;
uint8_t satNotSetCounter = 0;
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0;
#endif
struct OneShotSwitches {
void reset() {
gpsReadFailedSwitch = true;
cantGetFixSwitch = true;
}
bool gpsReadFailedSwitch = true;
bool cantGetFixSwitch = true;
} oneShotSwitches;
bool debugHyperionGps = false;
// Returns true if the function should be called again or false if other
// controller handling can be done.
bool readGpsDataFromGpsd();
// If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC)
// we set it with the roughly valid time from the GPS. For some reason, NTP might only work
// if the time difference between sys time and current time is not too large
void overwriteTimeIfNotSane(timeval time, bool validFix);
void handleFixChangedEvent(uint8_t newFix);
};
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */
linux/acs/ImtqPollingTask.cpp
+520
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#include "ImtqPollingTask.h"
#include <fcntl.h>
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
#include <linux/i2c-dev.h>
#include <sys/ioctl.h>
#include "fsfw/FSFW.h"
ImtqPollingTask::ImtqPollingTask(object_id_t imtqPollingTask, std::atomic_uint16_t& i2cFatalErrors)
: SystemObject(imtqPollingTask), i2cFatalErrors(i2cFatalErrors) {
semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
semaphore->acquire();
ipcLock = MutexFactory::instance()->createMutex();
bufLock = MutexFactory::instance()->createMutex();
}
ReturnValue_t ImtqPollingTask::performOperation(uint8_t operationCode) {
while (true) {
ipcLock->lockMutex();
state = InternalState::IDLE;
ipcLock->unlockMutex();
semaphore->acquire();
comStatus = returnvalue::OK;
// Stopwatch watch;
switch (currentRequest.requestType) {
case imtq::RequestType::MEASURE_NO_ACTUATION: {
// Measured to take 24 ms for debug and release builds.
// Stopwatch watch;
handleMeasureStep();
break;
}
case imtq::RequestType::ACTUATE: {
handleActuateStep();
break;
}
default: {
break;
}
};
}
return returnvalue::OK;
}
void ImtqPollingTask::handleMeasureStep() {
size_t replyLen = 0;
uint8_t* replyPtr;
ImtqRepliesDefault replies(replyBuf.data());
// If some startup handling is added later, set configured after it was done once.
if (performStartup) {
// Set integration time for the MGM.
cmdBuf[0] = imtq::CC::SET_PARAM;
size_t dummy = 0;
SerializeAdapter::serialize(&imtq::param::INTEGRATION_TIME_SELECT, cmdBuf.data() + 1, &dummy,
cmdBuf.size(), SerializeIF::Endianness::LITTLE);
cmdBuf[3] = currentRequest.integrationTimeSel;
cmdLen = 4;
ReturnValue_t result = performI2cFullRequest(replyBuf.data(), 5);
if (result != returnvalue::OK) {
comStatus = imtq::STARTUP_CFG_ERROR;
}
if (replyBuf[0] != imtq::CC::SET_PARAM) {
sif::error << "ImtqPollingTask: First byte of reply not equal to sent CC" << std::endl;
comStatus = imtq::STARTUP_CFG_ERROR;
}
if (replyBuf[4] != currentRequest.integrationTimeSel) {
sif::error << "ImtqPollingTask: Integration time configuration failed" << std::endl;
comStatus = imtq::STARTUP_CFG_ERROR;
}
currentIntegrationTimeMs =
imtq::integrationTimeFromSelectValue(currentRequest.integrationTimeSel);
performStartup = false;
}
replies.setConfigured();
// Can be used later to verify correct timing (e.g. all data has been read)
clearReadFlagsDefault(replies);
auto i2cCmdExecMeasure = [&](imtq::CC::CC cc) {
ccToReplyPtrMeasure(replies, cc, &replyPtr, replyLen);
return i2cCmdExecDefault(cc, replyPtr, replyLen, imtq::MGM_MEASUREMENT_LOW_LEVEL_ERROR);
};
cmdLen = 1;
cmdBuf[0] = imtq::CC::GET_SYSTEM_STATE;
if (i2cCmdExecMeasure(imtq::CC::GET_SYSTEM_STATE) != returnvalue::OK) {
return;
}
ignoreNextActuateRequest =
(replies.getSystemState()[2] == static_cast<uint8_t>(imtq::mode::SELF_TEST));
if (ignoreNextActuateRequest) {
// Do not command anything until self-test is done.
return;
}
if (currentRequest.specialRequest != imtq::SpecialRequest::NONE) {
auto executeSelfTest = [&](imtq::selfTest::Axis axis) {
cmdBuf[0] = imtq::CC::SELF_TEST_CMD;
cmdBuf[1] = axis;
return i2cCmdExecMeasure(imtq::CC::SELF_TEST_CMD);
};
// If a self-test is already ongoing, ignore the request.
if (replies.getSystemState()[2] != static_cast<uint8_t>(imtq::mode::SELF_TEST)) {
switch (currentRequest.specialRequest) {
case (imtq::SpecialRequest::DO_SELF_TEST_POS_X): {
executeSelfTest(imtq::selfTest::Axis::X_POSITIVE);
break;
}
case (imtq::SpecialRequest::DO_SELF_TEST_NEG_X): {
executeSelfTest(imtq::selfTest::Axis::X_NEGATIVE);
break;
}
case (imtq::SpecialRequest::DO_SELF_TEST_POS_Y): {
executeSelfTest(imtq::selfTest::Axis::Y_POSITIVE);
break;
}
case (imtq::SpecialRequest::DO_SELF_TEST_NEG_Y): {
executeSelfTest(imtq::selfTest::Axis::Y_NEGATIVE);
break;
}
case (imtq::SpecialRequest::DO_SELF_TEST_POS_Z): {
executeSelfTest(imtq::selfTest::Axis::Z_POSITIVE);
break;
}
case (imtq::SpecialRequest::DO_SELF_TEST_NEG_Z): {
executeSelfTest(imtq::selfTest::Axis::Z_NEGATIVE);
break;
}
case (imtq::SpecialRequest::GET_SELF_TEST_RESULT): {
cmdBuf[0] = imtq::CC::GET_SELF_TEST_RESULT;
i2cCmdExecMeasure(imtq::CC::GET_SELF_TEST_RESULT);
break;
}
default: {
// Should never happen
break;
}
}
// We are done. Only request self test or results here.
return;
}
}
// The I2C IP core on EIVE sometimes glitches out. Send start MTM measurement twice.
cmdBuf[0] = imtq::CC::START_MTM_MEASUREMENT;
if (i2cCmdExecMeasure(imtq::CC::START_MTM_MEASUREMENT) != returnvalue::OK) {
return;
}
cmdBuf[0] = imtq::CC::START_MTM_MEASUREMENT;
if (i2cCmdExecMeasure(imtq::CC::START_MTM_MEASUREMENT) != returnvalue::OK) {
return;
}
// Takes a bit of time to take measurements. Subtract a bit because of the delay of previous
// commands.
TaskFactory::delayTask(currentIntegrationTimeMs + MGM_READ_BUFFER_TIME_MS);
cmdBuf[0] = imtq::CC::GET_RAW_MTM_MEASUREMENT;
if (i2cCmdExecMeasure(imtq::CC::GET_RAW_MTM_MEASUREMENT) != returnvalue::OK) {
return;
}
bool mgmMeasurementTooOld = false;
// See p.39 of the iMTQ user manual. If the NEW bit of the STAT bitfield is not set, we probably
// have old data. Which can be really bad for ACS. And everything.
if ((replyPtr[2] >> 7) == 0) {
replyPtr[0] = false;
mgmMeasurementTooOld = true;
}
cmdBuf[0] = imtq::CC::GET_ENG_HK_DATA;
if (i2cCmdExecMeasure(imtq::CC::GET_ENG_HK_DATA) != returnvalue::OK) {
return;
}
cmdBuf[0] = imtq::CC::GET_CAL_MTM_MEASUREMENT;
if (i2cCmdExecMeasure(imtq::CC::GET_CAL_MTM_MEASUREMENT) != returnvalue::OK) {
return;
}
if (mgmMeasurementTooOld) {
sif::error << "IMTQ: MGM measurement too old" << std::endl;
}
return;
}
void ImtqPollingTask::handleActuateStep() {
uint8_t* replyPtr = nullptr;
size_t replyLen = 0;
// No point when self-test mode is active.
if (ignoreNextActuateRequest) {
return;
}
ImtqRepliesWithTorque replies(replyBufActuation.data());
// Can be used later to verify correct timing (e.g. all data has been read)
clearReadFlagsWithTorque(replies);
auto i2cCmdExecActuate = [&](imtq::CC::CC cc) {
ccToReplyPtrActuate(replies, cc, &replyPtr, replyLen);
return i2cCmdExecDefault(cc, replyPtr, replyLen, imtq::ACTUATE_CMD_LOW_LEVEL_ERROR);
};
buildDipoleCommand();
if (i2cCmdExecActuate(imtq::CC::START_ACTUATION_DIPOLE) != returnvalue::OK) {
return;
}
TaskFactory::delayTask(10);
cmdLen = 1;
// The I2C IP core on EIVE sometimes glitches out. Send start MTM measurement twice.
cmdBuf[0] = imtq::CC::START_MTM_MEASUREMENT;
if (i2cCmdExecActuate(imtq::CC::START_MTM_MEASUREMENT) != returnvalue::OK) {
return;
}
cmdBuf[0] = imtq::CC::START_MTM_MEASUREMENT;
if (i2cCmdExecActuate(imtq::CC::START_MTM_MEASUREMENT) != returnvalue::OK) {
return;
}
TaskFactory::delayTask(currentIntegrationTimeMs + MGM_READ_BUFFER_TIME_MS);
cmdBuf[0] = imtq::CC::GET_RAW_MTM_MEASUREMENT;
if (i2cCmdExecActuate(imtq::CC::GET_RAW_MTM_MEASUREMENT) != returnvalue::OK) {
return;
}
bool measurementWasTooOld = false;
// See p.39 of the iMTQ user manual. If the NEW bit of the STAT bitfield is not set, we probably
// have old data. Which can be really bad for ACS. And everything.
if ((replyPtr[2] >> 7) == 0) {
measurementWasTooOld = true;
replyPtr[0] = false;
}
cmdBuf[0] = imtq::CC::GET_ENG_HK_DATA;
if (i2cCmdExecActuate(imtq::CC::GET_ENG_HK_DATA) != returnvalue::OK) {
return;
}
if (measurementWasTooOld) {
sif::error << "IMTQ: MGM measurement too old" << std::endl;
}
return;
}
ReturnValue_t ImtqPollingTask::initialize() { return returnvalue::OK; }
ReturnValue_t ImtqPollingTask::initializeInterface(CookieIF* cookie) {
i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if (i2cCookie == nullptr) {
sif::error << "ImtqPollingTask::initializeInterface: Invalid I2C cookie" << std::endl;
return returnvalue::FAILED;
}
i2cDev = i2cCookie->getDeviceFile().c_str();
i2cAddr = i2cCookie->getAddress();
return returnvalue::OK;
}
ReturnValue_t ImtqPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
size_t sendLen) {
const auto* imtqReq = reinterpret_cast<const imtq::Request*>(sendData);
if (sendLen != sizeof(imtq::Request)) {
return returnvalue::FAILED;
}
{
MutexGuard mg(ipcLock);
if (state != InternalState::IDLE) {
return returnvalue::FAILED;
}
state = InternalState::IS_BUSY;
if (currentRequest.mode != imtqReq->mode) {
if (imtqReq->mode == acs::SimpleSensorMode::NORMAL) {
performStartup = true;
}
}
std::memcpy(&currentRequest, imtqReq, sendLen);
}
semaphore->release();
return returnvalue::OK;
}
ReturnValue_t ImtqPollingTask::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
ReturnValue_t ImtqPollingTask::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
return returnvalue::OK;
}
void ImtqPollingTask::ccToReplyPtrMeasure(ImtqRepliesDefault& replies, imtq::CC::CC cc,
uint8_t** replyBuf, size_t& replyLen) {
replyLen = imtq::getReplySize(cc);
switch (cc) {
case (imtq::CC::CC::GET_ENG_HK_DATA): {
*replyBuf = replies.engHk;
break;
}
case (imtq::CC::CC::SOFTWARE_RESET): {
*replyBuf = replies.swReset;
break;
}
case (imtq::CC::CC::GET_SYSTEM_STATE): {
*replyBuf = replies.systemState;
break;
}
case (imtq::CC::CC::START_MTM_MEASUREMENT): {
*replyBuf = replies.startMtmMeasurement;
break;
}
case (imtq::CC::CC::GET_RAW_MTM_MEASUREMENT): {
*replyBuf = replies.rawMgmMeasurement;
break;
}
case (imtq::CC::CC::GET_CAL_MTM_MEASUREMENT): {
*replyBuf = replies.calibMgmMeasurement;
break;
}
default: {
*replyBuf = replies.specialRequestReply;
break;
}
}
}
void ImtqPollingTask::ccToReplyPtrActuate(ImtqRepliesWithTorque& replies, imtq::CC::CC cc,
uint8_t** replyBuf, size_t& replyLen) {
replyLen = imtq::getReplySize(cc);
switch (cc) {
case (imtq::CC::CC::START_ACTUATION_DIPOLE): {
*replyBuf = replies.dipoleActuation;
break;
}
case (imtq::CC::CC::GET_ENG_HK_DATA): {
*replyBuf = replies.engHk;
break;
}
case (imtq::CC::CC::START_MTM_MEASUREMENT): {
*replyBuf = replies.startMtmMeasurement;
break;
}
case (imtq::CC::CC::GET_RAW_MTM_MEASUREMENT): {
*replyBuf = replies.rawMgmMeasurement;
break;
}
default: {
*replyBuf = nullptr;
replyLen = 0;
break;
}
}
}
size_t ImtqPollingTask::getExchangeBufLen(imtq::SpecialRequest specialRequest) {
size_t baseLen = ImtqRepliesDefault::BASE_LEN;
switch (specialRequest) {
case (imtq::SpecialRequest::NONE):
case (imtq::SpecialRequest::DO_SELF_TEST_POS_X):
case (imtq::SpecialRequest::DO_SELF_TEST_NEG_X):
case (imtq::SpecialRequest::DO_SELF_TEST_POS_Y):
case (imtq::SpecialRequest::DO_SELF_TEST_NEG_Y):
case (imtq::SpecialRequest::DO_SELF_TEST_POS_Z):
case (imtq::SpecialRequest::DO_SELF_TEST_NEG_Z): {
break;
}
case (imtq::SpecialRequest::GET_SELF_TEST_RESULT): {
baseLen += imtq::replySize::SELF_TEST_RESULTS;
break;
}
}
return baseLen;
}
void ImtqPollingTask::buildDipoleCommand() {
cmdBuf[0] = imtq::CC::CC::START_ACTUATION_DIPOLE;
uint8_t* serPtr = cmdBuf.data() + 1;
size_t serLen = 0;
for (uint8_t idx = 0; idx < 3; idx++) {
SerializeAdapter::serialize(&currentRequest.dipoles[idx], &serPtr, &serLen, cmdBuf.size(),
SerializeIF::Endianness::LITTLE);
}
SerializeAdapter::serialize(&currentRequest.torqueDuration, &serPtr, &serLen, cmdBuf.size(),
SerializeIF::Endianness::LITTLE);
// sif::debug << "Dipole X: " << dipoles[0] << std::endl;
// sif::debug << "Torqeu Dur: " << torqueDuration << std::endl;
cmdLen = 1 + serLen;
}
ReturnValue_t ImtqPollingTask::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
size_t* size) {
imtq::Request currentRequest;
{
MutexGuard mg(ipcLock);
std::memcpy(&currentRequest, &this->currentRequest, sizeof(currentRequest));
}
size_t replyLen = 0;
{
MutexGuard mg(bufLock);
if (currentRequest.requestType == imtq::RequestType::MEASURE_NO_ACTUATION) {
replyLen = getExchangeBufLen(currentRequest.specialRequest);
memcpy(exchangeBuf.data(), replyBuf.data(), replyLen);
} else if (currentRequest.requestType == imtq::RequestType::ACTUATE) {
replyLen = ImtqRepliesWithTorque::BASE_LEN;
memcpy(exchangeBuf.data(), replyBufActuation.data(), replyLen);
} else {
*size = 0;
}
}
{
MutexGuard mg(ipcLock);
this->currentRequest.requestType = imtq::RequestType::DO_NOTHING;
}
*buffer = exchangeBuf.data();
*size = replyLen;
return comStatus;
}
void ImtqPollingTask::clearReadFlagsDefault(ImtqRepliesDefault& replies) {
replies.calibMgmMeasurement[0] = false;
replies.rawMgmMeasurement[0] = false;
replies.systemState[0] = false;
replies.specialRequestReply[0] = false;
replies.engHk[0] = false;
}
ReturnValue_t ImtqPollingTask::i2cCmdExecDefault(imtq::CC::CC cc, uint8_t* replyPtr,
size_t replyLen, ReturnValue_t comErrIfFails) {
ReturnValue_t res = performI2cFullRequest(replyPtr + 1, replyLen);
if (res != returnvalue::OK) {
sif::error << "IMTQ: I2C transaction for command 0x" << std::hex << std::setw(2) << cc
<< " failed" << std::dec << std::endl;
comStatus = comErrIfFails;
return returnvalue::FAILED;
}
if (replyPtr[1] != cc) {
sif::warning << "IMTQ: Unexpected CC 0x" << std::hex << std::setw(2)
<< static_cast<int>(replyPtr[1]) << " for command 0x" << cc << std::dec
<< std::endl;
comStatus = comErrIfFails;
return returnvalue::FAILED;
}
replyPtr[0] = true;
return returnvalue::OK;
}
void ImtqPollingTask::clearReadFlagsWithTorque(ImtqRepliesWithTorque& replies) {
replies.dipoleActuation[0] = false;
replies.engHk[0] = false;
replies.rawMgmMeasurement[0] = false;
replies.startMtmMeasurement[0] = false;
}
ReturnValue_t ImtqPollingTask::performI2cFullRequest(uint8_t* reply, size_t replyLen) {
int fd = 0;
if (cmdLen == 0 or reply == nullptr) {
sif::error << "ImtqPollingTask: Command lenght is zero or reply PTR is invalid" << std::endl;
return returnvalue::FAILED;
}
{
UnixFileGuard fileHelper(i2cDev, fd, O_RDWR, "ImtqPollingTask::performI2cFullRequest");
if (fileHelper.getOpenResult() != returnvalue::OK) {
return fileHelper.getOpenResult();
}
if (ioctl(fd, I2C_SLAVE, i2cAddr) < 0) {
sif::warning << "Opening IMTQ slave device failed with code " << errno << ": "
<< strerror(errno) << std::endl;
if (errno == EBUSY) {
i2cFatalErrors++;
}
}
int written = write(fd, cmdBuf.data(), cmdLen);
if (written < 0) {
sif::error << "IMTQ: Failed to send with error code " << errno
<< ". Error description: " << strerror(errno) << std::endl;
// This is a weird issue which sometimes occurs on debug builds. All I2C buses are busy
// for all writes,
if (errno == EBUSY) {
i2cFatalErrors++;
}
return returnvalue::FAILED;
} else if (static_cast<size_t>(written) != cmdLen) {
sif::error << "IMTQ: Could not write all bytes" << std::endl;
return returnvalue::FAILED;
}
}
#if FSFW_HAL_I2C_WIRETAPPING == 1
sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
arrayprinter::print(sendData, sendLen);
#endif
// wait 1 ms like specified in the datasheet. This is the time the IMTQ needs
// to prepare a reply.
usleep(1000);
{
UnixFileGuard fileHelper(i2cDev, fd, O_RDWR, "ImtqPollingTask::performI2cFullRequest");
if (fileHelper.getOpenResult() != returnvalue::OK) {
return fileHelper.getOpenResult();
}
if (ioctl(fd, I2C_SLAVE, i2cAddr) < 0) {
sif::warning << "Opening IMTQ slave device failed with code " << errno << ": "
<< strerror(errno) << std::endl;
}
MutexGuard mg(bufLock);
int readLen = read(fd, reply, replyLen);
if (readLen != static_cast<int>(replyLen)) {
if (readLen < 0) {
sif::warning << "IMTQ: Reading failed with error code " << errno << " | " << strerror(errno)
<< std::endl;
} else {
sif::warning << "IMTQ: Read only" << readLen << " from " << replyLen << " bytes"
<< std::endl;
}
}
}
if (reply[0] == 0xff or reply[1] == 0xff) {
sif::warning << "IMTQ: No reply available after 1 millisecond";
return NO_REPLY_AVAILABLE;
}
return returnvalue::OK;
}
linux/acs/ImtqPollingTask.h
+74
View File
@@ -0,0 +1,74 @@
#ifndef LINUX_DEVICES_IMTQPOLLINGTASK_H_
#define LINUX_DEVICES_IMTQPOLLINGTASK_H_
#include <fsfw/tasks/SemaphoreIF.h>
#include <fsfw_hal/linux/i2c/I2cCookie.h>
#include <mission/acs/acsBoardPolling.h>
#include <atomic>
#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "mission/acs/imtqHelpers.h"
class ImtqPollingTask : public SystemObject,
public ExecutableObjectIF,
public DeviceCommunicationIF {
public:
ImtqPollingTask(object_id_t imtqPollingTask, std::atomic_uint16_t& i2cFatalErrors);
ReturnValue_t performOperation(uint8_t operationCode) override;
ReturnValue_t initialize() override;
private:
//! [EXPORT] : [SKIP]
static constexpr ReturnValue_t NO_REPLY_AVAILABLE = returnvalue::makeCode(2, 0);
enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
SemaphoreIF* semaphore;
ReturnValue_t comStatus = returnvalue::OK;
MutexIF* ipcLock;
MutexIF* bufLock;
std::atomic_uint16_t& i2cFatalErrors;
I2cCookie* i2cCookie = nullptr;
const char* i2cDev = nullptr;
address_t i2cAddr = 0;
uint32_t currentIntegrationTimeMs = 10;
// Required in addition to integration time, otherwise old data might be read.
static constexpr uint32_t MGM_READ_BUFFER_TIME_MS = 6;
bool ignoreNextActuateRequest = false;
bool performStartup = false;
imtq::Request currentRequest{};
std::array<uint8_t, 32> cmdBuf;
std::array<uint8_t, 524> replyBuf;
std::array<uint8_t, 524> replyBufActuation;
std::array<uint8_t, 524> exchangeBuf;
size_t cmdLen = 0;
// DeviceCommunicationIF overrides
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
void ccToReplyPtrMeasure(ImtqRepliesDefault& replies, imtq::CC::CC cc, uint8_t** replyBuf,
size_t& replyLen);
void ccToReplyPtrActuate(ImtqRepliesWithTorque& replies, imtq::CC::CC cc, uint8_t** replyBuf,
size_t& replyLen);
void clearReadFlagsDefault(ImtqRepliesDefault& replies);
void clearReadFlagsWithTorque(ImtqRepliesWithTorque& replies);
size_t getExchangeBufLen(imtq::SpecialRequest specialRequest);
void buildDipoleCommand();
void handleMeasureStep();
void handleActuateStep();
ReturnValue_t i2cCmdExecDefault(imtq::CC::CC cc, uint8_t* replyPtr, size_t replyLen,
ReturnValue_t comErrIfFails);
ReturnValue_t performI2cFullRequest(uint8_t* reply, size_t replyLen);
};
#endif /* LINUX_DEVICES_IMTQPOLLINGTASK_H_ */
linux/acs/RwPollingTask.cpp
+533
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@@ -0,0 +1,533 @@
#include "RwPollingTask.h"
#include <fcntl.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw_hal/common/spi/spiCommon.h>
#include <fsfw_hal/linux/utility.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include "devConf.h"
#include "mission/acs/defs.h"
#include "mission/acs/rwHelpers.h"
RwPollingTask::RwPollingTask(object_id_t objectId, const char* spiDev, GpioIF& gpioIF)
: SystemObject(objectId), spiDev(spiDev), gpioIF(gpioIF) {
semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
semaphore->acquire();
ipcLock = MutexFactory::instance()->createMutex();
spiLock = MutexFactory::instance()->createMutex();
}
ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
for (unsigned i = 0; i < 4; i++) {
if (rwCookies[i] == nullptr) {
sif::error << "Invalid RW cookie at index" << i << std::endl;
return returnvalue::FAILED;
}
}
while (true) {
ipcLock->lockMutex();
state = InternalState::IDLE;
ipcLock->unlockMutex();
semaphore->acquire();
// This loop takes 50 ms on a debug build.
// Stopwatch watch;
// Give all device handlers some time to submit requests.
TaskFactory::delayTask(5);
int fd = 0;
for (auto& skip : skipCommandingForRw) {
skip = false;
}
setAllReadFlagsFalse();
ReturnValue_t result = openSpi(O_RDWR, fd);
if (result != returnvalue::OK) {
continue;
}
acs::SimpleSensorMode currentMode;
rws::SpecialRwRequest specialRequest;
for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
{
MutexGuard mg(ipcLock);
currentMode = rwRequests[idx].mode;
specialRequest = rwRequests[idx].specialRequest;
skipSetSpeedReply[idx] = rwRequests[idx].setSpeed;
}
if (currentMode == acs::SimpleSensorMode::OFF) {
skipCommandingForRw[idx] = true;
} else if (specialRequest == rws::SpecialRwRequest::RESET_MCU) {
prepareSimpleCommand(rws::RESET_MCU);
// No point in commanding that specific RW for the cycle.
skipCommandingForRw[idx] = true;
writeOneRwCmd(idx, fd);
} else if (skipSetSpeedReply[idx]) {
prepareSetSpeedCmd(idx);
if (writeOneRwCmd(idx, fd) != returnvalue::OK) {
continue;
}
}
}
closeSpi(fd);
if (readAllRws(rws::SET_SPEED) != returnvalue::OK) {
continue;
}
prepareSimpleCommand(rws::GET_LAST_RESET_STATUS);
if (writeAndReadAllRws(rws::GET_LAST_RESET_STATUS) != returnvalue::OK) {
continue;
}
prepareSimpleCommand(rws::GET_RW_STATUS);
if (writeAndReadAllRws(rws::GET_RW_STATUS) != returnvalue::OK) {
continue;
}
prepareSimpleCommand(rws::GET_TEMPERATURE);
if (writeAndReadAllRws(rws::GET_TEMPERATURE) != returnvalue::OK) {
continue;
}
prepareSimpleCommand(rws::CLEAR_LAST_RESET_STATUS);
if (writeAndReadAllRws(rws::CLEAR_LAST_RESET_STATUS) != returnvalue::OK) {
continue;
}
handleSpecialRequests();
}
return returnvalue::OK;
}
ReturnValue_t RwPollingTask::initialize() { return returnvalue::OK; }
ReturnValue_t RwPollingTask::initializeInterface(CookieIF* cookie) {
// We don't need to set the speed because a SPI core is used, but the mode has to be set once
// correctly for all RWs
if (not modeAndSpeedWasSet) {
int fd = open(spiDev, O_RDWR);
if (fd < 0) {
sif::error << "could not open RW SPI bus" << std::endl;
return returnvalue::FAILED;
}
spi::SpiModes mode = spi::RW_MODE;
int retval = ioctl(fd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
}
retval = ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi::RW_SPEED);
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
}
close(fd);
modeAndSpeedWasSet = true;
}
auto* rwCookie = dynamic_cast<RwCookie*>(cookie);
if (rwCookie == nullptr) {
sif::error << "RwPollingTask::initializeInterface: Wrong cookie" << std::endl;
return returnvalue::FAILED;
}
rwCookies[rwCookie->rwIdx] = rwCookie;
return returnvalue::OK;
}
ReturnValue_t RwPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
size_t sendLen) {
if (sendData == nullptr or sendLen != sizeof(rws::RwRequest)) {
return DeviceHandlerIF::INVALID_DATA;
}
const rws::RwRequest* rwRequest = reinterpret_cast<const rws::RwRequest*>(sendData);
uint8_t rwIdx = rwRequest->rwIdx;
{
MutexGuard mg(ipcLock);
std::memcpy(&rwRequests[rwIdx], rwRequest, sizeof(rws::RwRequest));
if (state == InternalState::IDLE) {
state = InternalState::IS_BUSY;
semaphore->release();
}
}
return returnvalue::OK;
}
ReturnValue_t RwPollingTask::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
ReturnValue_t RwPollingTask::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
return returnvalue::OK;
}
ReturnValue_t RwPollingTask::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
RwCookie* rwCookie = dynamic_cast<RwCookie*>(cookie);
if (rwCookie == nullptr or rwCookie->bufLock == nullptr) {
return returnvalue::FAILED;
}
{
MutexGuard mg(rwCookie->bufLock);
memcpy(rwCookie->exchangeBuf.data(), rwCookie->replyBuf.data(), rwCookie->replyBuf.size());
}
*buffer = rwCookie->exchangeBuf.data();
*size = rwCookie->exchangeBuf.size();
return returnvalue::OK;
}
ReturnValue_t RwPollingTask::writeAndReadAllRws(DeviceCommandId_t id) {
// Stopwatch watch;
ReturnValue_t result = returnvalue::OK;
int fd = 0;
result = openSpi(O_RDWR, fd);
if (result != returnvalue::OK) {
return result;
}
for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
if (skipCommandingForRw[idx]) {
continue;
}
result = sendOneMessage(fd, *rwCookies[idx]);
if (result != returnvalue::OK) {
closeSpi(fd);
return returnvalue::FAILED;
}
}
closeSpi(fd);
return readAllRws(id);
}
ReturnValue_t RwPollingTask::openSpi(int flags, int& fd) {
fd = open(spiDev, flags);
if (fd < 0) {
sif::error << "RwPollingTask::openSpi: Failed to open device file" << std::endl;
return spi::OPENING_FILE_FAILED;
}
return returnvalue::OK;
}
ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf,
size_t maxReplyLen) {
ReturnValue_t result = returnvalue::OK;
int fd = 0;
gpioId_t gpioId = rwCookie.getChipSelectPin();
uint8_t byteRead = 0;
result = openSpi(O_RDWR, fd);
if (result != returnvalue::OK) {
return result;
}
pullCsLow(gpioId, gpioIF);
bool lastByteWasFrameMarker = false;
Countdown cd(2000);
size_t readIdx = 0;
while (true) {
lastByteWasFrameMarker = false;
if (read(fd, &byteRead, 1) != 1) {
sif::error << "RwPollingTask: Read failed. " << strerror(errno) << std::endl;
pullCsHigh(gpioId, gpioIF);
closeSpi(fd);
return rws::SPI_READ_FAILURE;
}
if (byteRead == rws::FRAME_DELIMITER) {
lastByteWasFrameMarker = true;
}
// Start of frame detected.
if (byteRead != rws::FRAME_DELIMITER and not lastByteWasFrameMarker) {
break;
}
if (readIdx % 100 == 0 && cd.hasTimedOut()) {
pullCsHigh(gpioId, gpioIF);
closeSpi(fd);
return rws::SPI_READ_FAILURE;
}
readIdx++;
}
#if FSFW_HAL_SPI_WIRETAPPING == 1
sif::info << "RW start marker detected" << std::endl;
#endif
size_t decodedFrameLen = 0;
MutexGuard mg(rwCookie.bufLock);
while (decodedFrameLen < maxReplyLen) {
// First byte already read in
if (decodedFrameLen != 0) {
byteRead = 0;
if (read(fd, &byteRead, 1) != 1) {
sif::error << "RwPollingTask: Read failed" << std::endl;
result = rws::SPI_READ_FAILURE;
break;
}
}
if (byteRead == rws::FRAME_DELIMITER) {
// Reached end of frame
break;
} else if (byteRead == 0x7D) {
if (read(fd, &byteRead, 1) != 1) {
sif::error << "RwPollingTask: Read failed" << std::endl;
result = rws::SPI_READ_FAILURE;
break;
}
if (byteRead == 0x5E) {
*(replyBuf + decodedFrameLen) = 0x7E;
decodedFrameLen++;
continue;
} else if (byteRead == 0x5D) {
*(replyBuf + decodedFrameLen) = 0x7D;
decodedFrameLen++;
continue;
} else {
sif::error << "RwPollingTask: Invalid substitute" << std::endl;
result = rws::INVALID_SUBSTITUTE;
break;
}
} else {
*(replyBuf + decodedFrameLen) = byteRead;
decodedFrameLen++;
continue;
}
// Check end marker.
/**
* There might be the unlikely case that each byte in a get-telemetry reply has been
* replaced by its substitute. Then the next byte must correspond to the end sign 0x7E.
* Otherwise there might be something wrong.
*/
if (decodedFrameLen == maxReplyLen) {
if (read(fd, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
result = rws::SPI_READ_FAILURE;
break;
}
if (byteRead != rws::FRAME_DELIMITER) {
sif::error << "rwSpiCallback::spiCallback: Missing end sign "
<< static_cast<int>(rws::FRAME_DELIMITER) << std::endl;
decodedFrameLen--;
result = rws::MISSING_END_SIGN;
break;
}
}
result = returnvalue::OK;
}
pullCsHigh(gpioId, gpioIF);
closeSpi(fd);
return result;
}
ReturnValue_t RwPollingTask::writeOneRwCmd(uint8_t rwIdx, int fd) {
ReturnValue_t result = sendOneMessage(fd, *rwCookies[rwIdx]);
if (result != returnvalue::OK) {
return returnvalue::FAILED;
}
return returnvalue::OK;
}
ReturnValue_t RwPollingTask::readAllRws(DeviceCommandId_t id) {
// SPI dev will be opened in readNextReply on demand.
for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
if (((id == rws::SET_SPEED) and !skipSetSpeedReply[idx]) or skipCommandingForRw[idx]) {
continue;
}
uint8_t* replyBuf;
size_t maxReadLen = idAndIdxToReadBuffer(id, idx, &replyBuf);
ReturnValue_t result = readNextReply(*rwCookies[idx], replyBuf + 1, maxReadLen);
if (result == returnvalue::OK) {
// The first byte is always a flag which shows whether the value was read
// properly at least once.
replyBuf[0] = true;
}
}
// SPI is closed in readNextReply as well.
return returnvalue::OK;
}
size_t RwPollingTask::idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** ptr) {
uint8_t* rawStart = rwCookies[rwIdx]->replyBuf.data();
RwReplies replies(rawStart);
switch (id) {
case (rws::GET_RW_STATUS): {
*ptr = replies.rwStatusReply;
break;
}
case (rws::SET_SPEED): {
*ptr = replies.setSpeedReply;
break;
}
case (rws::CLEAR_LAST_RESET_STATUS): {
*ptr = replies.clearLastResetStatusReply;
break;
}
case (rws::GET_LAST_RESET_STATUS): {
*ptr = replies.getLastResetStatusReply;
break;
}
case (rws::GET_TEMPERATURE): {
*ptr = replies.readTemperatureReply;
break;
}
case (rws::GET_TM): {
*ptr = replies.hkDataReply;
break;
}
case (rws::INIT_RW_CONTROLLER): {
*ptr = replies.initRwControllerReply;
break;
}
default: {
sif::error << "no reply buffer for rw command " << id << std::endl;
*ptr = replies.dummyPointer;
return 0;
}
}
return rws::idToPacketLen(id);
}
void RwPollingTask::fillSpecialRequestArray() {
for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
if (skipCommandingForRw[idx]) {
specialRequestIds[idx] = DeviceHandlerIF::NO_COMMAND_ID;
continue;
}
switch (rwRequests[idx].specialRequest) {
case (rws::SpecialRwRequest::GET_TM): {
specialRequestIds[idx] = rws::GET_TM;
break;
}
case (rws::SpecialRwRequest::INIT_RW_CONTROLLER): {
specialRequestIds[idx] = rws::INIT_RW_CONTROLLER;
break;
}
default: {
specialRequestIds[idx] = DeviceHandlerIF::NO_COMMAND_ID;
}
}
}
}
void RwPollingTask::handleSpecialRequests() {
int fd = 0;
fillSpecialRequestArray();
ReturnValue_t result = openSpi(O_RDWR, fd);
if (result != returnvalue::OK) {
return;
}
for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
if (specialRequestIds[idx] == DeviceHandlerIF::NO_COMMAND_ID) {
continue;
}
prepareSimpleCommand(specialRequestIds[idx]);
writeOneRwCmd(idx, fd);
}
closeSpi(fd);
for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
if (specialRequestIds[idx] == DeviceHandlerIF::NO_COMMAND_ID) {
continue;
}
uint8_t* replyBuf;
size_t maxReadLen = idAndIdxToReadBuffer(specialRequestIds[idx], idx, &replyBuf);
// Skip first byte for actual read buffer: Valid byte
result = readNextReply(*rwCookies[idx], replyBuf + 1, maxReadLen);
if (result == returnvalue::OK) {
// The first byte is always a flag which shows whether the value was read
// properly at least once.
replyBuf[0] = true;
}
}
}
void RwPollingTask::setAllReadFlagsFalse() {
for (auto& rwCookie : rwCookies) {
RwReplies replies(rwCookie->replyBuf.data());
replies.getLastResetStatusReply[0] = false;
replies.clearLastResetStatusReply[0] = false;
replies.hkDataReply[0] = false;
replies.readTemperatureReply[0] = false;
replies.rwStatusReply[0] = false;
replies.setSpeedReply[0] = false;
replies.initRwControllerReply[0] = false;
}
}
void RwPollingTask::closeSpi(int fd) { close(fd); }
ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
gpioId_t gpioId = rwCookie.getChipSelectPin();
if (spiLock == nullptr) {
sif::warning << "RwPollingTask: Mutex or GPIO interface invalid" << std::endl;
return returnvalue::FAILED;
}
// Add datalinklayer like specified in the datasheet.
size_t lenToSend = 0;
rws::encodeHdlc(writeBuffer.data(), writeLen, encodedBuffer.data(), lenToSend);
pullCsLow(gpioId, gpioIF);
if (write(fd, encodedBuffer.data(), lenToSend) != static_cast<ssize_t>(lenToSend)) {
sif::error << "RwPollingTask: Write failed!" << std::endl;
pullCsHigh(gpioId, gpioIF);
return rws::SPI_WRITE_FAILURE;
}
pullCsHigh(gpioId, gpioIF);
return returnvalue::OK;
}
ReturnValue_t RwPollingTask::pullCsLow(gpioId_t gpioId, GpioIF& gpioIF) {
ReturnValue_t result = spiLock->lockMutex(TIMEOUT_TYPE, TIMEOUT_MS);
if (result != returnvalue::OK) {
sif::warning << "RwPollingTask::pullCsLow: Failed to lock mutex" << std::endl;
return result;
}
// Pull SPI CS low. For now, no support for active high given
if (gpioId != gpio::NO_GPIO) {
result = gpioIF.pullLow(gpioId);
if (result != returnvalue::OK) {
sif::error << "RwPollingTask::pullCsLow: Failed to pull chip select low" << std::endl;
return result;
}
}
return returnvalue::OK;
}
void RwPollingTask::pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF) {
if (gpioId != gpio::NO_GPIO) {
if (gpioIF.pullHigh(gpioId) != returnvalue::OK) {
sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
}
}
if (spiLock->unlockMutex() != returnvalue::OK) {
sif::error << "RwPollingTask::pullCsHigh: Failed to unlock mutex" << std::endl;
;
}
}
void RwPollingTask::prepareSimpleCommand(DeviceCommandId_t id) {
writeBuffer[0] = static_cast<uint8_t>(id);
uint16_t crc = CRC::crc16ccitt(writeBuffer.data(), 1, 0xFFFF);
writeBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
writeBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
writeLen = 3;
}
ReturnValue_t RwPollingTask::prepareSetSpeedCmd(uint8_t rwIdx) {
writeBuffer[0] = static_cast<uint8_t>(rws::SET_SPEED);
uint8_t* serPtr = writeBuffer.data() + 1;
int32_t speedToSet = 0;
uint16_t rampTimeToSet = 10;
{
MutexGuard mg(ipcLock);
speedToSet = rwRequests[rwIdx].currentRwSpeed;
rampTimeToSet = rwRequests[rwIdx].currentRampTime;
}
size_t serLen = 1;
SerializeAdapter::serialize(&speedToSet, &serPtr, &serLen, writeBuffer.size(),
SerializeIF::Endianness::LITTLE);
SerializeAdapter::serialize(&rampTimeToSet, &serPtr, &serLen, writeBuffer.size(),
SerializeIF::Endianness::LITTLE);
uint16_t crc = CRC::crc16ccitt(writeBuffer.data(), 7, 0xFFFF);
writeBuffer[7] = static_cast<uint8_t>(crc & 0xFF);
writeBuffer[8] = static_cast<uint8_t>((crc >> 8) & 0xFF);
writeLen = 9;
return returnvalue::OK;
}
linux/acs/RwPollingTask.h
+90
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#ifndef LINUX_DEVICES_RWPOLLINGTASK_H_
#define LINUX_DEVICES_RWPOLLINGTASK_H_
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tasks/SemaphoreIF.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <mission/acs/defs.h>
#include "mission/acs/rwHelpers.h"
class RwCookie : public SpiCookie {
friend class RwPollingTask;
public:
static constexpr size_t REPLY_BUF_LEN = 524;
RwCookie(uint8_t rwIdx, address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed)
: SpiCookie(spiAddress, chipSelect, maxSize, spiMode, spiSpeed), rwIdx(rwIdx) {
bufLock = MutexFactory::instance()->createMutex();
}
private:
std::array<uint8_t, REPLY_BUF_LEN> replyBuf{};
std::array<uint8_t, REPLY_BUF_LEN> exchangeBuf{};
MutexIF* bufLock;
uint8_t rwIdx;
};
class RwPollingTask : public SystemObject, public ExecutableObjectIF, public DeviceCommunicationIF {
public:
RwPollingTask(object_id_t objectId, const char* spiDev, GpioIF& gpioIF);
ReturnValue_t performOperation(uint8_t operationCode) override;
ReturnValue_t initialize() override;
private:
enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
SemaphoreIF* semaphore;
bool debugMode = false;
bool modeAndSpeedWasSet = false;
MutexIF* ipcLock;
MutexIF* spiLock;
const char* spiDev;
GpioIF& gpioIF;
std::array<bool, 4> skipCommandingForRw;
std::array<bool, 4> skipSetSpeedReply;
std::array<DeviceCommandId_t, 4> specialRequestIds;
std::array<RwCookie*, 4> rwCookies;
std::array<rws::RwRequest, 4> rwRequests{};
std::array<uint8_t, rws::MAX_CMD_SIZE> writeBuffer;
std::array<uint8_t, rws::MAX_CMD_SIZE * 2> encodedBuffer;
size_t writeLen = 0;
static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t TIMEOUT_MS = 20;
static constexpr uint8_t MAX_RETRIES_REPLY = 5;
// DeviceCommunicationIF overrides
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
ReturnValue_t writeAndReadAllRws(DeviceCommandId_t id);
ReturnValue_t writeOneRwCmd(uint8_t rwIdx, int fd);
ReturnValue_t readAllRws(DeviceCommandId_t id);
ReturnValue_t sendOneMessage(int fd, RwCookie& rwCookie);
ReturnValue_t readNextReply(RwCookie& rwCookie, uint8_t* replyBuf, size_t maxReplyLen);
void handleSpecialRequests();
ReturnValue_t openSpi(int flags, int& fd);
ReturnValue_t pullCsLow(gpioId_t gpioId, GpioIF& gpioIF);
void prepareSimpleCommand(DeviceCommandId_t id);
ReturnValue_t prepareSetSpeedCmd(uint8_t rwIdx);
size_t idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** readPtr);
void fillSpecialRequestArray();
void setAllReadFlagsFalse();
void pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF);
void closeSpi(int);
};
#endif /* LINUX_DEVICES_RWPOLLINGTASK_H_ */
linux/acs/StrComHandler.cpp
+838
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#include "StrComHandler.h"
#include <fcntl.h>
#include <fsfw/filesystem/HasFileSystemIF.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <mission/acs/str/strHelpers.h>
#include <unistd.h>
#include <filesystem>
#include <fstream>
#include "OBSWConfig.h"
#include "eive/definitions.h"
#include "fsfw/timemanager/Countdown.h"
#include "mission/utility/Filenaming.h"
#include "mission/utility/ProgressPrinter.h"
#include "mission/utility/Timestamp.h"
extern "C" {
#include <sagitta/client/actionreq.h>
}
using namespace returnvalue;
static constexpr bool PACKET_WIRETAPPING = false;
StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) {
lock = MutexFactory::instance()->createMutex();
semaphore.acquire();
}
StrComHandler::~StrComHandler() {}
ReturnValue_t StrComHandler::initialize() {
#ifdef XIPHOS_Q7S
sdcMan = SdCardManager::instance();
if (sdcMan == nullptr) {
sif::warning << "StrHelper::initialize: Invalid SD Card Manager" << std::endl;
return returnvalue::FAILED;
}
#endif
return returnvalue::OK;
}
ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
ReturnValue_t result = returnvalue::OK;
while (true) {
lock->lockMutex();
state = InternalState::SLEEPING;
lock->unlockMutex();
semaphore.acquire();
switch (state) {
case InternalState::POLL_ONE_REPLY: {
// Stopwatch watch;
replyTimeout.setTimeout(400);
readOneReply(static_cast<uint32_t>(state));
{
MutexGuard mg(lock);
replyWasReceived = true;
}
break;
}
case InternalState::UPLOAD_IMAGE: {
replyTimeout.setTimeout(200);
resetReplyHandlingState();
result = performImageUpload();
if (result == returnvalue::OK) {
triggerEvent(IMAGE_UPLOAD_SUCCESSFUL);
} else {
triggerEvent(IMAGE_UPLOAD_FAILED);
}
break;
}
case InternalState::DOWNLOAD_IMAGE: {
replyTimeout.setTimeout(200);
resetReplyHandlingState();
result = performImageDownload();
if (result == returnvalue::OK) {
triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL);
} else {
triggerEvent(IMAGE_DOWNLOAD_FAILED);
}
break;
}
case InternalState::FLASH_READ: {
replyTimeout.setTimeout(200);
resetReplyHandlingState();
result = performFlashRead();
if (result == returnvalue::OK) {
triggerEvent(FLASH_READ_SUCCESSFUL);
} else {
triggerEvent(FLASH_READ_FAILED);
}
break;
}
case InternalState::FIRMWARE_UPDATE: {
replyTimeout.setTimeout(2000);
resetReplyHandlingState();
result = performFirmwareUpdate();
if (result == returnvalue::OK) {
triggerEvent(FIRMWARE_UPDATE_SUCCESSFUL);
} else {
triggerEvent(FIRMWARE_UPDATE_FAILED);
}
break;
}
default:
sif::debug << "StrHelper::performOperation: Invalid state" << std::endl;
break;
}
}
}
ReturnValue_t StrComHandler::startImageUpload(std::string fullname) {
{
MutexGuard mg(lock);
if (state != InternalState::SLEEPING) {
return BUSY;
}
}
#ifdef XIPHOS_Q7S
ReturnValue_t result = checkPath(fullname);
if (result != returnvalue::OK) {
return result;
}
#endif
uploadImage.uploadFile = fullname;
if (not std::filesystem::exists(fullname)) {
return FILE_NOT_EXISTS;
}
{
MutexGuard mg(lock);
replyWasReceived = false;
state = InternalState::UPLOAD_IMAGE;
}
semaphore.release();
terminate = false;
return returnvalue::OK;
}
ReturnValue_t StrComHandler::startImageDownload(std::string path) {
{
MutexGuard mg(lock);
if (state != InternalState::SLEEPING) {
return BUSY;
}
}
#ifdef XIPHOS_Q7S
ReturnValue_t result = checkPath(path);
if (result != returnvalue::OK) {
return result;
}
#endif
if (not std::filesystem::exists(path)) {
return PATH_NOT_EXISTS;
}
downloadImage.path = path;
{
MutexGuard mg(lock);
replyWasReceived = false;
state = InternalState::DOWNLOAD_IMAGE;
}
terminate = false;
semaphore.release();
return returnvalue::OK;
}
void StrComHandler::stopProcess() { terminate = true; }
void StrComHandler::setDownloadImageName(std::string filename) {
downloadImage.filename = filename;
}
void StrComHandler::setFlashReadFilename(std::string filename) { flashRead.filename = filename; }
ReturnValue_t StrComHandler::startFirmwareUpdate(std::string fullname,
startracker::FirmwareTarget target) {
{
MutexGuard mg(lock);
if (state != InternalState::SLEEPING) {
return BUSY;
}
}
#ifdef XIPHOS_Q7S
ReturnValue_t result = checkPath(fullname);
if (result != returnvalue::OK) {
return result;
}
#endif
flashWrite.fullname = fullname;
if (not std::filesystem::exists(flashWrite.fullname)) {
return FILE_NOT_EXISTS;
}
if (target == startracker::FirmwareTarget::MAIN) {
flashWrite.firstRegion = static_cast<uint8_t>(startracker::FirmwareRegions::FIRST_MAIN);
flashWrite.lastRegion = static_cast<uint8_t>(startracker::FirmwareRegions::LAST_MAIN);
} else if (target == startracker::FirmwareTarget::BACKUP) {
flashWrite.firstRegion = static_cast<uint8_t>(startracker::FirmwareRegions::FIRST_BACKUP);
flashWrite.lastRegion = static_cast<uint8_t>(startracker::FirmwareRegions::LAST_BACKUP);
}
{
MutexGuard mg(lock);
replyWasReceived = false;
state = InternalState::FIRMWARE_UPDATE;
}
semaphore.release();
terminate = false;
return returnvalue::OK;
}
ReturnValue_t StrComHandler::startFlashRead(std::string path, uint8_t startRegion,
uint32_t length) {
{
MutexGuard mg(lock);
if (state != InternalState::SLEEPING) {
return BUSY;
}
}
#ifdef XIPHOS_Q7S
ReturnValue_t result = checkPath(path);
if (result != returnvalue::OK) {
return result;
}
#endif
flashRead.path = path;
if (not std::filesystem::exists(flashRead.path)) {
return FILE_NOT_EXISTS;
}
flashRead.startRegion = startRegion;
flashRead.size = length;
{
MutexGuard mg(lock);
replyWasReceived = false;
state = InternalState::FLASH_READ;
}
semaphore.release();
terminate = false;
return returnvalue::OK;
}
void StrComHandler::disableTimestamping() { timestamping = false; }
void StrComHandler::enableTimestamping() { timestamping = true; }
ReturnValue_t StrComHandler::performImageDownload() {
#ifdef XIPHOS_Q7S
if (not sdcMan->getActiveSdCard()) {
return HasFileSystemIF::FILESYSTEM_INACTIVE;
}
#endif
ReturnValue_t result;
#if OBSW_DEBUG_STARTRACKER == 1
ProgressPrinter progressPrinter("Image download", ImageDownload::LAST_POSITION);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
struct DownloadActionRequest downloadReq;
uint32_t size = 0;
uint32_t retries = 0;
size_t replySize = 0;
std::string image = Filenaming::generateAbsoluteFilename(downloadImage.path,
downloadImage.filename, timestamping);
std::ofstream file(image, std::ios_base::out);
if (not std::filesystem::exists(image)) {
return FILE_CREATION_FAILED;
}
downloadReq.position = 0;
while (downloadReq.position < ImageDownload::LAST_POSITION) {
if (terminate) {
file.close();
return returnvalue::OK;
}
prv_arc_pack_download_action_req(&downloadReq, cmdBuf.data(), &size);
result = sendAndRead(size, downloadReq.position);
if (result != returnvalue::OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
serial::flushRxBuf(serialPort);
retries++;
continue;
}
file.close();
return result;
}
result = checkActionReply(replySize, "downloading image");
if (result != returnvalue::OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
serial::flushRxBuf(serialPort);
retries++;
continue;
}
file.close();
return result;
}
result = checkReplyPosition(downloadReq.position);
if (result != returnvalue::OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
serial::flushRxBuf(serialPort);
retries++;
continue;
}
file.close();
return result;
}
file.write(reinterpret_cast<const char*>(replyPtr + IMAGE_DATA_OFFSET), CHUNK_SIZE);
#if OBSW_DEBUG_STARTRACKER == 1
progressPrinter.print(downloadReq.position);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
downloadReq.position++;
retries = 0;
}
file.close();
return returnvalue::OK;
}
ReturnValue_t StrComHandler::performImageUpload() {
ReturnValue_t result = returnvalue::OK;
uint32_t size = 0;
uint32_t imageSize = 0;
struct UploadActionRequest uploadReq;
uploadReq.position = 0;
size_t writtenBytes = 0;
#ifdef XIPHOS_Q7S
if (not sdcMan->getActiveSdCard()) {
return HasFileSystemIF::FILESYSTEM_INACTIVE;
}
#endif
std::memset(&uploadReq.data, 0, sizeof(uploadReq.data));
if (not std::filesystem::exists(uploadImage.uploadFile)) {
triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(state));
return returnvalue::FAILED;
}
std::ifstream file(uploadImage.uploadFile, std::ifstream::binary);
if (file.bad()) {
return HasFileSystemIF::GENERIC_FILE_ERROR;
}
// Set position of next character to end of file input stream
file.seekg(0, file.end);
// tellg returns position of character in input stream
imageSize = file.tellg();
#if OBSW_DEBUG_STARTRACKER == 1
ProgressPrinter progressPrinter("Image upload", imageSize);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
size_t fullChunks = imageSize / SIZE_IMAGE_PART;
size_t remainder = imageSize % SIZE_IMAGE_PART;
for (size_t idx = 0; idx < fullChunks; idx++) {
if (terminate) {
return returnvalue::OK;
}
file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
file.read(reinterpret_cast<char*>(uploadReq.data), SIZE_IMAGE_PART);
prv_arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
result = sendAndRead(size, uploadReq.position);
if (result != returnvalue::OK) {
return returnvalue::FAILED;
}
result = checkActionReply(replyLen, "sky image upload");
if (result != returnvalue::OK) {
return result;
}
#if OBSW_DEBUG_STARTRACKER == 1
progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
uploadReq.position++;
writtenBytes += SIZE_IMAGE_PART;
// This does a bit of delaying roughly every second
if (uploadReq.position % 50 == 0) {
// Some grace time for other tasks
TaskFactory::delayTask(2);
}
}
if (remainder > 0) {
std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
file.seekg(fullChunks * SIZE_IMAGE_PART, file.beg);
file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
file.close();
prv_arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
result = sendAndRead(size, uploadReq.position);
if (result != returnvalue::OK) {
return returnvalue::FAILED;
}
result = checkActionReply(replyLen, "sky image upload");
if (result != returnvalue::OK) {
return result;
}
}
#if OBSW_DEBUG_STARTRACKER == 1
progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
return returnvalue::OK;
}
ReturnValue_t StrComHandler::performFirmwareUpdate() {
using namespace startracker;
ReturnValue_t result = returnvalue::OK;
result = unlockAndEraseRegions(flashWrite.firstRegion, flashWrite.lastRegion);
if (result != returnvalue::OK) {
return result;
}
result = performFlashWrite();
return result;
}
ReturnValue_t StrComHandler::performFlashWrite() {
#ifdef XIPHOS_Q7S
if (not sdcMan->getActiveSdCard()) {
return HasFileSystemIF::FILESYSTEM_INACTIVE;
}
#endif
ReturnValue_t result = returnvalue::OK;
uint32_t size = 0;
uint32_t bytesWrittenInRegion = 0;
size_t totalBytesWritten = 0;
uint32_t fileSize = 0;
struct WriteActionRequest req;
if (not std::filesystem::exists(flashWrite.fullname)) {
triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(state));
return returnvalue::FAILED;
}
std::ifstream file(flashWrite.fullname, std::ifstream::binary);
if (file.bad()) {
return returnvalue::FAILED;
}
file.seekg(0, file.end);
fileSize = file.tellg();
if (fileSize > FLASH_REGION_SIZE * (flashWrite.lastRegion - flashWrite.firstRegion)) {
sif::warning << "StrHelper::performFlashWrite: Invalid file" << std::endl;
return returnvalue::FAILED;
}
#if OBSW_DEBUG_STARTRACKER == 1
ProgressPrinter progressPrinter("Flash write", fileSize);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
uint32_t fileChunks = fileSize / CHUNK_SIZE;
bytesWrittenInRegion = 0;
req.region = flashWrite.firstRegion;
req.length = CHUNK_SIZE;
auto writeNextSegment = [&](uint32_t chunkIdx) {
file.seekg(chunkIdx * CHUNK_SIZE, file.beg);
file.read(reinterpret_cast<char*>(req.data), CHUNK_SIZE);
if (bytesWrittenInRegion + CHUNK_SIZE > FLASH_REGION_SIZE) {
req.region++;
bytesWrittenInRegion = 0;
}
req.address = bytesWrittenInRegion;
prv_arc_pack_write_action_req(&req, cmdBuf.data(), &size);
result = sendAndRead(size, req.address);
if (result != returnvalue::OK) {
return result;
}
result = checkActionReply(replyLen, "firmware image upload");
if (result != returnvalue::OK) {
return result;
}
totalBytesWritten += CHUNK_SIZE;
bytesWrittenInRegion += CHUNK_SIZE;
#if OBSW_DEBUG_STARTRACKER == 1
progressPrinter.print(chunkIdx * CHUNK_SIZE);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
return result;
};
for (uint32_t idx = 0; idx < fileChunks; idx++) {
if (terminate) {
return returnvalue::OK;
}
result = writeNextSegment(idx);
if (result != returnvalue::OK) {
return result;
}
if (idx % 50 == 0) {
// Some grace time for other tasks
TaskFactory::delayTask(2);
}
}
uint32_t remainingBytes = fileSize - fileChunks * CHUNK_SIZE;
if (remainingBytes > 0) {
file.seekg(fileChunks * CHUNK_SIZE, file.beg);
file.read(reinterpret_cast<char*>(req.data), remainingBytes);
file.close();
if (bytesWrittenInRegion + CHUNK_SIZE > FLASH_REGION_SIZE) {
req.region++;
bytesWrittenInRegion = 0;
}
req.address = bytesWrittenInRegion;
req.length = remainingBytes;
totalBytesWritten += CHUNK_SIZE;
bytesWrittenInRegion += remainingBytes;
prv_arc_pack_write_action_req(&req, cmdBuf.data(), &size);
result = sendAndRead(size, req.address);
if (result != returnvalue::OK) {
return result;
}
result = checkActionReply(replyLen, "flash write");
if (result != returnvalue::OK) {
return result;
}
}
#if OBSW_DEBUG_STARTRACKER == 1
progressPrinter.print(fileSize);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
return returnvalue::OK;
}
ReturnValue_t StrComHandler::performFlashRead() {
#ifdef XIPHOS_Q7S
if (not sdcMan->getActiveSdCard()) {
return HasFileSystemIF::FILESYSTEM_INACTIVE;
}
#endif
ReturnValue_t result;
#if OBSW_DEBUG_STARTRACKER == 1
ProgressPrinter progressPrinter("Flash read", flashRead.size);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
struct ReadActionRequest req;
uint32_t bytesRead = 0;
uint32_t size = 0;
uint32_t retries = 0;
Timestamp timestamp;
std::string fullname =
Filenaming::generateAbsoluteFilename(flashRead.path, flashRead.filename, timestamping);
std::ofstream file(fullname, std::ios_base::app | std::ios_base::out);
if (not std::filesystem::exists(fullname)) {
return FILE_CREATION_FAILED;
}
req.region = flashRead.startRegion;
req.address = 0;
while (bytesRead < flashRead.size) {
if (terminate) {
return returnvalue::OK;
}
if ((flashRead.size - bytesRead) < CHUNK_SIZE) {
req.length = flashRead.size - bytesRead;
} else {
req.length = CHUNK_SIZE;
}
prv_arc_pack_read_action_req(&req, cmdBuf.data(), &size);
result = sendAndRead(size, req.address);
if (result != returnvalue::OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
serial::flushRxBuf(serialPort);
retries++;
continue;
}
file.close();
return result;
}
result = checkActionReply(replyLen, "flash read");
if (result != returnvalue::OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
serial::flushRxBuf(serialPort);
retries++;
continue;
}
file.close();
return result;
}
file.write(reinterpret_cast<const char*>(replyPtr + FLASH_READ_DATA_OFFSET), req.length);
bytesRead += req.length;
req.address += req.length;
if (req.address >= FLASH_REGION_SIZE) {
req.address = 0;
req.region++;
}
retries = 0;
#if OBSW_DEBUG_STARTRACKER == 1
progressPrinter.print(bytesRead);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
}
file.close();
return returnvalue::OK;
}
ReturnValue_t StrComHandler::sendAndRead(size_t size, uint32_t failParameter) {
ReturnValue_t result = returnvalue::OK;
const uint8_t* sendData;
size_t txFrameLen = 0;
datalinkLayer.encodeFrame(cmdBuf.data(), size, &sendData, txFrameLen);
int writeResult = write(serialPort, sendData, txFrameLen);
if (writeResult < 0) {
sif::warning << "StrHelper::sendAndRead: Failed to send packet" << std::endl;
triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, failParameter);
return returnvalue::FAILED;
}
return readOneReply(failParameter);
}
ReturnValue_t StrComHandler::checkActionReply(size_t replySize, const char* context) {
uint8_t type = startracker::getReplyFrameType(replyPtr);
if (type != TMTC_ACTIONREPLY) {
sif::warning << "StrHelper::checkActionReply: Received reply with invalid type ID" << std::endl;
return INVALID_TYPE_ID;
}
uint8_t status = startracker::getStatusField(replyPtr);
if (status != ArcsecDatalinkLayer::STATUS_OK) {
sif::warning << "StrHelper::checkActionReply: Status failure for " << context << ": "
<< static_cast<unsigned int>(status) << std::endl;
return STATUS_ERROR;
}
return returnvalue::OK;
}
ReturnValue_t StrComHandler::checkReplyPosition(uint32_t expectedPosition) {
uint32_t receivedPosition = 0;
std::memcpy(&receivedPosition, replyPtr + POS_OFFSET, sizeof(receivedPosition));
if (receivedPosition != expectedPosition) {
triggerEvent(POSITION_MISMATCH, receivedPosition);
return returnvalue::FAILED;
}
return returnvalue::OK;
}
#ifdef XIPHOS_Q7S
ReturnValue_t StrComHandler::checkPath(std::string name) {
if (name.substr(0, sizeof(config::SD_0_MOUNT_POINT)) == std::string(config::SD_0_MOUNT_POINT)) {
if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
sif::warning << "StrHelper::checkPath: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
} else if (name.substr(0, sizeof(config::SD_1_MOUNT_POINT)) ==
std::string(config::SD_1_MOUNT_POINT)) {
if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
sif::warning << "StrHelper::checkPath: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
}
return returnvalue::OK;
}
#endif
ReturnValue_t StrComHandler::initializeInterface(CookieIF* cookie) {
if (cookie == nullptr) {
return returnvalue::FAILED;
}
SerialCookie* serCookie = dynamic_cast<SerialCookie*>(cookie);
if (serCookie == nullptr) {
return DeviceCommunicationIF::INVALID_COOKIE_TYPE;
}
// comCookie = serCookie;
std::string devname = serCookie->getDeviceFile();
/* Get file descriptor */
serialPort = open(devname.c_str(), O_RDWR);
if (serialPort < 0) {
sif::warning << "StrComHandler: open call failed with error [" << errno << ", "
<< strerror(errno) << std::endl;
return returnvalue::FAILED;
}
// Setting up UART parameters
tty.c_cflag &= ~PARENB; // Clear parity bit
serial::setStopbits(tty, serCookie->getStopBits());
serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
serial::enableRead(tty);
serial::ignoreCtrlLines(tty);
// Use non-canonical mode and clear echo flag
tty.c_lflag &= ~(ICANON | ECHO);
// Non-blocking mode, use polling
tty.c_cc[VTIME] = 0;
tty.c_cc[VMIN] = 0;
serial::setBaudrate(tty, serCookie->getBaudrate());
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error ["
<< errno << ", " << strerror(errno) << std::endl;
}
// Flush received and unread data
tcflush(serialPort, TCIOFLUSH);
return returnvalue::OK;
}
ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendData,
size_t sendLen) {
{
MutexGuard mg(lock);
if (state != InternalState::SLEEPING) {
return BUSY;
}
}
// Ensure consistent state.
resetReplyHandlingState();
const uint8_t* txFrame;
size_t frameLen;
datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen);
if (PACKET_WIRETAPPING) {
sif::debug << "Sending STR frame" << std::endl;
arrayprinter::print(txFrame, frameLen);
}
ssize_t bytesWritten = write(serialPort, txFrame, frameLen);
if (bytesWritten != static_cast<ssize_t>(frameLen)) {
sif::warning << "StrComHandler: Sending packet failed" << std::endl;
return returnvalue::FAILED;
}
// Hacky, but the alternatives look bleak. The raw data contains the information we need
// and there are not too many special cases.
if (sendData[0] == TMTC_ACTIONREQ) {
// 1 is a firmware boot request and 7 is a reboot request. For both, no reply is expected.
if (sendData[1] == 7 or sendData[1] == 1) {
return returnvalue::OK;
}
}
{
MutexGuard mg(lock);
state = InternalState::POLL_ONE_REPLY;
}
// Unlock task to perform reply reading.
semaphore.release();
return returnvalue::OK;
}
ReturnValue_t StrComHandler::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
ReturnValue_t StrComHandler::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
return returnvalue::OK;
}
ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
bool replyWasReceived = false;
{
MutexGuard mg(lock);
if (state != InternalState::SLEEPING) {
return BUSY;
}
replyWasReceived = this->replyWasReceived;
}
if (not replyWasReceived) {
*size = 0;
return returnvalue::OK;
}
if (replyResult == returnvalue::OK) {
*buffer = const_cast<uint8_t*>(replyPtr);
*size = replyLen;
}
replyLen = 0;
return replyResult;
}
ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) {
ReturnValue_t result = returnvalue::OK;
#if OBSW_DEBUG_STARTRACKER == 1
ProgressPrinter progressPrinter("Unlock and erase", to - from);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
struct UnlockActionRequest unlockReq;
struct EraseActionRequest eraseReq;
uint32_t size = 0;
for (uint32_t idx = from; idx < to; idx++) {
unlockReq.region = idx;
unlockReq.code = startracker::region_secrets::SECRETS[idx];
prv_arc_pack_unlock_action_req(&unlockReq, cmdBuf.data(), &size);
result = sendAndRead(size, unlockReq.region);
if (result != returnvalue::OK) {
return result;
}
result = checkActionReply(replyLen, "unlocking region");
if (result != returnvalue::OK) {
sif::warning << "StrHelper::unlockAndEraseRegions: Failed to unlock region with id "
<< static_cast<unsigned int>(unlockReq.region) << std::endl;
return result;
}
eraseReq.region = idx;
prv_arc_pack_erase_action_req(&eraseReq, cmdBuf.data(), &size);
result = sendAndRead(size, eraseReq.region);
if (result != returnvalue::OK) {
}
result = checkActionReply(replyLen, "erasing region");
if (result != returnvalue::OK) {
sif::warning << "StrHelper::unlockAndEraseRegions: Failed to erase region with id "
<< static_cast<unsigned int>(eraseReq.region) << std::endl;
return result;
}
#if OBSW_DEBUG_STARTRACKER == 1
progressPrinter.print(idx - from);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
}
return result;
}
ReturnValue_t StrComHandler::handleSerialReception() {
ssize_t bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
static_cast<unsigned int>(recBuf.size()));
if (bytesRead == 0) {
return NO_SERIAL_DATA_READ;
} else if (bytesRead < 0) {
sif::warning << "StrComHandler: read call failed with error [" << errno << ", "
<< strerror(errno) << "]" << std::endl;
return FAILED;
} else if (bytesRead >= static_cast<int>(recBuf.size())) {
sif::error << "StrComHandler: Receive buffer too small for " << bytesRead << " bytes"
<< std::endl;
return FAILED;
} else if (bytesRead > 0) {
if (PACKET_WIRETAPPING) {
sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl;
arrayprinter::print(recBuf.data(), bytesRead);
}
datalinkLayer.feedData(recBuf.data(), bytesRead);
}
return OK;
}
ReturnValue_t StrComHandler::readOneReply(uint32_t failParameter) {
ReturnValue_t result;
uint32_t nextDelayMs = 1;
replyTimeout.resetTimer();
while (true) {
handleSerialReception();
result = datalinkLayer.checkRingBufForFrame(&replyPtr, replyLen);
if (result == returnvalue::OK) {
if (PACKET_WIRETAPPING) {
sif::debug << "Received STR reply frame" << std::endl;
arrayprinter::print(replyPtr, replyLen);
}
return returnvalue::OK;
} else if (result != ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
triggerEvent(STR_HELPER_DEC_ERROR, result, failParameter);
return DECODING_ERROR;
}
if (replyTimeout.hasTimedOut()) {
triggerEvent(STR_COM_REPLY_TIMEOUT, failParameter, replyTimeout.getTimeoutMs());
return RECEPTION_TIMEOUT;
}
TaskFactory::delayTask(nextDelayMs);
if (nextDelayMs < 32) {
nextDelayMs *= 2;
}
}
}
void StrComHandler::resetReplyHandlingState() {
serial::flushRxBuf(serialPort);
datalinkLayer.reset();
}
linux/acs/StrComHandler.h
+380
View File
@@ -0,0 +1,380 @@
#ifndef BSP_Q7S_DEVICES_STRHELPER_H_
#define BSP_Q7S_DEVICES_STRHELPER_H_
#include <mission/acs/str/ArcsecDatalinkLayer.h>
#include <string>
#include "OBSWConfig.h"
#include "mission/acs/str/strHelpers.h"
#ifdef XIPHOS_Q7S
#include "bsp_q7s/fs/SdCardManager.h"
#endif
#include "fsfw/devicehandlers/CookieIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/osal/linux/BinarySemaphore.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw_hal/linux/serial/SerialComIF.h"
/**
* @brief Helper class for the star tracker handler to accelerate large data transfers.
*
* @author J. Meier
*/
class StrComHandler : public SystemObject, public DeviceCommunicationIF, public ExecutableObjectIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
//! [EXPORT] : [COMMENT] SD card specified in path string not mounted
static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(1);
//! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(2);
//! [EXPORT] : [COMMENT] Specified path does not exist
static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(3);
//! [EXPORT] : [COMMENT] Failed to create download image or read flash file
static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(4);
//! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region
static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(5);
//! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address
static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(6);
//! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length
static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(7);
//! [EXPORT] : [COMMENT] Status field in reply signals error
static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(8);
//! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type)
static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(9);
static const ReturnValue_t RECEPTION_TIMEOUT = MAKE_RETURN_CODE(10);
static const ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(11);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER;
//! [EXPORT] : [COMMENT] Image upload failed
static const Event IMAGE_UPLOAD_FAILED = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Image download failed
static const Event IMAGE_DOWNLOAD_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Uploading image to star tracker was successfulop
static const Event IMAGE_UPLOAD_SUCCESSFUL = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Image download was successful
static const Event IMAGE_DOWNLOAD_SUCCESSFUL = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Finished flash write procedure successfully
static const Event FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Finished flash read procedure successfully
static const Event FLASH_READ_SUCCESSFUL = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Flash read procedure failed
static const Event FLASH_READ_FAILED = MAKE_EVENT(6, severity::LOW);
//! [EXPORT] : [COMMENT] Firmware update was successful
static const Event FIRMWARE_UPDATE_SUCCESSFUL = MAKE_EVENT(7, severity::LOW);
//! [EXPORT] : [COMMENT] Firmware update failed
static const Event FIRMWARE_UPDATE_FAILED = MAKE_EVENT(8, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to read communication interface reply data
//! P1: Return code of failed communication interface read call
//! P1: Upload/download position for which the read call failed
static const Event STR_HELPER_READING_REPLY_FAILED = MAKE_EVENT(9, severity::LOW);
//! [EXPORT] : [COMMENT] Unexpected stop of decoding sequence
//! P1: Return code of failed communication interface read call
//! P1: Upload/download position for which the read call failed
static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(10, severity::LOW);
//! [EXPORT] : [COMMENT] Star tracker did not send a valid reply for a certain timeout.
//! P1: Position of upload or download packet for which the packet wa sent. P2: Timeout
static const Event STR_COM_REPLY_TIMEOUT = MAKE_EVENT(11, severity::LOW);
//! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
//! P1: Return value of decoding function
//! P2: Position of upload/download packet, or address of flash write/read request
static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(13, severity::LOW);
//! [EXPORT] : [COMMENT] Position mismatch
//! P1: The expected position and thus the position for which the image upload/download failed
static const Event POSITION_MISMATCH = MAKE_EVENT(14, severity::LOW);
//! [EXPORT] : [COMMENT] Specified file does not exist
//! P1: Internal state of str helper
static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(15, severity::LOW);
//! [EXPORT] : [COMMENT] Sending packet to star tracker failed
//! P1: Return code of communication interface sendMessage function
//! P2: Position of upload/download packet, or address of flash write/read request for which
//! sending failed
static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(16, severity::LOW);
//! [EXPORT] : [COMMENT] Communication interface requesting reply failed
//! P1: Return code of failed request
//! P1: Upload/download position, or address of flash write/read request for which transmission
//! failed
static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(17, severity::LOW);
StrComHandler(object_id_t objectId);
virtual ~StrComHandler();
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
/**
* @brief Starts sequence to upload image to star tracker
*
* @param uploadImage_ Name including absolute path of the image to upload. Must be previously
* transferred to the OBC with the CFDP protocol.
*/
ReturnValue_t startImageUpload(std::string uploadImage_);
/**
* @brief Calling this function initiates the download of an image from the star tracker.
*
* @param path Path where downloaded image will be stored
*/
ReturnValue_t startImageDownload(std::string path);
/**
* @brief Will start the firmware update
*
* @param fullname Full name including absolute path of file containing firmware
* update.
*/
ReturnValue_t startFirmwareUpdate(std::string fullname, startracker::FirmwareTarget target);
/**
* @brief Starts the flash read procedure
*
* @param path Path where file with read flash data will be created
* @param startRegion Region form where to start reading
* @param length Number of bytes to read from flash
*/
ReturnValue_t startFlashRead(std::string path, uint8_t startRegion, uint32_t length);
/**
* @brief Can be used to interrupt a running data transfer.
*/
void stopProcess();
/**
* @brief Changes the dafault name of downloaded images
*/
void setDownloadImageName(std::string filename);
/**
* @brief Sets the name of the file which will be created to store the data read from flash
*/
void setFlashReadFilename(std::string filename);
/**
* @brief Disables timestamp generation when new file is created
*/
void disableTimestamping();
/**
* @brief Enables timestamp generation when new file is created
*/
void enableTimestamping();
private:
//! [EXPORT] : [SKIP]
static constexpr ReturnValue_t NO_SERIAL_DATA_READ = MAKE_RETURN_CODE(128);
// Size of one image part which can be sent per action request
static const size_t SIZE_IMAGE_PART = 1024;
static const uint32_t FLASH_REGION_SIZE = 0x20000;
struct ImageDownload {
static const uint32_t LAST_POSITION = 4096;
};
static const uint32_t MAX_POLLS = 10000;
static const uint8_t ACTION_DATA_OFFSET = 3;
static const uint8_t POS_OFFSET = 3;
static const uint8_t IMAGE_DATA_OFFSET = 6;
static const uint8_t FLASH_READ_DATA_OFFSET = 9;
static const uint8_t REGION_OFFSET = 3;
static const uint8_t ADDRESS_OFFSET = 4;
static const size_t CHUNK_SIZE = 1024;
static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3;
static const uint32_t FLASH_ERASE_DELAY = 500;
enum class InternalState {
SLEEPING,
POLL_ONE_REPLY,
UPLOAD_IMAGE,
DOWNLOAD_IMAGE,
FLASH_READ,
FIRMWARE_UPDATE
};
InternalState state = InternalState::SLEEPING;
ArcsecDatalinkLayer datalinkLayer;
MutexIF *lock;
BinarySemaphore semaphore;
Countdown replyTimeout = Countdown(20);
struct UploadImage {
// Name including absolute path of image to upload
std::string uploadFile;
};
UploadImage uploadImage;
struct DownloadImage {
// Path where the downloaded image will be stored
std::string path;
// Default name of downloaded image, can be changed via command
std::string filename = "image.bin";
};
DownloadImage downloadImage;
struct FlashWrite {
// File which contains data to write when executing the flash write command
std::string fullname;
// The first region to write to
uint8_t firstRegion = 0;
// Maximum region the flash write command is allowed to write to
uint8_t lastRegion = 0;
// Will be set with the flash write command and specifies the start address where to write the
// flash data to
uint32_t address = 0;
};
FlashWrite flashWrite;
struct FlashRead {
// Path where the file containing the read data will be stored
std::string path = "";
// Default name of file containing the data read from flash, can be changed via command
std::string filename = "flashread.bin";
// Will be set with the flash read command
uint8_t startRegion = 0;
// Number of bytes to read from flash
uint32_t size = 0;
};
FlashRead flashRead;
#ifdef XIPHOS_Q7S
SdCardManager *sdcMan = nullptr;
#endif
std::array<uint8_t, startracker::MAX_FRAME_SIZE> cmdBuf{};
std::array<uint8_t, 4096> recBuf{};
bool replyWasReceived = false;
const uint8_t *replyPtr = nullptr;
size_t replyLen = 0;
ReturnValue_t replyResult = returnvalue::OK;
bool terminate = false;
#ifdef EGSE
bool timestamping = false;
#else
bool timestamping = true;
#endif
int serialPort = 0;
struct termios tty = {};
// Queue id of raw data receiver
MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE;
ReturnValue_t initializeInterface(CookieIF *cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
ReturnValue_t handleSerialReception();
/**
* @brief Performs image uploading
*/
ReturnValue_t performImageUpload();
/**
* @brief Performs firmware update
*
* @return returnvalue::OK if successful, otherwise error return value
*/
ReturnValue_t performFirmwareUpdate();
/**
* @brief Performs download of last taken image from the star tracker.
*
* @details Download is split over multiple packets transporting each a maximum of 1024 bytes.
* In case the download of one position fails, the same packet will be again
* requested. If the download of the packet fails CONFIG_MAX_DOWNLOAD_RETRIES times,
* the download will be stopped.
*/
ReturnValue_t performImageDownload();
/**
* @brief Handles flash write procedure
*
* @param ID of first region to write to
*
* @return returnvalue::OK if successful, otherwise returnvalue::FAILED
*/
ReturnValue_t performFlashWrite();
/**
* @brief Sends a sequence of commands to the star tracker to read larger parts from the
* flash memory.
*/
ReturnValue_t performFlashRead();
/**
* @brief Sends packet to the star tracker and reads reply by using the communication
* interface
* @details
* The reply frame is stored in the data link layer helper. A pointer to the start of the frame
* is assigned to the @replyPtr member of this class. The frame length will be assigned to
* the @replyLen member.
* @param size Size of data beforehand written to the commandBuffer
* @param parameter Parameter 2 of trigger event function
*
* @return returnvalue::OK if successful, otherwise returnvalue::FAILED
*/
ReturnValue_t sendAndRead(size_t size, uint32_t parameter);
/**
* @brief Checks the header (type id and status fields) of the action reply
*
* @return returnvalue::OK if reply confirms success of packet transfer, otherwise REUTRN_FAILED
*/
ReturnValue_t checkActionReply(size_t replySize, const char *context);
/**
* @brief Checks the position field in a star tracker upload/download reply.
*
* @param expectedPosition Value of expected position
*
* @return returnvalue::OK if received position matches expected position, otherwise
* returnvalue::FAILED
*/
ReturnValue_t checkReplyPosition(uint32_t expectedPosition);
#ifdef XIPHOS_Q7S
/**
* @brief Checks if a path points to an sd card and whether the SD card is monuted.
*
* @return SD_NOT_MOUNTED id SD card is not mounted, otherwise returnvalue::OK
*/
ReturnValue_t checkPath(std::string name);
#endif
/**
* @brief Unlocks a range of flash regions
*
* @param from First region in range to unlock
* @param to Last region in range to unlock
*
*/
ReturnValue_t unlockAndEraseRegions(uint32_t from, uint32_t to);
/**
* The reply frame is stored in the data link layer helper. A pointer to the start of the frame
* is assigned to the @replyPtr member of this class. The frame length will be assigned to
* the @replyLen member.
* @param failParameter
* @return
*/
ReturnValue_t readOneReply(uint32_t failParameter);
void resetReplyHandlingState();
};
#endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */
linux/acs/SusPolling.cpp
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#include "SusPolling.h"
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <mission/acs/susMax1227Helpers.h>
#include <mission/controller/acs/AcsParameters.h>
#include <mission/tcs/max1227.h>
#include <unistd.h>
using namespace returnvalue;
SusPolling::SusPolling(object_id_t objectId, SpiComIF& spiComIF, GpioIF& gpioIF)
: SystemObject(objectId), spiComIF(spiComIF), gpioIF(gpioIF) {
semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
semaphore->acquire();
ipcLock = MutexFactory::instance()->createMutex();
}
ReturnValue_t SusPolling::performOperation(uint8_t operationCode) {
while (true) {
ipcLock->lockMutex();
state = InternalState::IDLE;
ipcLock->unlockMutex();
semaphore->acquire();
// Give SUS handlers a chance to submit all requests.
TaskFactory::delayTask(2);
{
// Takes 4-5 ms in debug mode.
// Stopwatch watch;
handleSusPolling();
}
// Protection against tardy tasks unlocking the thread again immediately.
TaskFactory::delayTask(20);
}
return OK;
}
ReturnValue_t SusPolling::initialize() { return OK; }
ReturnValue_t SusPolling::initializeInterface(CookieIF* cookie) {
auto* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if (spiCookie == nullptr) {
return FAILED;
}
int susIdx = addressToIndex(spiCookie->getSpiAddress());
if (susIdx < 0) {
return FAILED;
}
susDevs[susIdx].cookie = spiCookie;
return spiComIF.initializeInterface(cookie);
}
ReturnValue_t SusPolling::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
auto* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if (spiCookie == nullptr) {
return FAILED;
}
int susIdx = addressToIndex(spiCookie->getSpiAddress());
if (susIdx < 0) {
return FAILED;
}
if (sendLen != sizeof(acs::SusRequest)) {
return FAILED;
}
const auto* susReq = reinterpret_cast<const acs::SusRequest*>(sendData);
MutexGuard mg(ipcLock);
if (susDevs[susIdx].mode != susReq->mode) {
if (susReq->mode == acs::SimpleSensorMode::NORMAL) {
susDevs[susIdx].performStartup = true;
susDevs[susIdx].replyResult = returnvalue::FAILED;
} else {
susDevs[susIdx].ownReply.cfgWasSet = false;
susDevs[susIdx].ownReply.dataWasSet = false;
// We are off now, but DHB wants a proper reply.
susDevs[susIdx].replyResult = returnvalue::OK;
}
susDevs[susIdx].mode = susReq->mode;
}
if (state == InternalState::IDLE) {
state = InternalState::IS_BUSY;
semaphore->release();
}
return OK;
}
ReturnValue_t SusPolling::getSendSuccess(CookieIF* cookie) { return OK; }
ReturnValue_t SusPolling::requestReceiveMessage(CookieIF* cookie, size_t requestLen) { return OK; }
ReturnValue_t SusPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
auto* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if (spiCookie == nullptr) {
return FAILED;
}
int susIdx = addressToIndex(spiCookie->getSpiAddress());
if (susIdx < 0) {
return FAILED;
}
if (susDevs[susIdx].replyResult != returnvalue::OK) {
return susDevs[susIdx].replyResult;
}
MutexGuard mg(ipcLock);
std::memcpy(&susDevs[susIdx].readerReply, &susDevs[susIdx].ownReply, sizeof(acs::SusReply));
*buffer = reinterpret_cast<uint8_t*>(&susDevs[susIdx].readerReply);
*size = sizeof(acs::SusReply);
return susDevs[susIdx].replyResult;
}
ReturnValue_t SusPolling::handleSusPolling() {
ReturnValue_t result;
acs::SimpleSensorMode modes[12];
bool performStartups[12]{};
bool cfgsWereSet[12]{};
uint8_t idx = 0;
{
MutexGuard mg(ipcLock);
for (idx = 0; idx < 12; idx++) {
modes[idx] = susDevs[idx].mode;
performStartups[idx] = susDevs[idx].performStartup;
}
}
for (idx = 0; idx < 12; idx++) {
if (modes[idx] == acs::SimpleSensorMode::NORMAL) {
if (performStartups[idx]) {
// Startup handling.
cmdBuf[0] = susMax1227::SETUP_INT_CLOKED;
result = spiComIF.sendMessage(susDevs[idx].cookie, cmdBuf.data(), 1);
if (result != OK) {
susDevs[idx].replyResult = result;
continue;
}
MutexGuard mg(ipcLock);
susDevs[idx].ownReply.cfgWasSet = true;
cfgsWereSet[idx] = true;
susDevs[idx].performStartup = true;
}
}
}
for (idx = 0; idx < 12; idx++) {
if (modes[idx] == acs::SimpleSensorMode::NORMAL and cfgsWereSet[idx]) {
// Regular sensor polling.
cmdBuf[0] = max1227::buildResetByte(true);
cmdBuf[1] = susMax1227::CONVERSION;
result = spiComIF.sendMessage(susDevs[idx].cookie, cmdBuf.data(), 2);
if (result != OK) {
susDevs[idx].replyResult = result;
continue;
}
}
}
// Internal conversion time is 3.5 us
usleep(4);
for (idx = 0; idx < 12; idx++) {
if (modes[idx] == acs::SimpleSensorMode::NORMAL and cfgsWereSet[idx]) {
std::memset(cmdBuf.data(), 0, susMax1227::SIZE_READ_INT_CONVERSIONS);
result = spiComIF.sendMessage(susDevs[idx].cookie, cmdBuf.data(),
susMax1227::SIZE_READ_INT_CONVERSIONS);
if (result != OK) {
susDevs[idx].replyResult = result;
continue;
}
result = spiComIF.readReceivedMessage(susDevs[idx].cookie, &rawReply, &dummy);
if (result != OK) {
susDevs[idx].replyResult = result;
continue;
}
MutexGuard mg(ipcLock);
susDevs[idx].ownReply.tempRaw = ((rawReply[0] & 0x0f) << 8) | rawReply[1];
susDevs[idx].replyResult = returnvalue::OK;
for (unsigned chIdx = 0; chIdx < 6; chIdx++) {
susDevs[idx].ownReply.channelsRaw[chIdx] =
(rawReply[chIdx * 2 + 2] << 8) | rawReply[chIdx * 2 + 3];
}
susDevs[idx].ownReply.dataWasSet = true;
}
}
return OK;
}
int SusPolling::addressToIndex(address_t addr) {
switch (addr) {
case (addresses::SUS_0):
return 0;
break;
case (addresses::SUS_1):
return 1;
break;
case (addresses::SUS_2):
return 2;
break;
case (addresses::SUS_3):
return 3;
break;
case (addresses::SUS_4):
return 4;
break;
case (addresses::SUS_5):
return 5;
break;
case (addresses::SUS_6):
return 6;
break;
case (addresses::SUS_7):
return 7;
break;
case (addresses::SUS_8):
return 8;
break;
case (addresses::SUS_9):
return 9;
break;
case (addresses::SUS_10):
return 10;
break;
case (addresses::SUS_11):
return 11;
break;
default: {
return -1;
}
}
}
linux/acs/SusPolling.h
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#ifndef LINUX_DEVICES_SUSPOLLING_H_
#define LINUX_DEVICES_SUSPOLLING_H_
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tasks/SemaphoreIF.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include "devices/addresses.h"
#include "mission/acs/acsBoardPolling.h"
class SusPolling : public SystemObject, public ExecutableObjectIF, public DeviceCommunicationIF {
public:
SusPolling(object_id_t objectId, SpiComIF& spiComIF, GpioIF& gpioIF);
ReturnValue_t performOperation(uint8_t operationCode) override;
ReturnValue_t initialize() override;
private:
enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
struct SusDev {
SpiCookie* cookie = nullptr;
bool performStartup = false;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
ReturnValue_t replyResult = returnvalue::OK;
acs::SusReply ownReply{};
acs::SusReply readerReply{};
};
MutexIF* ipcLock;
SemaphoreIF* semaphore;
uint8_t* rawReply = nullptr;
size_t dummy = 0;
SpiComIF& spiComIF;
GpioIF& gpioIF;
std::array<SusDev, 12> susDevs;
std::array<uint8_t, 32> cmdBuf;
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
ReturnValue_t handleSusPolling();
static int addressToIndex(address_t addr);
};
#endif /* LINUX_DEVICES_SUSPOLLING_H_ */
linux/boardtest/CMakeLists.txt
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target_sources(${OBSW_NAME} PRIVATE LibgpiodTest.cpp I2cTestClass.cpp
SpiTestClass.cpp UartTestClass.cpp)
linux/boardtest/I2cTestClass.cpp
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#include "I2cTestClass.h"
#include <errno.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
#include <linux/i2c-dev.h>
#include <sys/ioctl.h>
#include "fsfw/globalfunctions/arrayprinter.h"
#include "fsfw/serviceinterface.h"
I2cTestClass::I2cTestClass(object_id_t objectId, std::string i2cdev)
: TestTask(objectId), i2cdev(i2cdev) {
mode = TestModes::BPX_BATTERY;
}
ReturnValue_t I2cTestClass::initialize() {
if (mode == TestModes::BPX_BATTERY) {
battInit();
}
return returnvalue::OK;
}
ReturnValue_t I2cTestClass::performPeriodicAction() {
if (mode == TestModes::BPX_BATTERY) {
battPeriodic();
}
return returnvalue::OK;
}
void I2cTestClass::battInit() {
sif::info << "I2cTestClass: BPX Initialization" << std::endl;
UnixFileGuard fileHelper(i2cdev, bpxInfo.fd, O_RDWR, "I2cTestClass::sendMessage");
if (fileHelper.getOpenResult() != returnvalue::OK) {
sif::error << "Opening I2C device" << i2cdev << " failed" << std::endl;
return;
}
if (ioctl(bpxInfo.fd, I2C_SLAVE, bpxInfo.addr) < 0) {
sif::error << "Failed to acquire bus access and/or talk to slave" << std::endl;
}
cmdBuf[0] = bpxBat::PORT_PING;
cmdBuf[1] = 0x42;
sendLen = 2;
ReturnValue_t result = i2cWrite(bpxInfo.fd, cmdBuf.data(), sendLen);
if (result != returnvalue::OK) {
return;
}
// Receive back port, error byte and ping reply
recvLen = 3;
result = i2cRead(bpxInfo.fd, replyBuf.data(), recvLen);
if (result != returnvalue::OK) {
return;
}
sif::info << "Ping reply:" << std::endl;
arrayprinter::print(replyBuf.data(), recvLen);
if (replyBuf[2] != 0x42) {
sif::warning << "Received ping reply not expected value 0x42" << std::endl;
}
}
void I2cTestClass::battPeriodic() {
UnixFileGuard fileHelper(i2cdev, bpxInfo.fd, O_RDWR, "I2cTestClass::sendMessage");
if (fileHelper.getOpenResult() != returnvalue::OK) {
sif::error << "Opening I2C device" << i2cdev << " failed" << std::endl;
return;
}
if (ioctl(bpxInfo.fd, I2C_SLAVE, bpxInfo.addr) < 0) {
sif::error << "Failed to acquire bus access and/or talk to slave" << std::endl;
}
cmdBuf[0] = bpxBat::PORT_GET_HK;
sendLen = 1;
ReturnValue_t result = i2cWrite(bpxInfo.fd, cmdBuf.data(), sendLen);
if (result != returnvalue::OK) {
return;
}
// Receive back HK set
recvLen = 23;
result = i2cRead(bpxInfo.fd, replyBuf.data(), recvLen);
if (result != returnvalue::OK) {
return;
}
sif::info << "HK reply:" << std::endl;
arrayprinter::print(replyBuf.data(), recvLen);
}
ReturnValue_t I2cTestClass::i2cWrite(int fd, uint8_t* data, size_t len) {
if (write(fd, data, len) != static_cast<ssize_t>(len)) {
sif::error << "Failed to write to I2C bus" << std::endl;
sif::error << "Error " << errno << ": " << strerror(errno) << std::endl;
return returnvalue::FAILED;
}
return returnvalue::OK;
}
ReturnValue_t I2cTestClass::i2cRead(int fd, uint8_t* data, size_t len) {
if (read(fd, data, len) != static_cast<ssize_t>(len)) {
sif::error << "Failed to read from I2C bus" << std::endl;
sif::error << "Error " << errno << ": " << strerror(errno) << std::endl;
return returnvalue::FAILED;
}
return returnvalue::OK;
}
linux/boardtest/I2cTestClass.h
+39
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#ifndef LINUX_BOARDTEST_I2CTESTCLASS_H_
#define LINUX_BOARDTEST_I2CTESTCLASS_H_
#include <mission/power/bpxBattDefs.h>
#include <test/TestTask.h>
#include <array>
#include <string>
class I2cTestClass : public TestTask {
public:
I2cTestClass(object_id_t objectId, std::string i2cdev);
ReturnValue_t initialize() override;
ReturnValue_t performPeriodicAction() override;
private:
enum TestModes { NONE, BPX_BATTERY };
struct I2cInfo {
int addr = 0;
int fd = 0;
};
TestModes mode = TestModes::NONE;
void battInit();
void battPeriodic();
I2cInfo bpxInfo = {.addr = 0x07, .fd = 0};
std::string i2cdev;
size_t sendLen = 0;
size_t recvLen = 0;
std::array<uint8_t, 64> cmdBuf = {};
std::array<uint8_t, 64> replyBuf = {};
ReturnValue_t i2cWrite(int fd, uint8_t* data, size_t len);
ReturnValue_t i2cRead(int fd, uint8_t* data, size_t len);
};
#endif /* LINUX_BOARDTEST_I2CTESTCLASS_H_ */
linux/boardtest/LibgpiodTest.cpp
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#include "LibgpiodTest.h"
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/TaskFactory.h>
#include "devices/gpioIds.h"
LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, GpioCookie* gpioCookie)
: TestTask(objectId) {
gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioIfobjectId);
if (gpioInterface == nullptr) {
sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
}
gpioInterface->addGpios(gpioCookie);
testCase = TestCases::BLINK;
}
LibgpiodTest::~LibgpiodTest() {}
ReturnValue_t LibgpiodTest::performPeriodicAction() {
gpio::Levels gpioState;
ReturnValue_t result;
switch (testCase) {
case (TestCases::READ): {
result = gpioInterface->readGpio(gpioIds::TEST_ID_0, gpioState);
if (result != returnvalue::OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl;
return returnvalue::FAILED;
} else {
sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = "
<< static_cast<int>(gpioState) << std::endl;
}
break;
}
case (TestCases::LOOPBACK): {
break;
}
case (TestCases::BLINK): {
result = gpioInterface->readGpio(gpioIds::TEST_ID_0, gpioState);
if (result != returnvalue::OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl;
return returnvalue::FAILED;
}
if (gpioState == gpio::Levels::HIGH) {
result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
if (result != returnvalue::OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO low!"
<< std::endl;
return returnvalue::FAILED;
}
} else if (gpioState == gpio::Levels::LOW) {
result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
if (result != returnvalue::OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO high!"
<< std::endl;
return returnvalue::FAILED;
}
} else {
sif::warning << "LibgpiodTest::performPeriodicAction: Invalid GPIO state" << std::endl;
}
break;
}
default:
sif::debug << "LibgpiodTest::performPeriodicAction: Invalid test case" << std::endl;
break;
}
return returnvalue::OK;
}
ReturnValue_t LibgpiodTest::performOneShotAction() {
gpio::Levels gpioState;
ReturnValue_t result;
switch (testCase) {
case (TestCases::READ): {
break;
}
case (TestCases::BLINK): {
break;
}
case (TestCases::LOOPBACK): {
result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
if (result == returnvalue::OK) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO pulled high successfully for loopback test"
<< std::endl;
} else {
sif::warning << "LibgpiodTest::performOneShotAction: Could not pull GPIO high!"
<< std::endl;
return returnvalue::OK;
}
result = gpioInterface->readGpio(gpioIds::TEST_ID_1, gpioState);
if (result == returnvalue::OK and gpioState == gpio::Levels::HIGH) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO state read successfully and is high"
<< std::endl;
} else {
sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not high!"
<< std::endl;
return returnvalue::OK;
}
result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
if (result == returnvalue::OK) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO pulled low successfully for loopback test"
<< std::endl;
}
result = gpioInterface->readGpio(gpioIds::TEST_ID_1, gpioState);
if (result == returnvalue::OK and gpioState == gpio::Levels::LOW) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO state read successfully and is low"
<< std::endl;
} else {
sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not low!"
<< std::endl;
return returnvalue::OK;
}
break;
}
}
return returnvalue::OK;
}
linux/boardtest/LibgpiodTest.h
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#ifndef TEST_TESTTASKS_LIBGPIODTEST_H_
#define TEST_TESTTASKS_LIBGPIODTEST_H_
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include "test/TestTask.h"
/**
* @brief Test for the GPIO read implementation of the LinuxLibgpioIF.
* @author J. Meier
*/
class LibgpiodTest : public TestTask {
public:
enum TestCases { READ = 0, LOOPBACK = 1, BLINK };
TestCases testCase;
LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, GpioCookie* gpioCookie);
virtual ~LibgpiodTest();
protected:
ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
private:
GpioIF* gpioInterface;
};
#endif /* TEST_TESTTASKS_LIBGPIODTEST_H_ */
linux/boardtest/SpiTestClass.cpp
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#include "SpiTestClass.h"
#include <fcntl.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
#include <fsfw_hal/linux/utility.h>
#include <linux/spi/spidev.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <bitset>
#if defined(XIPHOS_Q7S)
#include "busConf.h"
#endif
#include <mission/tcs/max1227.h>
#include "devices/gpioIds.h"
SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF *gpioIF)
: TestTask(objectId), gpioIF(gpioIF) {
if (gpioIF == nullptr) {
sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
}
testMode = TestModes::MAX1227;
spiTransferStruct[0].rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
setSendBuffer();
}
ReturnValue_t SpiTestClass::performOneShotAction() {
switch (testMode) {
case (TestModes::NONE): {
break;
}
case (TestModes::MGM_LIS3MDL): {
performLis3MdlTest(mgm0Lis3mdlChipSelect);
break;
}
case (TestModes::MGM_RM3100): {
performRm3100Test(mgm1Rm3100ChipSelect);
break;
}
case (TestModes::GYRO_L3GD20H): {
performL3gTest(gyro1L3gd20ChipSelect);
break;
}
case (TestModes::MAX1227): {
performOneShotMax1227Test();
break;
}
}
return returnvalue::OK;
}
ReturnValue_t SpiTestClass::performPeriodicAction() {
switch (testMode) {
case (TestModes::MAX1227): {
performPeriodicMax1227Test();
break;
}
default:
break;
}
return returnvalue::OK;
}
void SpiTestClass::performRm3100Test(uint8_t mgmId) {
/* Configure all SPI chip selects and pull them high */
acsInit();
/* Adapt accordingly */
if (mgmId != mgm1Rm3100ChipSelect and mgmId != mgm3Rm3100ChipSelect) {
sif::warning << "SpiTestClass::performRm3100Test: Invalid MGM ID!" << std::endl;
}
gpioId_t currentGpioId = 0;
uint8_t chipSelectPin = mgmId;
if (chipSelectPin == mgm1Rm3100ChipSelect) {
currentGpioId = gpioIds::MGM_1_RM3100_CS;
} else {
currentGpioId = gpioIds::MGM_3_RM3100_CS;
}
uint32_t rm3100speed = 976'000;
uint8_t rm3100revidReg = 0x36;
spi::SpiModes rm3100mode = spi::SpiModes::MODE_3;
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
#else
std::string deviceName = "/dev/spidev2.0";
#endif
int fileDescriptor = 0;
UnixFileGuard fileHelper(deviceName, fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
if (fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performRm3100Test: File descriptor could not be opened!"
<< std::endl;
return;
}
setSpiSpeedAndMode(fileDescriptor, rm3100mode, rm3100speed);
uint8_t revId = readRegister(fileDescriptor, currentGpioId, rm3100revidReg);
sif::info << "SpiTestClass::performRm3100Test: Revision ID 0b" << std::bitset<8>(revId)
<< std::endl;
/* Write configuration to CMM register */
writeRegister(fileDescriptor, currentGpioId, 0x01, 0x75);
uint8_t cmmRegister = readRm3100Register(fileDescriptor, currentGpioId, 0x01);
sif::info << "SpiTestClass::performRm3100Test: CMM register value: " << std::hex << "0x"
<< static_cast<int>(cmmRegister) << std::dec << std::endl;
/* Read the cycle count registers */
uint8_t cycleCountsRaw[6];
readMultipleRegisters(fileDescriptor, currentGpioId, 0x04, cycleCountsRaw, 6);
uint16_t cycleCountX = cycleCountsRaw[0] << 8 | cycleCountsRaw[1];
uint16_t cycleCountY = cycleCountsRaw[2] << 8 | cycleCountsRaw[3];
uint16_t cycleCountZ = cycleCountsRaw[4] << 8 | cycleCountsRaw[5];
sif::info << "Cycle count X: " << cycleCountX << std::endl;
sif::info << "Cycle count Y: " << cycleCountY << std::endl;
sif::info << "Cycle count z: " << cycleCountZ << std::endl;
writeRegister(fileDescriptor, currentGpioId, 0x0B, 0x96);
uint8_t tmrcReg = readRm3100Register(fileDescriptor, currentGpioId, 0x0B);
sif::info << "SpiTestClass::performRm3100Test: TMRC register value: " << std::hex << "0x"
<< static_cast<int>(tmrcReg) << std::dec << std::endl;
TaskFactory::delayTask(10);
uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
sif::info << "SpiTestClass::performRm3100Test: Status Register 0b" << std::bitset<8>(statusReg)
<< std::endl;
/* This means that data is not ready */
if ((statusReg & 0b1000'0000) == 0) {
sif::warning << "SpiTestClass::performRm3100Test: Data not ready!" << std::endl;
TaskFactory::delayTask(10);
statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
if ((statusReg & 0b1000'0000) == 0) {
return;
}
}
uint32_t rm3100DefaultCycleCout = 0xC8;
/* Gain scales lineary with cycle count and is 38 for cycle count 100 */
float rm3100Gain = rm3100DefaultCycleCout / 100.0 * 38.0;
float scaleFactor = 1 / rm3100Gain;
uint8_t rawValues[9];
readMultipleRegisters(fileDescriptor, currentGpioId, 0x24, rawValues, 9);
/* The sensor generates 24 bit signed values */
int32_t rawX = ((rawValues[0] << 24) | (rawValues[1] << 16) | (rawValues[2] << 8)) >> 8;
int32_t rawY = ((rawValues[3] << 24) | (rawValues[4] << 16) | (rawValues[5] << 8)) >> 8;
int32_t rawZ = ((rawValues[6] << 24) | (rawValues[7] << 16) | (rawValues[8] << 8)) >> 8;
float fieldStrengthX = rawX * scaleFactor;
float fieldStrengthY = rawY * scaleFactor;
float fieldStrengthZ = rawZ * scaleFactor;
sif::info << "RM3100 measured field strengths in microtesla:" << std::endl;
sif::info << "Field Strength X: " << fieldStrengthX << " uT" << std::endl;
sif::info << "Field Strength Y: " << fieldStrengthY << " uT" << std::endl;
sif::info << "Field Strength Z: " << fieldStrengthZ << " uT" << std::endl;
}
void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
/* Configure all SPI chip selects and pull them high */
acsInit();
/* Adapt accordingly */
if (lis3Id != mgm0Lis3mdlChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
}
gpioId_t currentGpioId = 0;
uint8_t chipSelectPin = lis3Id;
uint8_t whoAmIReg = 0b0000'1111;
uint8_t whoAmIRegExpectedVal = 0b0011'1101;
if (chipSelectPin == mgm0Lis3mdlChipSelect) {
currentGpioId = gpioIds::MGM_0_LIS3_CS;
} else {
currentGpioId = gpioIds::MGM_2_LIS3_CS;
}
uint32_t spiSpeed = 10'000'000;
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
#else
std::string deviceName = "/dev/spidev2.0";
#endif
int fileDescriptor = 0;
UnixFileGuard fileHelper(deviceName, fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
if (fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
<< std::endl;
return;
}
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
spiTransferStruct[0].delay_usecs = 0;
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b"
<< std::bitset<8>(whoAmIRegVal) << std::endl;
if (whoAmIRegVal != whoAmIRegExpectedVal) {
sif::warning << "SpiTestClass::performLis3MdlTest: WHO AM I register invalid!" << std::endl;
}
}
void SpiTestClass::performL3gTest(uint8_t l3gId) {
/* Configure all SPI chip selects and pull them high */
acsInit();
gpioId_t currentGpioId = 0;
uint8_t chipSelectPin = l3gId;
uint8_t whoAmIReg = 0b0000'1111;
uint8_t whoAmIRegExpectedVal = 0b1101'0111;
if (chipSelectPin == gyro1L3gd20ChipSelect) {
currentGpioId = gpioIds::GYRO_1_L3G_CS;
} else {
currentGpioId = gpioIds::GYRO_3_L3G_CS;
}
uint32_t spiSpeed = 3'900'000;
spi::SpiModes spiMode = spi::SpiModes::MODE_3;
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
#else
std::string deviceName = "/dev/spidev2.0";
#endif
int fileDescriptor = 0;
UnixFileGuard fileHelper(deviceName, fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
if (fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
<< std::endl;
return;
}
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b"
<< std::bitset<8>(whoAmIRegVal) << std::endl;
if (whoAmIRegVal != whoAmIRegExpectedVal) {
sif::warning << "SpiTestClass::performL3gTest: Read WHO AM I register invalid!" << std::endl;
}
uint8_t ctrlReg1Addr = 0b0010'0000;
{
uint8_t commandRegs[5];
commandRegs[0] = 0b0000'1111;
commandRegs[1] = 0x0;
commandRegs[2] = 0x0;
/* Configure big endian data format */
commandRegs[3] = 0b0100'0000;
commandRegs[4] = 0x0;
writeMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, commandRegs,
sizeof(commandRegs));
uint8_t readRegs[5];
readMultipleRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readRegs, sizeof(readRegs));
for (uint8_t idx = 0; idx < sizeof(readRegs); idx++) {
if (readRegs[idx] != commandRegs[0]) {
sif::warning << "SpiTestClass::performL3gTest: Read control register "
<< static_cast<int>(idx + 1) << " not equal to configured value" << std::endl;
}
}
}
uint8_t readOutBuffer[14];
readMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readOutBuffer,
sizeof(readOutBuffer));
uint8_t statusReg = readOutBuffer[7];
sif::info << "SpiTestClass::performL3gTest: Status Register 0b" << std::bitset<8>(statusReg)
<< std::endl;
uint16_t l3gRange = 245;
float scaleFactor = static_cast<float>(l3gRange) / INT16_MAX;
/* The sensor spits out little endian */
int16_t angVelocRawX = (readOutBuffer[8] << 8) | readOutBuffer[9];
int16_t angVelocRawY = (readOutBuffer[10] << 8) | readOutBuffer[11];
int16_t angVelocRawZ = (readOutBuffer[12] << 8) | readOutBuffer[13];
float angVelocX = scaleFactor * angVelocRawX;
float angVelocY = scaleFactor * angVelocRawY;
float angVelocZ = scaleFactor * angVelocRawZ;
sif::info << "Angular velocities for the L3GD20H in degrees per second:" << std::endl;
sif::info << "X: " << angVelocX << std::endl;
sif::info << "Y: " << angVelocY << std::endl;
sif::info << "Z: " << angVelocZ << std::endl;
}
void SpiTestClass::performOneShotMax1227Test() {
using namespace max1227;
adcCfg.testRadSensorExtConvWithDelay = false;
adcCfg.testRadSensorIntConv = false;
bool setAllSusOn = false;
bool susIntConv = false;
bool susExtConv = false;
if (setAllSusOn) {
for (uint8_t idx = 0; idx < 12; idx++) {
adcCfg.testSus[idx].doTest = true;
}
} else {
for (uint8_t idx = 0; idx < 12; idx++) {
adcCfg.testSus[idx].doTest = false;
}
}
if (susIntConv) {
for (uint8_t idx = 0; idx < 12; idx++) {
adcCfg.testSus[idx].intConv = true;
}
}
if (susExtConv) {
for (uint8_t idx = 0; idx < 12; idx++) {
adcCfg.testSus[idx].extConv = true;
}
}
adcCfg.plPcduAdcExtConv = true;
adcCfg.plPcduAdcIntConv = false;
// Is problematic, don't know why
adcCfg.plPcduAdcExtConvAsOne = false;
performMax1227Test();
}
void SpiTestClass::performPeriodicMax1227Test() {
using namespace max1227;
performMax1227Test();
}
void SpiTestClass::performMax1227Test() {
std::string deviceName = "";
#ifdef XIPHOS_Q7S
deviceName = q7s::SPI_DEFAULT_DEV;
#elif defined(RASPBERRY_PI)
#elif defined(EGSE)
#elif defined(TE0720_1CFA)
#endif
int fd = 0;
UnixFileGuard fileHelper(deviceName, fd, O_RDWR, "SpiComIF::initializeInterface");
if (fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
<< std::endl;
return;
}
uint32_t spiSpeed = 976'000;
spi::SpiModes spiMode = spi::SpiModes::MODE_3;
setSpiSpeedAndMode(fd, spiMode, spiSpeed);
max1227RadSensorTest(fd);
int idx = 0;
bool firstTest = true;
for (auto &susCfg : adcCfg.testSus) {
if (susCfg.doTest) {
if (firstTest) {
firstTest = false;
sif::info << "---------- SUS ADC Values -----------" << std::endl;
}
sif::info << "SUS " << std::setw(2) << idx << ": ";
max1227SusTest(fd, susCfg);
}
idx++;
}
max1227PlPcduTest(fd);
}
void SpiTestClass::max1227RadSensorTest(int fd) {
using namespace max1227;
if (adcCfg.testRadSensorExtConvWithDelay) {
sendBuffer[0] = max1227::buildResetByte(true);
spiTransferStruct[0].len = 1;
transfer(fd, gpioIds::CS_RAD_SENSOR);
usleep(200);
sendBuffer[0] = max1227::buildSetupByte(ClkSel::EXT_CONV_EXT_TIMED, RefSel::INT_REF_WITH_WAKEUP,
DiffSel::NONE_0);
spiTransferStruct[0].len = 1;
transfer(fd, gpioIds::CS_RAD_SENSOR);
size_t tmpSz = spiTransferStruct[0].len;
max1227::prepareExternallyClockedRead0ToN(sendBuffer.data(), 7, tmpSz);
size_t tmpLen = tmpSz;
spiTransferStruct[0].len = 1;
transfer(fd, gpioIds::CS_RAD_SENSOR);
std::memcpy(sendBuffer.data(), sendBuffer.data() + 1, tmpLen - 1);
spiTransferStruct[0].len = tmpLen - 1;
usleep(65);
transfer(fd, gpioIds::CS_RAD_SENSOR);
arrayprinter::print(recvBuffer.data(), 13, OutputType::HEX);
uint16_t adcRaw[8] = {};
adcRaw[0] = (recvBuffer[0] << 8) | recvBuffer[1];
adcRaw[1] = (recvBuffer[2] << 8) | recvBuffer[3];
adcRaw[2] = (recvBuffer[4] << 8) | recvBuffer[5];
adcRaw[3] = (recvBuffer[6] << 8) | recvBuffer[7];
adcRaw[4] = (recvBuffer[8] << 8) | recvBuffer[9];
adcRaw[5] = (recvBuffer[10] << 8) | recvBuffer[11];
adcRaw[6] = (recvBuffer[12] << 8) | recvBuffer[13];
adcRaw[7] = (recvBuffer[14] << 8) | recvBuffer[15];
arrayprinter::print(recvBuffer.data(), 17, OutputType::HEX);
for (int idx = 0; idx < 8; idx++) {
sif::info << "ADC raw " << idx << ": " << adcRaw[idx] << std::endl;
}
tmpSz = spiTransferStruct[0].len;
max1227::prepareExternallyClockedTemperatureRead(sendBuffer.data(), tmpSz);
spiTransferStruct[0].len = 1;
transfer(fd, gpioIds::CS_RAD_SENSOR);
usleep(65);
spiTransferStruct[0].len = 24;
std::memmove(sendBuffer.data(), sendBuffer.data() + 1, 24);
transfer(fd, gpioIds::CS_RAD_SENSOR);
int16_t tempRaw = ((recvBuffer[22] & 0x0f) << 8) | recvBuffer[23];
float temp = max1227::getTemperature(tempRaw);
sif::info << "Temperature: " << temp << std::endl;
}
if (adcCfg.testRadSensorIntConv) {
sendBuffer[0] = max1227::buildResetByte(false);
spiTransferStruct[0].len = 1;
transfer(fd, gpioIds::CS_RAD_SENSOR);
usleep(5);
// Now use internal conversion
sendBuffer[0] = max1227::buildSetupByte(ClkSel::INT_CONV_INT_TIMED_CNVST_AS_AIN,
RefSel::INT_REF_NO_WAKEUP, DiffSel::NONE_0);
spiTransferStruct[0].len = 1;
transfer(fd, gpioIds::CS_RAD_SENSOR);
usleep(10);
sendBuffer[0] = buildConvByte(ScanModes::CHANNELS_0_TO_N, 7, true);
spiTransferStruct[0].len = 1;
transfer(fd, gpioIds::CS_RAD_SENSOR);
usleep(65);
spiTransferStruct[0].len = 18;
// Shift out zeros
shiftOutZeros();
transfer(fd, gpioIds::CS_RAD_SENSOR);
setSendBuffer();
arrayprinter::print(recvBuffer.data(), 14);
uint16_t adcRaw[8] = {};
int16_t tempRaw = ((recvBuffer[0] & 0x0f) << 8) | recvBuffer[1];
sif::info << "Temperature: " << tempRaw * 0.125 << " C" << std::endl;
adcRaw[0] = (recvBuffer[2] << 8) | recvBuffer[3];
adcRaw[1] = (recvBuffer[4] << 8) | recvBuffer[5];
adcRaw[2] = (recvBuffer[6] << 8) | recvBuffer[7];
adcRaw[3] = (recvBuffer[8] << 8) | recvBuffer[9];
adcRaw[4] = (recvBuffer[10] << 8) | recvBuffer[11];
adcRaw[5] = (recvBuffer[12] << 8) | recvBuffer[13];
adcRaw[6] = (recvBuffer[14] << 8) | recvBuffer[15];
adcRaw[7] = (recvBuffer[16] << 8) | recvBuffer[17];
for (int idx = 0; idx < 8; idx++) {
sif::info << "ADC raw " << idx << ": " << adcRaw[idx] << std::endl;
}
}
}
void SpiTestClass::max1227SusTest(int fd, SusTestCfg &cfg) {
using namespace max1227;
if (cfg.extConv) {
sendBuffer[0] = max1227::buildResetByte(false);
spiTransferStruct[0].len = 1;
transfer(fd, cfg.gpioId);
usleep(65);
sendBuffer[0] = max1227::buildSetupByte(ClkSel::EXT_CONV_EXT_TIMED, RefSel::INT_REF_NO_WAKEUP,
DiffSel::NONE_0);
spiTransferStruct[0].len = 1;
transfer(fd, cfg.gpioId);
size_t tmpSz = spiTransferStruct[0].len;
max1227::prepareExternallyClockedRead0ToN(sendBuffer.data(), 5, tmpSz);
transfer(fd, cfg.gpioId);
uint16_t adcRaw[6] = {};
adcRaw[0] = (recvBuffer[1] << 8) | recvBuffer[2];
adcRaw[1] = (recvBuffer[3] << 8) | recvBuffer[4];
adcRaw[2] = (recvBuffer[5] << 8) | recvBuffer[6];
adcRaw[3] = (recvBuffer[7] << 8) | recvBuffer[8];
adcRaw[4] = (recvBuffer[9] << 8) | recvBuffer[10];
adcRaw[5] = (recvBuffer[11] << 8) | recvBuffer[12];
sif::info << "Ext Conv [" << std::hex << std::setw(3);
for (int idx = 0; idx < 5; idx++) {
sif::info << adcRaw[idx];
if (idx < 6) {
sif::info << ",";
}
}
sif::info << std::dec << "]" << std::endl; // | Temperature: " << temp << " C" << std::endl;
}
if (cfg.intConv) {
sendBuffer[0] = max1227::buildResetByte(false);
spiTransferStruct[0].len = 1;
transfer(fd, cfg.gpioId);
usleep(65);
// Now use internal conversion
sendBuffer[0] = max1227::buildSetupByte(ClkSel::INT_CONV_INT_TIMED_CNVST_AS_AIN,
RefSel::INT_REF_NO_WAKEUP, DiffSel::NONE_0);
spiTransferStruct[0].len = 1;
transfer(fd, cfg.gpioId);
usleep(10);
sendBuffer[0] = buildConvByte(ScanModes::CHANNELS_0_TO_N, 5, true);
spiTransferStruct[0].len = 1;
transfer(fd, cfg.gpioId);
usleep(65);
spiTransferStruct[0].len = 14;
// Shift out zeros
shiftOutZeros();
transfer(fd, cfg.gpioId);
setSendBuffer();
// arrayprinter::print(recvBuffer.data(), 14);
float temp = static_cast<int16_t>(((recvBuffer[0] & 0x0f) << 8) | recvBuffer[1]) * 0.125;
uint16_t adcRaw[6] = {};
adcRaw[0] = (recvBuffer[2] << 8) | recvBuffer[3];
adcRaw[1] = (recvBuffer[4] << 8) | recvBuffer[5];
adcRaw[2] = (recvBuffer[6] << 8) | recvBuffer[7];
adcRaw[3] = (recvBuffer[8] << 8) | recvBuffer[9];
adcRaw[4] = (recvBuffer[10] << 8) | recvBuffer[11];
adcRaw[5] = (recvBuffer[12] << 8) | recvBuffer[13];
sif::info << "Int Conv [" << std::hex << std::setw(3);
for (int idx = 0; idx < 6; idx++) {
sif::info << adcRaw[idx];
if (idx < 5) {
sif::info << ",";
}
}
sif::info << std::dec << "] | T[C] " << temp << std::endl;
}
}
void SpiTestClass::max1227PlPcduTest(int fd) {
using namespace max1227;
if ((adcCfg.plPcduAdcExtConv or adcCfg.plPcduAdcIntConv or adcCfg.plPcduAdcExtConvAsOne) and
adcCfg.vbatSwitch) {
// This enables the ADC
ReturnValue_t result = gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT0);
if (result != returnvalue::OK) {
return;
}
result = gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1);
if (result != returnvalue::OK) {
return;
}
adcCfg.vbatSwitch = false;
// Takes a bit of time until the ADC is usable
TaskFactory::delayTask(50);
sendBuffer[0] = max1227::buildResetByte(false);
spiTransferStruct[0].len = 1;
transfer(fd, gpioIds::PLPCDU_ADC_CS);
}
if (adcCfg.plPcduAdcExtConv) {
sendBuffer[0] = max1227::buildSetupByte(ClkSel::EXT_CONV_EXT_TIMED, RefSel::INT_REF_NO_WAKEUP,
DiffSel::NONE_0);
spiTransferStruct[0].len = 1;
transfer(fd, gpioIds::PLPCDU_ADC_CS);
uint8_t n = 11;
size_t tmpSz = spiTransferStruct[0].len;
max1227::prepareExternallyClockedRead0ToN(sendBuffer.data(), n, tmpSz);
spiTransferStruct[0].len = tmpSz;
size_t dummy = 0;
max1227::prepareExternallyClockedTemperatureRead(sendBuffer.data() + spiTransferStruct[0].len,
dummy);
// + 1 to account for temp conversion byte
spiTransferStruct[0].len += 1;
transfer(fd, gpioIds::PLPCDU_ADC_CS);
uint16_t adcRaw[n + 1] = {};
for (uint8_t idx = 0; idx < n + 1; idx++) {
adcRaw[idx] = (recvBuffer[idx * 2 + 1] << 8) | recvBuffer[idx * 2 + 2];
}
spiTransferStruct[0].len = 24;
// Shift out zeros
shiftOutZeros();
transfer(fd, gpioIds::PLPCDU_ADC_CS);
setSendBuffer();
int16_t tempRaw = ((recvBuffer[22] & 0x0f) << 8) | recvBuffer[23];
sif::info << "PL PCDU ADC ext conv [" << std::hex << std::setfill('0');
for (int idx = 0; idx < n + 1; idx++) {
sif::info << std::setw(3) << adcRaw[idx];
if (idx < n) {
sif::info << ",";
}
}
sif::info << "]" << std::endl;
sif::info << "Temperature: " << max1227::getTemperature(tempRaw) << " C" << std::endl;
}
if (adcCfg.plPcduAdcExtConvAsOne) {
sendBuffer[0] = max1227::buildSetupByte(ClkSel::EXT_CONV_EXT_TIMED, RefSel::INT_REF_NO_WAKEUP,
DiffSel::NONE_0);
spiTransferStruct[0].len = 1;
transfer(fd, gpioIds::PLPCDU_ADC_CS);
uint8_t n = 11;
size_t tmpLen = spiTransferStruct[0].len;
max1227::prepareExternallyClockedRead0ToN(sendBuffer.data(), n, tmpLen);
max1227::prepareExternallyClockedTemperatureRead(sendBuffer.data() + spiTransferStruct[0].len,
tmpLen);
spiTransferStruct[0].len = tmpLen;
transfer(fd, gpioIds::PLPCDU_ADC_CS);
uint16_t adcRaw[n + 1] = {};
for (uint8_t idx = 0; idx < n + 1; idx++) {
adcRaw[idx] = (recvBuffer[idx * 2 + 1] << 8) | recvBuffer[idx * 2 + 2];
}
int16_t tempRaw = ((recvBuffer[spiTransferStruct[0].len - 2] & 0x0f) << 8) |
recvBuffer[spiTransferStruct[0].len - 1];
sif::info << "PL PCDU ADC ext conv [" << std::hex << std::setfill('0');
for (int idx = 0; idx < n + 1; idx++) {
sif::info << std::setw(3) << adcRaw[idx];
if (idx < n) {
sif::info << ",";
}
}
sif::info << "]" << std::endl;
sif::info << "Temperature: " << max1227::getTemperature(tempRaw) << " C" << std::endl;
}
if (adcCfg.plPcduAdcIntConv) {
sendBuffer[0] = max1227::buildResetByte(true);
spiTransferStruct[0].len = 1;
transfer(fd, gpioIds::PLPCDU_ADC_CS);
// Now use internal conversion
sendBuffer[0] = max1227::buildSetupByte(ClkSel::INT_CONV_INT_TIMED_CNVST_AS_AIN,
RefSel::INT_REF_NO_WAKEUP, DiffSel::NONE_0);
spiTransferStruct[0].len = 1;
transfer(fd, gpioIds::PLPCDU_ADC_CS);
usleep(10);
uint8_t n = 11;
sendBuffer[0] = buildConvByte(ScanModes::CHANNELS_0_TO_N, n, true);
spiTransferStruct[0].len = 1;
transfer(fd, gpioIds::PLPCDU_ADC_CS);
usleep(65);
spiTransferStruct[0].len = 26;
// Shift out zeros
shiftOutZeros();
transfer(fd, gpioIds::PLPCDU_ADC_CS);
setSendBuffer();
uint16_t adcRaw[n + 1] = {};
int16_t tempRaw = ((recvBuffer[0] & 0x0f) << 8) | recvBuffer[1];
sif::info << "PL PCDU ADC int conv [" << std::hex << std::setfill('0');
for (int idx = 0; idx < n + 1; idx++) {
adcRaw[idx] = (recvBuffer[idx * 2 + 2] << 8) | recvBuffer[idx * 2 + 3];
sif::info << std::setw(3) << adcRaw[idx];
if (idx < n) {
sif::info << ",";
}
}
sif::info << "]" << std::endl;
sif::info << "Temperature: " << max1227::getTemperature(tempRaw) << " C" << std::endl;
}
}
void SpiTestClass::acsInit() {
using namespace gpio;
GpioCookie *gpioCookie = new GpioCookie();
#ifdef RASPBERRY_PI
GpiodRegularByChip *gpio = nullptr;
std::string rpiGpioName = "gpiochip0";
gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3", Direction::OUT,
Levels::HIGH);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100", Direction::OUT,
Levels::HIGH);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS", Direction::OUT,
Levels::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G", Direction::OUT,
Levels::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, gyro3L3gd20ChipSelect, "GYRO_2_L3G", Direction::OUT,
Levels::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3", Direction::OUT,
Levels::HIGH);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100", Direction::OUT,
Levels::HIGH);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
#elif defined(XIPHOS_Q7S)
GpiodRegularByLineName *gpio = nullptr;
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, "MGM_0_LIS3", Direction::OUT,
Levels::HIGH);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_1_RM3100", Direction::OUT,
Levels::HIGH);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, "MGM_2_LIS3", Direction::OUT,
Levels::HIGH);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_3_RM3100", Direction::OUT,
Levels::HIGH);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, "GYRO_0_ADIS", Direction::OUT,
Levels::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, "GYRO_1_L3G", Direction::OUT,
Levels::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, "GYRO_2_ADIS", Direction::OUT,
Levels::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, "GYRO_3_L3G", Direction::OUT,
Levels::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
// Enable pins must be pulled low for regular operations
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_0_ENABLE", Direction::OUT,
Levels::LOW);
gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_2_ENABLE", Direction::OUT,
Levels::LOW);
gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
#endif
if (gpioIF != nullptr) {
gpioIF->addGpios(gpioCookie);
}
}
void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
int modeUnix = 0;
switch (mode) {
case (spi::SpiModes::MODE_0): {
modeUnix = SPI_MODE_0;
break;
}
case (spi::SpiModes::MODE_1): {
modeUnix = SPI_MODE_1;
break;
}
case (spi::SpiModes::MODE_2): {
modeUnix = SPI_MODE_2;
break;
}
case (spi::SpiModes::MODE_3): {
modeUnix = SPI_MODE_3;
break;
}
}
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, &modeUnix); // reinterpret_cast<uint8_t*>(&mode));
if (retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
}
retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
if (retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
}
}
void SpiTestClass::writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value) {
spiTransferStruct[0].len = 2;
sendBuffer[0] = reg;
sendBuffer[1] = value;
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if (retval < 0) {
utility::handleIoctlError("SpiTestClass::writeRegister: Write failed");
}
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
}
void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
bool autoIncrement) {
if (autoIncrement) {
reg |= STM_AUTO_INCR_MASK;
}
writeRegister(fd, chipSelect, reg, value);
}
void SpiTestClass::writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
uint8_t *values, size_t len) {
if (values == nullptr) {
return;
}
reg |= STM_AUTO_INCR_MASK;
/* Clear read mask */
reg &= ~STM_READ_MASK;
writeMultipleRegisters(fd, chipSelect, reg, values, len);
}
void SpiTestClass::writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *values,
size_t len) {
if (values == nullptr) {
return;
}
sendBuffer[0] = reg;
std::memcpy(sendBuffer.data() + 1, values, len);
spiTransferStruct[0].len = len + 1;
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if (retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
}
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
}
uint8_t SpiTestClass::readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg) {
return readStmRegister(fd, chipSelect, reg, false);
}
void SpiTestClass::readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
uint8_t *reply, size_t len) {
reg |= STM_AUTO_INCR_MASK;
readMultipleRegisters(fd, chipSelect, reg, reply, len);
}
void SpiTestClass::shiftOutZeros() { spiTransferStruct[0].tx_buf = 0; }
void SpiTestClass::setSendBuffer() {
spiTransferStruct[0].tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
}
void SpiTestClass::readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
size_t len) {
if (reply == nullptr) {
return;
}
spiTransferStruct[0].len = len + 1;
sendBuffer[0] = reg | STM_READ_MASK;
for (uint8_t idx = 0; idx < len; idx++) {
sendBuffer[idx + 1] = 0;
}
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if (retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
}
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
std::memcpy(reply, recvBuffer.data() + 1, len);
}
uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg,
bool autoIncrement) {
reg |= STM_READ_MASK;
if (autoIncrement) {
reg |= STM_AUTO_INCR_MASK;
}
return readRegister(fd, chipSelect, reg);
}
uint8_t SpiTestClass::readRegister(int fd, gpioId_t chipSelect, uint8_t reg) {
spiTransferStruct[0].len = 2;
sendBuffer[0] = reg;
sendBuffer[1] = 0;
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if (retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
}
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
return recvBuffer[1];
}
ReturnValue_t SpiTestClass::transfer(int fd, gpioId_t chipSelect = gpio::NO_GPIO) {
int retval = 0;
ReturnValue_t result = returnvalue::OK;
if (chipSelect != gpio::NO_GPIO) {
result = gpioIF->pullLow(chipSelect);
if (result != returnvalue::OK) {
return result;
}
}
retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if (retval < 0) {
utility::handleIoctlError("SpiTestClass::transfer: ioctl failed");
return returnvalue::FAILED;
}
if (chipSelect != gpio::NO_GPIO) {
result = gpioIF->pullHigh(chipSelect);
if (result != returnvalue::OK) {
return result;
}
}
return returnvalue::OK;
}
linux/boardtest/SpiTestClass.h
+127
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#ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
#define LINUX_BOARDTEST_SPITESTCLASS_H_
#include "OBSWConfig.h"
#ifdef XIPHOS_Q7S
#include "busConf.h"
#endif
#ifdef RASPBERRY_PI
#include <bsp_linux_board/definitions.h>
#endif
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <test/TestTask.h>
#include <vector>
#include "devices/gpioIds.h"
struct SusTestCfg {
SusTestCfg(bool doTest, gpioId_t gpioId) : gpioId(gpioId) {}
bool doTest = false;
const gpioId_t gpioId;
bool intConv = true;
bool extConv = false;
};
struct Max1227TestCfg {
bool testRadSensorExtConvWithDelay = false;
bool testRadSensorIntConv = false;
bool plPcduAdcExtConv = false;
bool plPcduAdcExtConvAsOne = false;
bool plPcduAdcIntConv = false;
bool vbatSwitch = true;
SusTestCfg testSus[12] = {
{false, gpioIds::CS_SUS_0}, {false, gpioIds::CS_SUS_1}, {false, gpioIds::CS_SUS_2},
{false, gpioIds::CS_SUS_3}, {false, gpioIds::CS_SUS_4}, {false, gpioIds::CS_SUS_5},
{false, gpioIds::CS_SUS_6}, {false, gpioIds::CS_SUS_7}, {false, gpioIds::CS_SUS_8},
{false, gpioIds::CS_SUS_9}, {false, gpioIds::CS_SUS_10}, {false, gpioIds::CS_SUS_11},
};
};
class SpiTestClass : public TestTask {
public:
enum TestModes { NONE, MGM_LIS3MDL, MGM_RM3100, GYRO_L3GD20H, MAX1227 };
TestModes testMode;
SpiTestClass(object_id_t objectId, GpioIF* gpioIF);
ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
private:
GpioIF* gpioIF;
Max1227TestCfg adcCfg = {};
std::array<uint8_t, 128> recvBuffer;
std::array<uint8_t, 128> sendBuffer;
struct spi_ioc_transfer spiTransferStruct[6] = {};
void performRm3100Test(uint8_t mgmId);
void performLis3MdlTest(uint8_t lis3Id);
void performL3gTest(uint8_t l3gId);
void performOneShotMax1227Test();
void performPeriodicMax1227Test();
void performMax1227Test();
/* ACS board specific code which pulls all GPIOs high */
void acsInit();
/* ACS board specific variables */
#ifdef RASPBERRY_PI
uint8_t mgm0Lis3mdlChipSelect = gpio::MGM_0_BCM_PIN;
uint8_t mgm1Rm3100ChipSelect = gpio::MGM_1_BCM_PIN;
uint8_t mgm2Lis3mdlChipSelect = gpio::MGM_2_BCM_PIN;
uint8_t mgm3Rm3100ChipSelect = gpio::MGM_3_BCM_PIN;
uint8_t gyro0AdisChipSelect = gpio::GYRO_0_BCM_PIN;
uint8_t gyro1L3gd20ChipSelect = gpio::GYRO_1_BCM_PIN;
uint8_t gyro2AdisChipSelect = gpio::GYRO_2_BCM_PIN;
uint8_t gyro3L3gd20ChipSelect = gpio::GYRO_3_BCM_PIN;
#else
uint8_t mgm0Lis3mdlChipSelect = 0;
uint8_t mgm1Rm3100ChipSelect = 0;
uint8_t gyro0AdisResetLine = 0;
uint8_t gyro0AdisChipSelect = 0;
uint8_t gyro1L3gd20ChipSelect = 0;
uint8_t gyro2L3gd20ChipSelect = 0;
uint8_t mgm2Lis3mdlChipSelect = 0;
uint8_t mgm3Rm3100ChipSelect = 0;
#endif
static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;
static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
void shiftOutZeros();
void setSendBuffer();
void max1227RadSensorTest(int fd);
void max1227SusTest(int fd, SusTestCfg& cfg);
void max1227PlPcduTest(int fd);
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
bool autoIncrement);
void writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
size_t len);
void writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
size_t len);
void writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value);
ReturnValue_t transfer(int fd, gpioId_t chipSelect);
uint8_t readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg);
uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
uint8_t readRegister(int fd, gpioId_t chipSelect, uint8_t reg);
void readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* reply,
size_t len);
void readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* reply, size_t len);
};
#endif /* LINUX_BOARDTEST_SPITESTCLASS_H_ */
linux/boardtest/UartTestClass.cpp
+402
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#include "UartTestClass.h"
#include <errno.h> // Error integer and strerror() function
#include <fcntl.h> // Contains file controls like O_RDWR
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/linux/serial/SerialCookie.h>
#include <linux/payload/ScexDleParser.h>
#include <linux/payload/ScexHelper.h>
#include <linux/payload/ScexUartReader.h>
#include <mission/payload/scexHelpers.h>
#include <unistd.h> // write(), read(), close()
#include <random>
#include <string>
#include "OBSWConfig.h"
#include "eive/objects.h"
#include "fsfw/globalfunctions/CRC.h"
#include "fsfw/globalfunctions/DleEncoder.h"
#include "fsfw/globalfunctions/arrayprinter.h"
#include "fsfw/serviceinterface.h"
#define GPS_REPLY_WIRETAPPING 0
#ifndef RPI_TEST_GPS_HANDLER
#define RPI_TEST_GPS_HANDLER 0
#endif
using namespace returnvalue;
UartTestClass::UartTestClass(object_id_t objectId) : TestTask(objectId) {
mode = TestModes::SCEX;
scexMode = ScexModes::SIMPLE;
// No one-cell and all-cell support implemented yet
currCmd = scex::Cmds::PING;
if (scexMode == ScexModes::SIMPLE) {
auto encodingBuf = new std::array<uint8_t, 4096>;
DleParser::BufPair encodingBufPair{encodingBuf->data(), encodingBuf->size()};
auto decodedBuf = new std::array<uint8_t, 4096>;
DleParser::BufPair decodingBufPair{decodedBuf->data(), decodedBuf->size()};
// TODO: Code changes but this test class has not, might not work like this anymore
dleParser = new ScexDleParser(*(new SimpleRingBuffer(4096, true)), dleEncoder, encodingBufPair,
decodingBufPair);
} else {
reader = new ScexUartReader(objects::SCEX_UART_READER);
}
}
ReturnValue_t UartTestClass::initialize() {
if (mode == TestModes::GPS) {
gpsInit();
} else if (mode == TestModes::SCEX) {
scexInit();
}
return returnvalue::OK;
}
ReturnValue_t UartTestClass::performOneShotAction() { return returnvalue::OK; }
ReturnValue_t UartTestClass::performPeriodicAction() {
if (mode == TestModes::GPS) {
gpsPeriodic();
} else if (mode == TestModes::SCEX) {
scexPeriodic();
}
return returnvalue::OK;
}
void UartTestClass::gpsInit() {
#if RPI_TEST_GPS_HANDLER == 1
int result = lwgps_init(&gpsData);
if (result == 0) {
sif::warning << "UartTestClass::gpsInit: lwgps_init error: " << result << std::endl;
}
/* Get file descriptor */
serialPort = open("/dev/serial0", O_RDWR);
if (serialPort < 0) {
sif::warning << "UartTestClass::gpsInit: open call failed with error [" << errno << ", "
<< strerror(errno) << std::endl;
}
/* Setting up UART parameters */
tty.c_cflag &= ~PARENB; // Clear parity bit
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
tty.c_cflag &= ~CSIZE; // Clear all the size bits
tty.c_cflag |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
// Use canonical mode for GPS device
tty.c_lflag |= ICANON;
tty.c_lflag &= ~ECHO; // Disable echo
tty.c_lflag &= ~ECHOE; // Disable erasure
tty.c_lflag &= ~ECHONL; // Disable new-line echo
tty.c_lflag &= ~ISIG; // Disable interpretation of INTR, QUIT and SUSP
tty.c_iflag &= ~(IXON | IXOFF | IXANY); // Turn off s/w flow ctrl
tty.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR |
ICRNL); // Disable any special handling of received bytes
tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
// Non-blocking mode
tty.c_cc[VTIME] = 0;
tty.c_cc[VMIN] = 0;
cfsetispeed(&tty, B9600);
cfsetospeed(&tty, B9600);
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
sif::warning << "UartTestClass::gpsInit: tcsetattr call failed with error [" << errno << ", "
<< strerror(errno) << std::endl;
;
}
// Flush received and unread data. Those are old NMEA strings which are not relevant anymore
tcflush(serialPort, TCIFLUSH);
#endif
}
void UartTestClass::gpsPeriodic() {
#if RPI_TEST_GPS_HANDLER == 1
int bytesRead = 0;
do {
bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
static_cast<unsigned int>(recBuf.size()));
if (bytesRead < 0) {
sif::warning << "UartTestClass::gpsPeriodic: read call failed with error [" << errno << ", "
<< strerror(errno) << "]" << std::endl;
break;
} else if (bytesRead >= static_cast<int>(recBuf.size())) {
sif::debug << "UartTestClass::gpsPeriodic: "
"recv buffer might not be large enough"
<< std::endl;
} else if (bytesRead > 0) {
// pass data to lwgps for processing
#if GPS_REPLY_WIRETAPPING == 1
sif::info << recBuf.data() << std::endl;
#endif
int result = lwgps_process(&gpsData, recBuf.data(), bytesRead);
if (result == 0) {
sif::warning << "UartTestClass::gpsPeriodic: lwgps_process error" << std::endl;
}
recvCnt++;
if (recvCnt == 6) {
recvCnt = 0;
sif::info << "GPS Data" << std::endl;
// Print messages
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);
}
}
} while (bytesRead > 0);
#endif
}
void UartTestClass::scexInit() {
if (scexMode == ScexModes::SIMPLE) {
scexSimpleInit();
} else {
if (reader == nullptr) {
sif::warning << "UartTestClass::scexInit: Reader invalid" << std::endl;
return;
}
#if defined(RASPBERRY_PI)
std::string devname = "/dev/serial0";
#else
std::string devname = "/dev/ul-scex";
#endif
uartCookie = new SerialCookie(this->getObjectId(), devname, UartBaudRate::RATE_57600, 4096);
reader->setDebugMode(false);
ReturnValue_t result = reader->initializeInterface(uartCookie);
if (result != OK) {
sif::warning << "UartTestClass::scexInit: Initializing SCEX reader "
"UART IF failed"
<< std::endl;
}
}
}
void UartTestClass::scexPeriodic() {
using namespace std;
using namespace scex;
if (scexMode == ScexModes::SIMPLE) {
scexSimplePeriodic();
} else {
if (reader == nullptr) {
return;
}
if (not cmdSent) {
size_t len = 0;
prepareScexCmd(currCmd, false, cmdBuf.data(), &len);
reader->sendMessage(uartCookie, cmdBuf.data(), len);
cmdSent = true;
cmdDone = false;
}
if (cmdSent and not cmdDone) {
uint8_t* decodedPacket = nullptr;
size_t len = 0;
do {
ReturnValue_t result = reader->readReceivedMessage(uartCookie, &decodedPacket, &len);
if (len == 0) {
break;
}
ScexHelper helper;
const uint8_t* helperPtr = decodedPacket;
result = helper.deSerialize(&helperPtr, &len);
if (result == ScexHelper::INVALID_CRC) {
sif::warning << "UartTestClass::scexPeriodic: CRC invalid" << std::endl;
}
sif::info << helper << endl;
// ping
// if ping cmd
if (helper.getCmd() == PING) {
ofstream out("/tmp/scex-ping.bin", ofstream::binary);
if (out.bad()) {
sif::warning << "bad" << std::endl;
}
out << helper;
}
// fram
if (helper.getCmd() == FRAM) {
if (not fileNameSet) {
fileId = random_string(6);
fileName = "/tmp/scex-fram_" + fileId + ".bin";
fileNameSet = true;
}
if (helper.getPacketCounter() == 1) {
// countdown starten
finishCountdown.resetTimer();
ofstream out(fileName,
ofstream::binary); // neues file anlegen
} else {
ofstream out(fileName,
ofstream::binary | ofstream::app); // an bestehendes file appenden
out << helper;
}
if (finishCountdown.hasTimedOut()) {
triggerEvent(scex::EXPERIMENT_TIMEDOUT, currCmd, 0);
reader->finish();
sif::warning << "UartTestClass::scexPeriodic: Reader timeout" << endl;
cmdDone = true;
fileNameSet = false;
}
}
if (helper.getPacketCounter() == helper.getTotalPacketCounter()) {
reader->finish();
sif::info << "UartTestClass::scexPeriodic: Reader is finished" << endl;
cmdDone = true;
fileNameSet = false;
if (helper.getCmd() == scex::Cmds::PING) {
cmdSent = false;
fileNameSet = true; // to not generate everytime new file
}
}
} while (len > 0);
}
}
}
void UartTestClass::scexSimpleInit() {
#if defined(RASPBERRY_PI)
std::string devname = "/dev/serial0";
#else
std::string devname = "/dev/ul-scex";
#endif
/* Get file descriptor */
serialPort = open(devname.c_str(), O_RDWR);
if (serialPort < 0) {
sif::warning << "UartTestClass::scexSimpleInit: Open call failed with error [" << errno << ", "
<< strerror(errno) << std::endl;
return;
}
// Setting up UART parameters
tty.c_cflag &= ~PARENB; // Clear parity bit
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
tty.c_cflag &= ~CSIZE; // Clear all the size bits
tty.c_cflag |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
// Use non-canonical mode and clear echo flag
tty.c_lflag &= ~(ICANON | ECHO);
// Non-blocking mode, read until either line is 0.1 second idle or maximum of 255 bytes are
// received in one go
tty.c_cc[VTIME] = 0; // In units of 0.1 seconds
tty.c_cc[VMIN] = 0; // Read up to 255 bytes
// Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
#if !defined(XIPHOS_Q7S)
if (cfsetispeed(&tty, B57600) != 0) {
sif::warning << "UartTestClass::scexSimpleInit: Setting baud rate failed" << std::endl;
}
#endif
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
sif::warning << "UartTestClass::scexSimpleInit: tcsetattr call failed with error [" << errno
<< ", " << strerror(errno) << std::endl;
}
// Flush received and unread data
tcflush(serialPort, TCIOFLUSH);
}
void UartTestClass::scexSimplePeriodic() {
using namespace scex;
ReturnValue_t result = OK;
if (not cmdSent) {
// Flush received and unread data
tcflush(serialPort, TCIFLUSH);
uint8_t tmpCmdBuf[32] = {};
size_t len = 0;
sif::info << "UartTestClass::scexSimplePeriodic: Sending command to SCEX" << std::endl;
prepareScexCmd(currCmd, false, tmpCmdBuf, &len);
result = dleEncoder.encode(tmpCmdBuf, len, cmdBuf.data(), cmdBuf.size(), &encodedLen, true);
if (result != OK) {
sif::warning << "UartTestClass::scexSimplePeriodic: Encoding failed" << std::endl;
return;
}
if (result != 0) {
return;
};
size_t bytesWritten = write(serialPort, cmdBuf.data(), encodedLen);
if (bytesWritten != encodedLen) {
sif::warning
<< "UartTestClass::scexSimplePeriodic: Sending command to solar experiment failed"
<< std::endl;
}
cmdSent = true;
cmdDone = false;
}
if (not cmdDone) {
// Read back reply immediately
int bytesRead = 0;
do {
bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
static_cast<unsigned int>(recBuf.size()));
if (bytesRead == 0) {
sif::warning << "UartTestClass::scexSimplePeriodic: Reading SCEX: Timeout or no bytes read"
<< std::endl;
} else if (bytesRead < 0) {
sif::warning << "UartTestClass::scexSimplePeriodic: read call failed with error [" << errno
<< ", " << strerror(errno) << "]" << std::endl;
break;
} else if (bytesRead >= static_cast<int>(recBuf.size())) {
sif::debug << "UartTestClass::scexSimplePeriodic: recv buffer might not be large "
"enough, bytes read:"
<< bytesRead << std::endl;
} else if (bytesRead > 0) {
dleParser->passData(recBuf.data(), bytesRead);
if (currCmd == Cmds::PING) {
cmdDone = true;
cmdSent = false;
}
}
} while (bytesRead > 0);
}
}
int UartTestClass::prepareScexCmd(scex::Cmds cmd, bool tempCheck, uint8_t* cmdBuf, size_t* len) {
using namespace scex;
// Send command
cmdBuf[0] = scex::createCmdByte(cmd, false);
// These two fields are the packet counter and the total packet count. Those are 1 and 1 for each
// telecommand so far
cmdBuf[1] = 1;
cmdBuf[2] = 1;
uint16_t userDataLen = 0;
cmdBuf[3] = (userDataLen >> 8) & 0xff;
cmdBuf[4] = userDataLen & 0xff;
uint16_t crc = CRC::crc16ccitt(cmdBuf, 5);
cmdBuf[5] = (crc >> 8) & 0xff;
cmdBuf[6] = crc & 0xff;
*len = 7;
return 0;
}
void UartTestClass::handleFoundDlePacket(uint8_t* packet, size_t len) {
sif::info << "UartTestClass::handleFoundDlePacket: Detected DLE encoded packet with decoded size "
<< len << std::endl;
}
std::string UartTestClass::random_string(std::string::size_type length) {
static auto& chrs =
"0123456789"
"abcdefghijklmnopqrstuvwxyz"
"ABCDEFGHIJKLMNOPQRSTUVWXYZ";
thread_local static std::mt19937 rg{std::random_device{}()};
thread_local static std::uniform_int_distribution<std::string::size_type> pick(0,
sizeof(chrs) - 2);
std::string s;
s.reserve(length);
while (length--) s += chrs[pick(rg)];
return s;
}
linux/boardtest/UartTestClass.h
+74
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#ifndef LINUX_BOARDTEST_UARTTESTCLASS_H_
#define LINUX_BOARDTEST_UARTTESTCLASS_H_
#include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/globalfunctions/DleEncoder.h>
#include <fsfw/globalfunctions/DleParser.h>
#include <fsfw/timemanager/Countdown.h>
#include <fsfw_hal/linux/serial/SerialCookie.h>
#include <mission/payload/scexHelpers.h>
#include <termios.h> // Contains POSIX terminal control definitions
#include <array>
// #include "lwgps/lwgps.h"
#include "test/TestTask.h"
class ScexUartReader;
class ScexDleParser;
class UartTestClass : public TestTask {
public:
UartTestClass(object_id_t objectId);
ReturnValue_t initialize() override;
ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
private:
enum TestModes {
GPS,
// Solar Cell Experiment
SCEX
};
enum ScexModes { SIMPLE, READER_TASK } scexMode;
void gpsInit();
void gpsPeriodic();
void scexInit();
void scexPeriodic();
int prepareScexCmd(scex::Cmds cmd, bool tempCheck, uint8_t* cmdBuf, size_t* len);
void scexSimplePeriodic();
void scexSimpleInit();
static void foundDlePacketHandler(const DleParser::Context& ctx);
void handleFoundDlePacket(uint8_t* packet, size_t len);
std::string random_string(std::string::size_type length);
std::string fileId = "";
std::string fileName = "";
bool fileNameSet = false;
Countdown finishCountdown = Countdown(180 * 1000);
bool cmdSent = false;
bool cmdDone = false;
scex::Cmds currCmd = scex::Cmds::PING;
TestModes mode = TestModes::GPS;
DleEncoder dleEncoder = DleEncoder();
SerialCookie* uartCookie = nullptr;
size_t encodedLen = 0;
// lwgps_t gpsData = {};
struct termios tty = {};
int serialPort = 0;
bool startFound = false;
ScexUartReader* reader = nullptr;
std::array<uint8_t, 64> cmdBuf = {};
std::array<uint8_t, 4096> recBuf = {};
ScexDleParser* dleParser;
scex::Cmds cmdHelper = scex::Cmds::INVALID;
uint8_t recvCnt = 0;
};
#endif /* LINUX_BOARDTEST_UARTTESTCLASS_H_ */
linux/callbacks/CMakeLists.txt
+1
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@@ -0,0 +1 @@
target_sources(${OBSW_NAME} PRIVATE gpioCallbacks.cpp)
linux/callbacks/gpioCallbacks.cpp
+431
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@@ -0,0 +1,431 @@
#include "gpioCallbacks.h"
#include "devices/gpioIds.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
void gpioCallbacks::spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp,
gpio::Levels value, void* args) {
GpioIF* gpioIF = reinterpret_cast<GpioIF*>(args);
if (gpioIF == nullptr) {
sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder "
<< "to specify gpioComIF" << std::endl;
return;
}
/* Reading is not supported by the callback function */
if (gpioOp == gpio::GpioOperation::READ) {
return;
}
if (value == gpio::Levels::HIGH) {
switch (gpioId) {
case (gpioIds::RTD_IC_0): {
disableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_1): {
disableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_2): {
disableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_3): {
disableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_4): {
disableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_5): {
disableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_6): {
disableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_7): {
disableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_8): {
disableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_9): {
disableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_10): {
disableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_11): {
disableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_12): {
disableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_13): {
disableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_14): {
disableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_15): {
disableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::CS_SUS_0): {
disableDecoderInterfaceBoardIc1(gpioIF);
break;
}
case (gpioIds::CS_SUS_1): {
disableDecoderInterfaceBoardIc1(gpioIF);
break;
}
case (gpioIds::CS_SUS_2): {
disableDecoderInterfaceBoardIc1(gpioIF);
break;
}
case (gpioIds::CS_SUS_3): {
disableDecoderInterfaceBoardIc1(gpioIF);
break;
}
case (gpioIds::CS_SUS_4): {
disableDecoderInterfaceBoardIc1(gpioIF);
break;
}
case (gpioIds::CS_SUS_5): {
disableDecoderInterfaceBoardIc1(gpioIF);
break;
}
case (gpioIds::CS_SUS_6): {
disableDecoderInterfaceBoardIc2(gpioIF);
break;
}
case (gpioIds::CS_SUS_7): {
disableDecoderInterfaceBoardIc2(gpioIF);
break;
}
case (gpioIds::CS_SUS_8): {
disableDecoderInterfaceBoardIc2(gpioIF);
break;
}
case (gpioIds::CS_SUS_9): {
disableDecoderInterfaceBoardIc2(gpioIF);
break;
}
case (gpioIds::CS_SUS_10): {
disableDecoderInterfaceBoardIc2(gpioIF);
break;
}
case (gpioIds::CS_SUS_11): {
disableDecoderInterfaceBoardIc2(gpioIF);
break;
}
case (gpioIds::CS_RW1): {
disableRwDecoder(gpioIF);
break;
}
case (gpioIds::CS_RW2): {
disableRwDecoder(gpioIF);
break;
}
case (gpioIds::CS_RW3): {
disableRwDecoder(gpioIF);
break;
}
case (gpioIds::CS_RW4): {
disableRwDecoder(gpioIF);
break;
}
default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
}
} else if (value == gpio::Levels::LOW) {
switch (gpioId) {
case (gpioIds::RTD_IC_0): {
selectY7(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_1): {
selectY6(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_2): {
selectY5(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_3): {
selectY4(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_4): {
selectY3(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_5): {
selectY2(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_6): {
selectY1(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_7): {
selectY0(gpioIF);
enableDecoderTcsIc1(gpioIF);
break;
}
case (gpioIds::RTD_IC_8): {
selectY7(gpioIF);
enableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_9): {
selectY6(gpioIF);
enableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_10): {
selectY5(gpioIF);
enableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_11): {
selectY4(gpioIF);
enableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_12): {
selectY3(gpioIF);
enableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_13): {
selectY2(gpioIF);
enableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_14): {
selectY1(gpioIF);
enableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::RTD_IC_15): {
selectY0(gpioIF);
enableDecoderTcsIc2(gpioIF);
break;
}
case (gpioIds::CS_SUS_0): {
selectY0(gpioIF);
enableDecoderInterfaceBoardIc1(gpioIF);
break;
}
case (gpioIds::CS_SUS_1): {
selectY1(gpioIF);
enableDecoderInterfaceBoardIc1(gpioIF);
break;
}
case (gpioIds::CS_SUS_2): {
selectY2(gpioIF);
enableDecoderInterfaceBoardIc1(gpioIF);
break;
}
case (gpioIds::CS_SUS_3): {
selectY3(gpioIF);
enableDecoderInterfaceBoardIc1(gpioIF);
break;
}
case (gpioIds::CS_SUS_4): {
selectY4(gpioIF);
enableDecoderInterfaceBoardIc1(gpioIF);
break;
}
case (gpioIds::CS_SUS_5): {
selectY5(gpioIF);
enableDecoderInterfaceBoardIc1(gpioIF);
break;
}
case (gpioIds::CS_SUS_6): {
selectY0(gpioIF);
enableDecoderInterfaceBoardIc2(gpioIF);
break;
}
case (gpioIds::CS_SUS_7): {
selectY1(gpioIF);
enableDecoderInterfaceBoardIc2(gpioIF);
break;
}
case (gpioIds::CS_SUS_8): {
selectY2(gpioIF);
enableDecoderInterfaceBoardIc2(gpioIF);
break;
}
case (gpioIds::CS_SUS_9): {
selectY3(gpioIF);
enableDecoderInterfaceBoardIc2(gpioIF);
break;
}
case (gpioIds::CS_SUS_10): {
selectY4(gpioIF);
enableDecoderInterfaceBoardIc2(gpioIF);
break;
}
case (gpioIds::CS_SUS_11): {
selectY5(gpioIF);
enableDecoderInterfaceBoardIc2(gpioIF);
break;
}
case (gpioIds::CS_RW1): {
selectY0(gpioIF);
enableRwDecoder(gpioIF);
break;
}
case (gpioIds::CS_RW2): {
selectY1(gpioIF);
enableRwDecoder(gpioIF);
break;
}
case (gpioIds::CS_RW3): {
selectY2(gpioIF);
enableRwDecoder(gpioIF);
break;
}
case (gpioIds::CS_RW4): {
selectY3(gpioIF);
enableRwDecoder(gpioIF);
break;
}
default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
}
} else {
sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl;
}
}
void gpioCallbacks::enableDecoderTcsIc1(GpioIF* gpioIF) {
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_0);
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
}
void gpioCallbacks::enableDecoderTcsIc2(GpioIF* gpioIF) {
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_0);
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
}
void gpioCallbacks::enableDecoderInterfaceBoardIc1(GpioIF* gpioIF) {
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
}
void gpioCallbacks::enableDecoderInterfaceBoardIc2(GpioIF* gpioIF) {
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_2);
}
void gpioCallbacks::disableDecoderTcsIc1(GpioIF* gpioIF) {
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
}
void gpioCallbacks::disableDecoderTcsIc2(GpioIF* gpioIF) {
// DO NOT CHANGE THE ORDER HERE
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
}
void gpioCallbacks::disableDecoderInterfaceBoardIc1(GpioIF* gpioIF) {
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
}
void gpioCallbacks::disableDecoderInterfaceBoardIc2(GpioIF* gpioIF) {
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
}
void gpioCallbacks::enableRwDecoder(GpioIF* gpioIF) { gpioIF->pullHigh(gpioIds::EN_RW_CS); }
void gpioCallbacks::disableRwDecoder(GpioIF* gpioIF) { gpioIF->pullLow(gpioIds::EN_RW_CS); }
void gpioCallbacks::selectY0(GpioIF* gpioIF) {
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_5);
}
void gpioCallbacks::selectY1(GpioIF* gpioIF) {
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_3);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_5);
}
void gpioCallbacks::selectY2(GpioIF* gpioIF) {
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_5);
}
void gpioCallbacks::selectY3(GpioIF* gpioIF) {
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_3);
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_5);
}
void gpioCallbacks::selectY4(GpioIF* gpioIF) {
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_5);
}
void gpioCallbacks::selectY5(GpioIF* gpioIF) {
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_3);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_5);
}
void gpioCallbacks::selectY6(GpioIF* gpioIF) {
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_5);
}
void gpioCallbacks::selectY7(GpioIF* gpioIF) {
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_3);
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_5);
}
void gpioCallbacks::disableAllDecoder(GpioIF* gpioIF) {
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_0);
gpioIF->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioIF->pullLow(gpioIds::EN_RW_CS);
}
linux/callbacks/gpioCallbacks.h
+66
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@@ -0,0 +1,66 @@
#pragma once
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
class GpioIF;
namespace gpioCallbacks {
/**
* @brief This function implements the decoding to multiply gpios by using the decoder
* chips SN74LVC138APWR on the TCS board and the interface board.
*/
void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
void* args);
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the TCS board which is named to IC1 in the schematic.
*/
void enableDecoderTcsIc1(GpioIF* gpioIF);
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the TCS board which is named to IC2 in the schematic.
*/
void enableDecoderTcsIc2(GpioIF* gpioIF);
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the inteface board board which is named to IC21 in the schematic.
*/
void enableDecoderInterfaceBoardIc1(GpioIF* gpioIF);
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the inteface board board which is named to IC22 in the schematic.
*/
void enableDecoderInterfaceBoardIc2(GpioIF* gpioIF);
void disableDecoderTcsIc1(GpioIF* gpioIF);
void disableDecoderTcsIc2(GpioIF* gpioIF);
void disableDecoderInterfaceBoardIc1(GpioIF* gpioIF);
void disableDecoderInterfaceBoardIc2(GpioIF* gpioIF);
/**
* @brief Enables the reaction wheel chip select decoder (IC3).
*/
void enableRwDecoder(GpioIF* gpioIF);
void disableRwDecoder(GpioIF* gpioIF);
/**
* @brief This function disables all decoder.
*/
void disableAllDecoder(GpioIF* gpioIF);
/** The following functions enable the appropriate channel of the currently enabled decoder */
void selectY0(GpioIF* gpioIF);
void selectY1(GpioIF* gpioIF);
void selectY2(GpioIF* gpioIF);
void selectY3(GpioIF* gpioIF);
void selectY4(GpioIF* gpioIF);
void selectY5(GpioIF* gpioIF);
void selectY6(GpioIF* gpioIF);
void selectY7(GpioIF* gpioIF);
} // namespace gpioCallbacks
linux/com/CMakeLists.txt
+1
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@@ -0,0 +1 @@
target_sources(${OBSW_NAME} PUBLIC SyrlinksComHandler.cpp)
linux/com/SyrlinksComHandler.cpp
+209
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@@ -0,0 +1,209 @@
#include "SyrlinksComHandler.h"
#include <fcntl.h>
#include <fsfw/ipc/MutexGuard.h>
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw_hal/linux/serial/SerialCookie.h>
#include <fsfw_hal/linux/serial/helper.h>
#include <unistd.h>
using namespace returnvalue;
SyrlinksComHandler::SyrlinksComHandler(object_id_t objectId)
: SystemObject(objectId), ringBuf(2048, true) {
lock = MutexFactory::instance()->createMutex();
semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
semaphore->acquire();
}
ReturnValue_t SyrlinksComHandler::performOperation(uint8_t opCode) {
while (true) {
lock->lockMutex();
state = State::SLEEPING;
lock->unlockMutex();
semaphore->acquire();
// Stopwatch watch;
readOneReply();
}
return returnvalue::OK;
}
ReturnValue_t SyrlinksComHandler::initializeInterface(CookieIF *cookie) {
if (cookie == nullptr) {
return returnvalue::FAILED;
}
SerialCookie *serCookie = dynamic_cast<SerialCookie *>(cookie);
if (serCookie == nullptr) {
return DeviceCommunicationIF::INVALID_COOKIE_TYPE;
}
// comCookie = serCookie;
std::string devname = serCookie->getDeviceFile();
/* Get file descriptor */
serialPort = open(devname.c_str(), O_RDWR);
if (serialPort < 0) {
sif::warning << "SyrlinksComHandler: open call failed with error [" << errno << ", "
<< strerror(errno) << std::endl;
return returnvalue::FAILED;
}
// Setting up UART parameters
serial::setStopbits(tty, serCookie->getStopBits());
serial::setParity(tty, serCookie->getParity());
serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
serial::enableRead(tty);
serial::ignoreCtrlLines(tty);
// Use non-canonical mode and clear echo flag
tty.c_lflag &= ~(ICANON | ECHO);
// Non-blocking mode, use polling
tty.c_cc[VTIME] = 0;
tty.c_cc[VMIN] = 0;
serial::setBaudrate(tty, serCookie->getBaudrate());
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error ["
<< errno << ", " << strerror(errno) << std::endl;
}
// Flush received and unread data
tcflush(serialPort, TCIOFLUSH);
return returnvalue::OK;
}
ReturnValue_t SyrlinksComHandler::sendMessage(CookieIF *cookie, const uint8_t *sendData,
size_t sendLen) {
{
MutexGuard mg(lock);
if (state != State::SLEEPING) {
return BUSY;
}
}
serial::flushRxBuf(serialPort);
ssize_t writtenBytes = write(serialPort, sendData, sendLen);
if (writtenBytes != static_cast<ssize_t>(sendLen)) {
sif::warning << "StrComHandler: Sending packet failed" << std::endl;
return returnvalue::FAILED;
}
{
MutexGuard mg(lock);
state = State::ACTIVE;
}
semaphore->release();
return returnvalue::OK;
}
ReturnValue_t SyrlinksComHandler::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
ReturnValue_t SyrlinksComHandler::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
return returnvalue::OK;
}
ReturnValue_t SyrlinksComHandler::handleSerialReception() {
ssize_t bytesRead = read(serialPort, reinterpret_cast<void *>(recBuf.data()),
static_cast<unsigned int>(recBuf.size()));
if (bytesRead == 0) {
return NO_SERIAL_DATA_READ;
} else if (bytesRead < 0) {
sif::warning << "SyrlinksComHandler: read call failed with error [" << errno << ", "
<< strerror(errno) << "]" << std::endl;
return FAILED;
} else if (bytesRead >= static_cast<int>(recBuf.size())) {
sif::error << "SyrlinksComHandler: Receive buffer too small for " << bytesRead << " bytes"
<< std::endl;
return FAILED;
} else if (bytesRead > 0) {
// sif::debug << "Received " << bytesRead << " bytes from the Syrlinks" << std::endl;
// arrayprinter::print(recBuf.data(), bytesRead);
ringBuf.writeData(recBuf.data(), bytesRead);
}
return OK;
}
ReturnValue_t SyrlinksComHandler::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) {
MutexGuard mg(lock);
if (replyResult != returnvalue::OK) {
ReturnValue_t tmp = replyResult;
replyResult = returnvalue::OK;
return tmp;
}
if (replyLen == 0) {
*size = 0;
return returnvalue::OK;
}
*buffer = ipcBuf.data();
*size = replyLen;
replyLen = 0;
return returnvalue::OK;
}
ReturnValue_t SyrlinksComHandler::readOneReply() {
ReturnValue_t result;
uint32_t nextDelayMs = 1;
replyTimeout.resetTimer();
while (true) {
handleSerialReception();
result = tryReadingOneSyrlinksReply();
if (result == returnvalue::OK) {
return returnvalue::OK;
}
if (replyTimeout.hasTimedOut()) {
{
MutexGuard mg(lock);
replyResult = DeviceCommunicationIF::NO_REPLY_RECEIVED;
}
return returnvalue::FAILED;
}
TaskFactory::delayTask(nextDelayMs);
if (nextDelayMs < 32) {
nextDelayMs *= 2;
}
}
}
ReturnValue_t SyrlinksComHandler::tryReadingOneSyrlinksReply() {
size_t bytesToRead = ringBuf.getAvailableReadData();
if (bytesToRead == 0) {
return NO_PACKET_FOUND;
}
bool startMarkerFound = false;
size_t startIdx = 0;
ringBuf.readData(recBuf.data(), bytesToRead);
for (size_t idx = 0; idx < bytesToRead; idx++) {
if (recBuf[idx] == START_MARKER) {
if (startMarkerFound) {
// Probably lost a packet. Discard broken packet.
sif::warning << "SyrlinksComHandler: Detected 2 consecutive start markers" << std::endl;
ringBuf.deleteData(idx);
} else {
startMarkerFound = true;
startIdx = idx;
}
}
if (recBuf[idx] == END_MARKER) {
if (startMarkerFound) {
{
MutexGuard mg(lock);
replyLen = idx - startIdx + 1;
}
// Copy detected packet to IPC buffer so it can be passed back to the device handler.
if (replyLen > ipcBuf.size()) {
sif::error << "SyrlinksComHandler: Detected reply too large" << std::endl;
ringBuf.deleteData(idx);
return returnvalue::FAILED;
}
// sif::debug << "Detected Syrlinks reply with length " << replyLen << std::endl;
std::memcpy(ipcBuf.data(), recBuf.data() + startIdx, replyLen);
ringBuf.deleteData(idx + 1);
return returnvalue::OK;
} else {
// Probably lost a packet. Discard broken packet.
sif::warning << "SyrlinksComHandler: Detected 2 consecutive end markers" << std::endl;
ringBuf.deleteData(idx + 1);
}
}
}
return NO_PACKET_FOUND;
}
linux/com/SyrlinksComHandler.h
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#ifndef LINUX_DEVICES_SYRLINKSCOMHANDLER_H_
#define LINUX_DEVICES_SYRLINKSCOMHANDLER_H_
#include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tasks/SemaphoreIF.h>
#include <termios.h>
class SyrlinksComHandler : public DeviceCommunicationIF,
public ExecutableObjectIF,
public SystemObject {
public:
SyrlinksComHandler(object_id_t objectId);
private:
static constexpr char START_MARKER = '<';
static constexpr char END_MARKER = '>';
//! [EXPORT] : [SKIP]
static constexpr ReturnValue_t NO_SERIAL_DATA_READ = returnvalue::makeCode(2, 0);
//! [EXPORT] : [SKIP]
static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(2, 1);
enum class State { SLEEPING, ACTIVE } state = State::SLEEPING;
MutexIF *lock;
SemaphoreIF *semaphore;
int serialPort = 0;
struct termios tty{};
Countdown replyTimeout = Countdown(2000);
std::array<uint8_t, 2048> recBuf{};
SimpleRingBuffer ringBuf;
std::array<uint8_t, 1024> ipcBuf{};
size_t replyLen = 0;
ReturnValue_t replyResult = returnvalue::OK;
ReturnValue_t handleSerialReception();
ReturnValue_t performOperation(uint8_t opCode) override;
ReturnValue_t initializeInterface(CookieIF *cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
ReturnValue_t readOneReply();
ReturnValue_t tryReadingOneSyrlinksReply();
};
#endif /* LINUX_DEVICES_SYRLINKSCOMHANDLER_H_ */
linux/fsfwconfig/CMakeLists.txt
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target_sources(${OBSW_NAME} PRIVATE ipc/MissionMessageTypes.cpp)
target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
# If a special translation file for object IDs exists, compile it.
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${OBSW_NAME} PRIVATE objects/translateObjects.cpp)
target_sources(${UNITTEST_NAME} PRIVATE objects/translateObjects.cpp)
endif()
# If a special translation file for events exists, compile it.
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
target_sources(${OBSW_NAME} PRIVATE events/translateEvents.cpp)
target_sources(${UNITTEST_NAME} PRIVATE events/translateEvents.cpp)
endif()
linux/fsfwconfig/FSFWConfig.h.in
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#ifndef CONFIG_FSFWCONFIG_H_
#define CONFIG_FSFWCONFIG_H_
#include <cstddef>
#include <cstdint>
// It is assumed the user has a subsystem and class ID list in some user header files.
#include "events/subsystemIdRanges.h"
#include "returnvalues/classIds.h"
//! 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
//! More FSFW related printouts depending on level. Useful for development.
#define FSFW_VERBOSE_LEVEL 1
//! 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
#define FSFW_USE_PUS_C_TELEMETRY 1
#define FSFW_USE_PUS_C_TELECOMMANDS 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
//! and translateEvents (and their compiled source files)
#define FSFW_OBJ_EVENT_TRANSLATION 1
#if FSFW_OBJ_EVENT_TRANSLATION == 1
//! Specify whether info events are printed too.
#define FSFW_DEBUG_INFO @FSFW_DEBUG_INFO@
#include "objects/translateObjects.h"
#include "events/translateEvents.h"
#else
#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 0
//! Specify whether a special mode store is used for Subsystem components.
#define FSFW_USE_MODESTORE 0
//! Defines if the real time scheduler for linux should be used.
//! If set to 0, this will also disable priority settings for linux
//! as most systems will not allow to set nice values without privileges
//! For embedded linux system set this to 1.
//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
#define FSFW_USE_REALTIME_FOR_LINUX 1
namespace fsfwconfig {
//! Default timestamp size. The default timestamp will be an eight byte CDC
//! short timestamp.
static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 7;
//! Configure the allocated pool sizes for the event manager.
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
//! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle
//! 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;
static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
}
#define FSFW_HAL_SPI_WIRETAPPING 0
#define FSFW_HAL_I2C_WIRETAPPING 0
#define FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV 0
#endif /* CONFIG_FSFWCONFIG_H_ */
linux/fsfwconfig/events/subsystemIdRanges.h
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#ifndef FSFWCONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#define FSFWCONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#include <cstdint>
#include "eive/eventSubsystemIds.h"
#include "fsfw/events/fwSubsystemIdRanges.h"
/**
* These IDs are part of the ID for an event thrown by a subsystem.
* Numbers 0-80 are reserved for FSFW Subsystem IDs (framework/events/)
*/
namespace SUBSYSTEM_ID {
enum : uint8_t {
SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END,
};
}
#endif /* FSFWCONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */
linux/fsfwconfig/events/translateEvents.cpp
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/**
* @brief Auto-generated event translation file. Contains 325 translations.
* @details
* Generated on: 2024-05-06 13:47:38
*/
#include "translateEvents.h"
const char *STORE_SEND_WRITE_FAILED_STRING = "STORE_SEND_WRITE_FAILED";
const char *STORE_WRITE_FAILED_STRING = "STORE_WRITE_FAILED";
const char *STORE_SEND_READ_FAILED_STRING = "STORE_SEND_READ_FAILED";
const char *STORE_READ_FAILED_STRING = "STORE_READ_FAILED";
const char *UNEXPECTED_MSG_STRING = "UNEXPECTED_MSG";
const char *STORING_FAILED_STRING = "STORING_FAILED";
const char *TM_DUMP_FAILED_STRING = "TM_DUMP_FAILED";
const char *STORE_INIT_FAILED_STRING = "STORE_INIT_FAILED";
const char *STORE_INIT_EMPTY_STRING = "STORE_INIT_EMPTY";
const char *STORE_CONTENT_CORRUPTED_STRING = "STORE_CONTENT_CORRUPTED";
const char *STORE_INITIALIZE_STRING = "STORE_INITIALIZE";
const char *INIT_DONE_STRING = "INIT_DONE";
const char *DUMP_FINISHED_STRING = "DUMP_FINISHED";
const char *DELETION_FINISHED_STRING = "DELETION_FINISHED";
const char *DELETION_FAILED_STRING = "DELETION_FAILED";
const char *AUTO_CATALOGS_SENDING_FAILED_STRING = "AUTO_CATALOGS_SENDING_FAILED";
const char *GET_DATA_FAILED_STRING = "GET_DATA_FAILED";
const char *STORE_DATA_FAILED_STRING = "STORE_DATA_FAILED";
const char *DEVICE_BUILDING_COMMAND_FAILED_STRING = "DEVICE_BUILDING_COMMAND_FAILED";
const char *DEVICE_SENDING_COMMAND_FAILED_STRING = "DEVICE_SENDING_COMMAND_FAILED";
const char *DEVICE_REQUESTING_REPLY_FAILED_STRING = "DEVICE_REQUESTING_REPLY_FAILED";
const char *DEVICE_READING_REPLY_FAILED_STRING = "DEVICE_READING_REPLY_FAILED";
const char *DEVICE_INTERPRETING_REPLY_FAILED_STRING = "DEVICE_INTERPRETING_REPLY_FAILED";
const char *DEVICE_MISSED_REPLY_STRING = "DEVICE_MISSED_REPLY";
const char *DEVICE_UNKNOWN_REPLY_STRING = "DEVICE_UNKNOWN_REPLY";
const char *DEVICE_UNREQUESTED_REPLY_STRING = "DEVICE_UNREQUESTED_REPLY";
const char *INVALID_DEVICE_COMMAND_STRING = "INVALID_DEVICE_COMMAND";
const char *MONITORING_LIMIT_EXCEEDED_STRING = "MONITORING_LIMIT_EXCEEDED";
const char *MONITORING_AMBIGUOUS_STRING = "MONITORING_AMBIGUOUS";
const char *DEVICE_WANTS_HARD_REBOOT_STRING = "DEVICE_WANTS_HARD_REBOOT";
const char *SWITCH_WENT_OFF_STRING = "SWITCH_WENT_OFF";
const char *FUSE_CURRENT_HIGH_STRING = "FUSE_CURRENT_HIGH";
const char *FUSE_WENT_OFF_STRING = "FUSE_WENT_OFF";
const char *POWER_ABOVE_HIGH_LIMIT_STRING = "POWER_ABOVE_HIGH_LIMIT";
const char *POWER_BELOW_LOW_LIMIT_STRING = "POWER_BELOW_LOW_LIMIT";
const char *HEATER_ON_STRING = "HEATER_ON";
const char *HEATER_OFF_STRING = "HEATER_OFF";
const char *HEATER_TIMEOUT_STRING = "HEATER_TIMEOUT";
const char *HEATER_STAYED_ON_STRING = "HEATER_STAYED_ON";
const char *HEATER_STAYED_OFF_STRING = "HEATER_STAYED_OFF";
const char *TEMP_SENSOR_HIGH_STRING = "TEMP_SENSOR_HIGH";
const char *TEMP_SENSOR_LOW_STRING = "TEMP_SENSOR_LOW";
const char *TEMP_SENSOR_GRADIENT_STRING = "TEMP_SENSOR_GRADIENT";
const char *COMPONENT_TEMP_LOW_STRING = "COMPONENT_TEMP_LOW";
const char *COMPONENT_TEMP_HIGH_STRING = "COMPONENT_TEMP_HIGH";
const char *COMPONENT_TEMP_OOL_LOW_STRING = "COMPONENT_TEMP_OOL_LOW";
const char *COMPONENT_TEMP_OOL_HIGH_STRING = "COMPONENT_TEMP_OOL_HIGH";
const char *TEMP_NOT_IN_OP_RANGE_STRING = "TEMP_NOT_IN_OP_RANGE";
const char *FDIR_CHANGED_STATE_STRING = "FDIR_CHANGED_STATE";
const char *FDIR_STARTS_RECOVERY_STRING = "FDIR_STARTS_RECOVERY";
const char *FDIR_TURNS_OFF_DEVICE_STRING = "FDIR_TURNS_OFF_DEVICE";
const char *MONITOR_CHANGED_STATE_STRING = "MONITOR_CHANGED_STATE";
const char *VALUE_BELOW_LOW_LIMIT_STRING = "VALUE_BELOW_LOW_LIMIT";
const char *VALUE_ABOVE_HIGH_LIMIT_STRING = "VALUE_ABOVE_HIGH_LIMIT";
const char *VALUE_OUT_OF_RANGE_STRING = "VALUE_OUT_OF_RANGE";
const char *CHANGING_MODE_STRING = "CHANGING_MODE";
const char *MODE_INFO_STRING = "MODE_INFO";
const char *FALLBACK_FAILED_STRING = "FALLBACK_FAILED";
const char *MODE_TRANSITION_FAILED_STRING = "MODE_TRANSITION_FAILED";
const char *CANT_KEEP_MODE_STRING = "CANT_KEEP_MODE";
const char *OBJECT_IN_INVALID_MODE_STRING = "OBJECT_IN_INVALID_MODE";
const char *FORCING_MODE_STRING = "FORCING_MODE";
const char *MODE_CMD_REJECTED_STRING = "MODE_CMD_REJECTED";
const char *HEALTH_INFO_STRING = "HEALTH_INFO";
const char *CHILD_CHANGED_HEALTH_STRING = "CHILD_CHANGED_HEALTH";
const char *CHILD_PROBLEMS_STRING = "CHILD_PROBLEMS";
const char *OVERWRITING_HEALTH_STRING = "OVERWRITING_HEALTH";
const char *TRYING_RECOVERY_STRING = "TRYING_RECOVERY";
const char *RECOVERY_STEP_STRING = "RECOVERY_STEP";
const char *RECOVERY_DONE_STRING = "RECOVERY_DONE";
const char *HANDLE_PACKET_FAILED_STRING = "HANDLE_PACKET_FAILED";
const char *RF_AVAILABLE_STRING = "RF_AVAILABLE";
const char *RF_LOST_STRING = "RF_LOST";
const char *BIT_LOCK_STRING = "BIT_LOCK";
const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
const char *CLOCK_SET_STRING = "CLOCK_SET";
const char *CLOCK_DUMP_LEGACY_STRING = "CLOCK_DUMP_LEGACY";
const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
const char *CLOCK_DUMP_BEFORE_SETTING_TIME_STRING = "CLOCK_DUMP_BEFORE_SETTING_TIME";
const char *CLOCK_DUMP_AFTER_SETTING_TIME_STRING = "CLOCK_DUMP_AFTER_SETTING_TIME";
const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
const char *TEST_STRING = "TEST";
const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
const char *STORE_ERROR_STRING = "STORE_ERROR";
const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
const char *HANDLING_CFDP_REQUEST_FAILED_STRING = "HANDLING_CFDP_REQUEST_FAILED";
const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
const char *RATE_RECOVERY_STRING = "RATE_RECOVERY";
const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFORMATION";
const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED";
const char *PTG_RATE_VIOLATION_STRING = "PTG_RATE_VIOLATION";
const char *DETUMBLE_TRANSITION_FAILED_STRING = "DETUMBLE_TRANSITION_FAILED";
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED";
const char *DATASET_READ_FAILED_STRING = "DATASET_READ_FAILED";
const char *VOLTAGE_OUT_OF_BOUNDS_STRING = "VOLTAGE_OUT_OF_BOUNDS";
const char *TIMEDELTA_OUT_OF_BOUNDS_STRING = "TIMEDELTA_OUT_OF_BOUNDS";
const char *POWER_LEVEL_LOW_STRING = "POWER_LEVEL_LOW";
const char *POWER_LEVEL_CRITICAL_STRING = "POWER_LEVEL_CRITICAL";
const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
const char *HEATER_WENT_ON_STRING = "HEATER_WENT_ON";
const char *HEATER_WENT_OFF_STRING = "HEATER_WENT_OFF";
const char *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON";
const char *SWITCH_ALREADY_OFF_STRING = "SWITCH_ALREADY_OFF";
const char *MAIN_SWITCH_TIMEOUT_STRING = "MAIN_SWITCH_TIMEOUT";
const char *FAULTY_HEATER_WAS_ON_STRING = "FAULTY_HEATER_WAS_ON";
const char *BURN_PHASE_START_STRING = "BURN_PHASE_START";
const char *BURN_PHASE_DONE_STRING = "BURN_PHASE_DONE";
const char *MAIN_SWITCH_ON_TIMEOUT_STRING = "MAIN_SWITCH_ON_TIMEOUT";
const char *MAIN_SWITCH_OFF_TIMEOUT_STRING = "MAIN_SWITCH_OFF_TIMEOUT";
const char *DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA1_GPIO_SWTICH_ON_FAILED";
const char *DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_ON_FAILED";
const char *DEPL_SA1_GPIO_SWTICH_OFF_FAILED_STRING = "DEPL_SA1_GPIO_SWTICH_OFF_FAILED";
const char *DEPL_SA2_GPIO_SWTICH_OFF_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_OFF_FAILED";
const char *AUTONOMOUS_DEPLOYMENT_COMPLETED_STRING = "AUTONOMOUS_DEPLOYMENT_COMPLETED";
const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE";
const char *ACK_FAILURE_STRING = "ACK_FAILURE";
const char *EXE_FAILURE_STRING = "EXE_FAILURE";
const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH";
const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
const char *SELF_TEST_PWM_FAILURE_STRING = "SELF_TEST_PWM_FAILURE";
const char *SELF_TEST_TC_FAILURE_STRING = "SELF_TEST_TC_FAILURE";
const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
const char *ERROR_STATE_STRING = "ERROR_STATE";
const char *RESET_OCCURED_STRING = "RESET_OCCURED";
const char *BOOTING_FIRMWARE_FAILED_EVENT_STRING = "BOOTING_FIRMWARE_FAILED_EVENT";
const char *BOOTING_BOOTLOADER_FAILED_EVENT_STRING = "BOOTING_BOOTLOADER_FAILED_EVENT";
const char *COM_ERROR_REPLY_RECEIVED_STRING = "COM_ERROR_REPLY_RECEIVED";
const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
const char *SUPV_UNKNOWN_TM_STRING = "SUPV_UNKNOWN_TM";
const char *SUPV_UNINIMPLEMENTED_TM_STRING = "SUPV_UNINIMPLEMENTED_TM";
const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
const char *SUPV_HELPER_EXECUTING_STRING = "SUPV_HELPER_EXECUTING";
const char *SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUTDOWN_BUILD_FAILED";
const char *SUPV_ACK_UNKNOWN_COMMAND_STRING = "SUPV_ACK_UNKNOWN_COMMAND";
const char *SUPV_EXE_ACK_UNKNOWN_COMMAND_STRING = "SUPV_EXE_ACK_UNKNOWN_COMMAND";
const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
const char *SEND_MRAM_DUMP_FAILED_STRING = "SEND_MRAM_DUMP_FAILED";
const char *MRAM_DUMP_FAILED_STRING = "MRAM_DUMP_FAILED";
const char *MRAM_DUMP_FINISHED_STRING = "MRAM_DUMP_FINISHED";
const char *INVALID_TC_FRAME_STRING = "INVALID_TC_FRAME";
const char *INVALID_FAR_STRING = "INVALID_FAR";
const char *CARRIER_LOCK_STRING = "CARRIER_LOCK";
const char *BIT_LOCK_PDEC_STRING = "BIT_LOCK_PDEC";
const char *LOST_CARRIER_LOCK_PDEC_STRING = "LOST_CARRIER_LOCK_PDEC";
const char *LOST_BIT_LOCK_PDEC_STRING = "LOST_BIT_LOCK_PDEC";
const char *TOO_MANY_IRQS_STRING = "TOO_MANY_IRQS";
const char *POLL_SYSCALL_ERROR_PDEC_STRING = "POLL_SYSCALL_ERROR_PDEC";
const char *WRITE_SYSCALL_ERROR_PDEC_STRING = "WRITE_SYSCALL_ERROR_PDEC";
const char *PDEC_TRYING_RESET_WITH_INIT_STRING = "PDEC_TRYING_RESET_WITH_INIT";
const char *PDEC_TRYING_RESET_NO_INIT_STRING = "PDEC_TRYING_RESET_NO_INIT";
const char *PDEC_RESET_FAILED_STRING = "PDEC_RESET_FAILED";
const char *OPEN_IRQ_FILE_FAILED_STRING = "OPEN_IRQ_FILE_FAILED";
const char *PDEC_INIT_FAILED_STRING = "PDEC_INIT_FAILED";
const char *PDEC_CONFIG_CORRUPTED_STRING = "PDEC_CONFIG_CORRUPTED";
const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
const char *IMAGE_DOWNLOAD_SUCCESSFUL_STRING = "IMAGE_DOWNLOAD_SUCCESSFUL";
const char *FLASH_WRITE_SUCCESSFUL_STRING = "FLASH_WRITE_SUCCESSFUL";
const char *FLASH_READ_SUCCESSFUL_STRING = "FLASH_READ_SUCCESSFUL";
const char *FLASH_READ_FAILED_STRING = "FLASH_READ_FAILED";
const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
const char *STR_COM_REPLY_TIMEOUT_STRING = "STR_COM_REPLY_TIMEOUT";
const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET_FAILED";
const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
const char *MPSOC_FLASH_WRITE_FAILED_STRING = "MPSOC_FLASH_WRITE_FAILED";
const char *MPSOC_FLASH_WRITE_SUCCESSFUL_STRING = "MPSOC_FLASH_WRITE_SUCCESSFUL";
const char *MPSOC_SENDING_COMMAND_FAILED_STRING = "MPSOC_SENDING_COMMAND_FAILED";
const char *MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING = "MPSOC_HELPER_REQUESTING_REPLY_FAILED";
const char *MPSOC_HELPER_READING_REPLY_FAILED_STRING = "MPSOC_HELPER_READING_REPLY_FAILED";
const char *MPSOC_MISSING_ACK_STRING = "MPSOC_MISSING_ACK";
const char *MPSOC_MISSING_EXE_STRING = "MPSOC_MISSING_EXE";
const char *MPSOC_ACK_FAILURE_REPORT_STRING = "MPSOC_ACK_FAILURE_REPORT";
const char *MPSOC_EXE_FAILURE_REPORT_STRING = "MPSOC_EXE_FAILURE_REPORT";
const char *MPSOC_ACK_INVALID_APID_STRING = "MPSOC_ACK_INVALID_APID";
const char *MPSOC_EXE_INVALID_APID_STRING = "MPSOC_EXE_INVALID_APID";
const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
const char *MPSOC_TM_SIZE_ERROR_STRING = "MPSOC_TM_SIZE_ERROR";
const char *MPSOC_TM_CRC_MISSMATCH_STRING = "MPSOC_TM_CRC_MISSMATCH";
const char *MPSOC_FLASH_READ_PACKET_ERROR_STRING = "MPSOC_FLASH_READ_PACKET_ERROR";
const char *MPSOC_FLASH_READ_FAILED_STRING = "MPSOC_FLASH_READ_FAILED";
const char *MPSOC_FLASH_READ_SUCCESSFUL_STRING = "MPSOC_FLASH_READ_SUCCESSFUL";
const char *MPSOC_READ_TIMEOUT_STRING = "MPSOC_READ_TIMEOUT";
const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
const char *U_DRO_OUT_OF_BOUNDS_STRING = "U_DRO_OUT_OF_BOUNDS";
const char *I_DRO_OUT_OF_BOUNDS_STRING = "I_DRO_OUT_OF_BOUNDS";
const char *U_X8_OUT_OF_BOUNDS_STRING = "U_X8_OUT_OF_BOUNDS";
const char *I_X8_OUT_OF_BOUNDS_STRING = "I_X8_OUT_OF_BOUNDS";
const char *U_TX_OUT_OF_BOUNDS_STRING = "U_TX_OUT_OF_BOUNDS";
const char *I_TX_OUT_OF_BOUNDS_STRING = "I_TX_OUT_OF_BOUNDS";
const char *U_MPA_OUT_OF_BOUNDS_STRING = "U_MPA_OUT_OF_BOUNDS";
const char *I_MPA_OUT_OF_BOUNDS_STRING = "I_MPA_OUT_OF_BOUNDS";
const char *U_HPA_OUT_OF_BOUNDS_STRING = "U_HPA_OUT_OF_BOUNDS";
const char *I_HPA_OUT_OF_BOUNDS_STRING = "I_HPA_OUT_OF_BOUNDS";
const char *TRANSITION_OTHER_SIDE_FAILED_STRING = "TRANSITION_OTHER_SIDE_FAILED";
const char *NOT_ENOUGH_DEVICES_DUAL_MODE_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE";
const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
const char *DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING = "DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY";
const char *TRANSITION_OTHER_SIDE_FAILED_12900_STRING = "TRANSITION_OTHER_SIDE_FAILED_12900";
const char *NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE_12901";
const char *POWER_STATE_MACHINE_TIMEOUT_12902_STRING = "POWER_STATE_MACHINE_TIMEOUT_12902";
const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903";
const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
const char *RESET_FAIL_STRING = "RESET_FAIL";
const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
const char *BATT_MODE_STRING = "BATT_MODE";
const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
const char *SUPV_UPDATE_FAILED_STRING = "SUPV_UPDATE_FAILED";
const char *SUPV_UPDATE_SUCCESSFUL_STRING = "SUPV_UPDATE_SUCCESSFUL";
const char *SUPV_CONTINUE_UPDATE_FAILED_STRING = "SUPV_CONTINUE_UPDATE_FAILED";
const char *SUPV_CONTINUE_UPDATE_SUCCESSFUL_STRING = "SUPV_CONTINUE_UPDATE_SUCCESSFUL";
const char *TERMINATED_UPDATE_PROCEDURE_STRING = "TERMINATED_UPDATE_PROCEDURE";
const char *SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL_STRING = "SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL";
const char *SUPV_EVENT_BUFFER_REQUEST_FAILED_STRING = "SUPV_EVENT_BUFFER_REQUEST_FAILED";
const char *SUPV_EVENT_BUFFER_REQUEST_TERMINATED_STRING = "SUPV_EVENT_BUFFER_REQUEST_TERMINATED";
const char *SUPV_MEM_CHECK_OK_STRING = "SUPV_MEM_CHECK_OK";
const char *SUPV_MEM_CHECK_FAIL_STRING = "SUPV_MEM_CHECK_FAIL";
const char *SUPV_SENDING_COMMAND_FAILED_STRING = "SUPV_SENDING_COMMAND_FAILED";
const char *SUPV_HELPER_REQUESTING_REPLY_FAILED_STRING = "SUPV_HELPER_REQUESTING_REPLY_FAILED";
const char *SUPV_HELPER_READING_REPLY_FAILED_STRING = "SUPV_HELPER_READING_REPLY_FAILED";
const char *SUPV_MISSING_ACK_STRING = "SUPV_MISSING_ACK";
const char *SUPV_MISSING_EXE_STRING = "SUPV_MISSING_EXE";
const char *SUPV_ACK_FAILURE_REPORT_STRING = "SUPV_ACK_FAILURE_REPORT";
const char *SUPV_EXE_FAILURE_REPORT_STRING = "SUPV_EXE_FAILURE_REPORT";
const char *SUPV_ACK_INVALID_APID_STRING = "SUPV_ACK_INVALID_APID";
const char *SUPV_EXE_INVALID_APID_STRING = "SUPV_EXE_INVALID_APID";
const char *ACK_RECEPTION_FAILURE_STRING = "ACK_RECEPTION_FAILURE";
const char *EXE_RECEPTION_FAILURE_STRING = "EXE_RECEPTION_FAILURE";
const char *WRITE_MEMORY_FAILED_STRING = "WRITE_MEMORY_FAILED";
const char *SUPV_REPLY_SIZE_MISSMATCH_STRING = "SUPV_REPLY_SIZE_MISSMATCH";
const char *SUPV_REPLY_CRC_MISSMATCH_STRING = "SUPV_REPLY_CRC_MISSMATCH";
const char *SUPV_UPDATE_PROGRESS_STRING = "SUPV_UPDATE_PROGRESS";
const char *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
const char *TX_ON_STRING = "TX_ON";
const char *TX_OFF_STRING = "TX_OFF";
const char *MISSING_PACKET_STRING = "MISSING_PACKET";
const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
const char *FS_UNUSABLE_STRING = "FS_UNUSABLE";
const char *SET_CONFIGFILEVALUE_FAILED_STRING = "SET_CONFIGFILEVALUE_FAILED";
const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
const char *WRITE_CONFIGFILE_FAILED_STRING = "WRITE_CONFIGFILE_FAILED";
const char *READ_CONFIGFILE_FAILED_STRING = "READ_CONFIGFILE_FAILED";
const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
const char *REBOOT_SW_STRING = "REBOOT_SW";
const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
const char *REBOOT_HW_STRING = "REBOOT_HW";
const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
const char *VERSION_INFO_STRING = "VERSION_INFO";
const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
const char *REBOOT_COUNTER_STRING = "REBOOT_COUNTER";
const char *INDIVIDUAL_BOOT_COUNTS_STRING = "INDIVIDUAL_BOOT_COUNTS";
const char *TRYING_I2C_RECOVERY_STRING = "TRYING_I2C_RECOVERY";
const char *I2C_REBOOT_STRING = "I2C_REBOOT";
const char *PDEC_REBOOT_STRING = "PDEC_REBOOT";
const char *FIRMWARE_INFO_STRING = "FIRMWARE_INFO";
const char *ACTIVE_SD_INFO_STRING = "ACTIVE_SD_INFO";
const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
const char *CAMERA_OVERHEATING_STRING = "CAMERA_OVERHEATING";
const char *PCDU_SYSTEM_OVERHEATING_STRING = "PCDU_SYSTEM_OVERHEATING";
const char *HEATER_NOT_OFF_FOR_OFF_MODE_STRING = "HEATER_NOT_OFF_FOR_OFF_MODE";
const char *MGT_OVERHEATING_STRING = "MGT_OVERHEATING";
const char *TCS_SWITCHING_HEATER_ON_STRING = "TCS_SWITCHING_HEATER_ON";
const char *TCS_SWITCHING_HEATER_OFF_STRING = "TCS_SWITCHING_HEATER_OFF";
const char *TCS_HEATER_MAX_BURN_TIME_REACHED_STRING = "TCS_HEATER_MAX_BURN_TIME_REACHED";
const char *TX_TIMER_EXPIRED_STRING = "TX_TIMER_EXPIRED";
const char *BIT_LOCK_TX_ON_STRING = "BIT_LOCK_TX_ON";
const char *POSSIBLE_FILE_CORRUPTION_STRING = "POSSIBLE_FILE_CORRUPTION";
const char *FILE_TOO_LARGE_STRING = "FILE_TOO_LARGE";
const char *BUSY_DUMPING_EVENT_STRING = "BUSY_DUMPING_EVENT";
const char *DUMP_OK_STORE_DONE_STRING = "DUMP_OK_STORE_DONE";
const char *DUMP_NOK_STORE_DONE_STRING = "DUMP_NOK_STORE_DONE";
const char *DUMP_MISC_STORE_DONE_STRING = "DUMP_MISC_STORE_DONE";
const char *DUMP_HK_STORE_DONE_STRING = "DUMP_HK_STORE_DONE";
const char *DUMP_CFDP_STORE_DONE_STRING = "DUMP_CFDP_STORE_DONE";
const char *DUMP_OK_CANCELLED_STRING = "DUMP_OK_CANCELLED";
const char *DUMP_NOK_CANCELLED_STRING = "DUMP_NOK_CANCELLED";
const char *DUMP_MISC_CANCELLED_STRING = "DUMP_MISC_CANCELLED";
const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
const char *FAULT_HANDLER_TRIGGERED_STRING = "FAULT_HANDLER_TRIGGERED";
const char *translateEvents(Event event) {
switch ((event & 0xFFFF)) {
case (2200):
return STORE_SEND_WRITE_FAILED_STRING;
case (2201):
return STORE_WRITE_FAILED_STRING;
case (2202):
return STORE_SEND_READ_FAILED_STRING;
case (2203):
return STORE_READ_FAILED_STRING;
case (2204):
return UNEXPECTED_MSG_STRING;
case (2205):
return STORING_FAILED_STRING;
case (2206):
return TM_DUMP_FAILED_STRING;
case (2207):
return STORE_INIT_FAILED_STRING;
case (2208):
return STORE_INIT_EMPTY_STRING;
case (2209):
return STORE_CONTENT_CORRUPTED_STRING;
case (2210):
return STORE_INITIALIZE_STRING;
case (2211):
return INIT_DONE_STRING;
case (2212):
return DUMP_FINISHED_STRING;
case (2213):
return DELETION_FINISHED_STRING;
case (2214):
return DELETION_FAILED_STRING;
case (2215):
return AUTO_CATALOGS_SENDING_FAILED_STRING;
case (2600):
return GET_DATA_FAILED_STRING;
case (2601):
return STORE_DATA_FAILED_STRING;
case (2800):
return DEVICE_BUILDING_COMMAND_FAILED_STRING;
case (2801):
return DEVICE_SENDING_COMMAND_FAILED_STRING;
case (2802):
return DEVICE_REQUESTING_REPLY_FAILED_STRING;
case (2803):
return DEVICE_READING_REPLY_FAILED_STRING;
case (2804):
return DEVICE_INTERPRETING_REPLY_FAILED_STRING;
case (2805):
return DEVICE_MISSED_REPLY_STRING;
case (2806):
return DEVICE_UNKNOWN_REPLY_STRING;
case (2807):
return DEVICE_UNREQUESTED_REPLY_STRING;
case (2808):
return INVALID_DEVICE_COMMAND_STRING;
case (2809):
return MONITORING_LIMIT_EXCEEDED_STRING;
case (2810):
return MONITORING_AMBIGUOUS_STRING;
case (2811):
return DEVICE_WANTS_HARD_REBOOT_STRING;
case (4300):
return SWITCH_WENT_OFF_STRING;
case (4301):
return FUSE_CURRENT_HIGH_STRING;
case (4302):
return FUSE_WENT_OFF_STRING;
case (4304):
return POWER_ABOVE_HIGH_LIMIT_STRING;
case (4305):
return POWER_BELOW_LOW_LIMIT_STRING;
case (5000):
return HEATER_ON_STRING;
case (5001):
return HEATER_OFF_STRING;
case (5002):
return HEATER_TIMEOUT_STRING;
case (5003):
return HEATER_STAYED_ON_STRING;
case (5004):
return HEATER_STAYED_OFF_STRING;
case (5200):
return TEMP_SENSOR_HIGH_STRING;
case (5201):
return TEMP_SENSOR_LOW_STRING;
case (5202):
return TEMP_SENSOR_GRADIENT_STRING;
case (5901):
return COMPONENT_TEMP_LOW_STRING;
case (5902):
return COMPONENT_TEMP_HIGH_STRING;
case (5903):
return COMPONENT_TEMP_OOL_LOW_STRING;
case (5904):
return COMPONENT_TEMP_OOL_HIGH_STRING;
case (5905):
return TEMP_NOT_IN_OP_RANGE_STRING;
case (7101):
return FDIR_CHANGED_STATE_STRING;
case (7102):
return FDIR_STARTS_RECOVERY_STRING;
case (7103):
return FDIR_TURNS_OFF_DEVICE_STRING;
case (7201):
return MONITOR_CHANGED_STATE_STRING;
case (7202):
return VALUE_BELOW_LOW_LIMIT_STRING;
case (7203):
return VALUE_ABOVE_HIGH_LIMIT_STRING;
case (7204):
return VALUE_OUT_OF_RANGE_STRING;
case (7400):
return CHANGING_MODE_STRING;
case (7401):
return MODE_INFO_STRING;
case (7402):
return FALLBACK_FAILED_STRING;
case (7403):
return MODE_TRANSITION_FAILED_STRING;
case (7404):
return CANT_KEEP_MODE_STRING;
case (7405):
return OBJECT_IN_INVALID_MODE_STRING;
case (7406):
return FORCING_MODE_STRING;
case (7407):
return MODE_CMD_REJECTED_STRING;
case (7506):
return HEALTH_INFO_STRING;
case (7507):
return CHILD_CHANGED_HEALTH_STRING;
case (7508):
return CHILD_PROBLEMS_STRING;
case (7509):
return OVERWRITING_HEALTH_STRING;
case (7510):
return TRYING_RECOVERY_STRING;
case (7511):
return RECOVERY_STEP_STRING;
case (7512):
return RECOVERY_DONE_STRING;
case (7600):
return HANDLE_PACKET_FAILED_STRING;
case (7900):
return RF_AVAILABLE_STRING;
case (7901):
return RF_LOST_STRING;
case (7902):
return BIT_LOCK_STRING;
case (7903):
return BIT_LOCK_LOST_STRING;
case (7905):
return FRAME_PROCESSING_FAILED_STRING;
case (8900):
return CLOCK_SET_STRING;
case (8901):
return CLOCK_DUMP_LEGACY_STRING;
case (8902):
return CLOCK_SET_FAILURE_STRING;
case (8903):
return CLOCK_DUMP_STRING;
case (8904):
return CLOCK_DUMP_BEFORE_SETTING_TIME_STRING;
case (8905):
return CLOCK_DUMP_AFTER_SETTING_TIME_STRING;
case (9100):
return TC_DELETION_FAILED_STRING;
case (9700):
return TEST_STRING;
case (10600):
return CHANGE_OF_SETUP_PARAMETER_STRING;
case (10800):
return STORE_ERROR_STRING;
case (10801):
return MSG_QUEUE_ERROR_STRING;
case (10802):
return SERIALIZATION_ERROR_STRING;
case (10803):
return FILESTORE_ERROR_STRING;
case (10804):
return FILENAME_TOO_LARGE_ERROR_STRING;
case (10805):
return HANDLING_CFDP_REQUEST_FAILED_STRING;
case (11200):
return SAFE_RATE_VIOLATION_STRING;
case (11201):
return RATE_RECOVERY_STRING;
case (11202):
return MULTIPLE_RW_INVALID_STRING;
case (11203):
return MEKF_INVALID_INFO_STRING;
case (11204):
return MEKF_RECOVERY_STRING;
case (11205):
return MEKF_AUTOMATIC_RESET_STRING;
case (11206):
return PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING;
case (11207):
return SAFE_MODE_CONTROLLER_FAILURE_STRING;
case (11208):
return TLE_TOO_OLD_STRING;
case (11209):
return TLE_FILE_READ_FAILED_STRING;
case (11210):
return PTG_RATE_VIOLATION_STRING;
case (11211):
return DETUMBLE_TRANSITION_FAILED_STRING;
case (11300):
return SWITCH_CMD_SENT_STRING;
case (11301):
return SWITCH_HAS_CHANGED_STRING;
case (11302):
return SWITCHING_Q7S_DENIED_STRING;
case (11303):
return FDIR_REACTION_IGNORED_STRING;
case (11304):
return DATASET_READ_FAILED_STRING;
case (11305):
return VOLTAGE_OUT_OF_BOUNDS_STRING;
case (11306):
return TIMEDELTA_OUT_OF_BOUNDS_STRING;
case (11307):
return POWER_LEVEL_LOW_STRING;
case (11308):
return POWER_LEVEL_CRITICAL_STRING;
case (11400):
return GPIO_PULL_HIGH_FAILED_STRING;
case (11401):
return GPIO_PULL_LOW_FAILED_STRING;
case (11402):
return HEATER_WENT_ON_STRING;
case (11403):
return HEATER_WENT_OFF_STRING;
case (11404):
return SWITCH_ALREADY_ON_STRING;
case (11405):
return SWITCH_ALREADY_OFF_STRING;
case (11406):
return MAIN_SWITCH_TIMEOUT_STRING;
case (11407):
return FAULTY_HEATER_WAS_ON_STRING;
case (11500):
return BURN_PHASE_START_STRING;
case (11501):
return BURN_PHASE_DONE_STRING;
case (11502):
return MAIN_SWITCH_ON_TIMEOUT_STRING;
case (11503):
return MAIN_SWITCH_OFF_TIMEOUT_STRING;
case (11504):
return DEPL_SA1_GPIO_SWTICH_ON_FAILED_STRING;
case (11505):
return DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING;
case (11506):
return DEPL_SA1_GPIO_SWTICH_OFF_FAILED_STRING;
case (11507):
return DEPL_SA2_GPIO_SWTICH_OFF_FAILED_STRING;
case (11508):
return AUTONOMOUS_DEPLOYMENT_COMPLETED_STRING;
case (11601):
return MEMORY_READ_RPT_CRC_FAILURE_STRING;
case (11602):
return ACK_FAILURE_STRING;
case (11603):
return EXE_FAILURE_STRING;
case (11604):
return MPSOC_HANDLER_CRC_FAILURE_STRING;
case (11605):
return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING;
case (11606):
return MPSOC_SHUTDOWN_FAILED_STRING;
case (11607):
return SUPV_NOT_ON_STRING;
case (11608):
return SUPV_REPLY_TIMEOUT_STRING;
case (11609):
return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
case (11701):
return SELF_TEST_I2C_FAILURE_STRING;
case (11702):
return SELF_TEST_SPI_FAILURE_STRING;
case (11703):
return SELF_TEST_ADC_FAILURE_STRING;
case (11704):
return SELF_TEST_PWM_FAILURE_STRING;
case (11705):
return SELF_TEST_TC_FAILURE_STRING;
case (11706):
return SELF_TEST_MTM_RANGE_FAILURE_STRING;
case (11707):
return SELF_TEST_COIL_CURRENT_FAILURE_STRING;
case (11708):
return INVALID_ERROR_BYTE_STRING;
case (11801):
return ERROR_STATE_STRING;
case (11802):
return RESET_OCCURED_STRING;
case (11901):
return BOOTING_FIRMWARE_FAILED_EVENT_STRING;
case (11902):
return BOOTING_BOOTLOADER_FAILED_EVENT_STRING;
case (11903):
return COM_ERROR_REPLY_RECEIVED_STRING;
case (12001):
return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
case (12002):
return SUPV_UNKNOWN_TM_STRING;
case (12003):
return SUPV_UNINIMPLEMENTED_TM_STRING;
case (12004):
return SUPV_ACK_FAILURE_STRING;
case (12005):
return SUPV_EXE_FAILURE_STRING;
case (12006):
return SUPV_CRC_FAILURE_EVENT_STRING;
case (12007):
return SUPV_HELPER_EXECUTING_STRING;
case (12008):
return SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING;
case (12009):
return SUPV_ACK_UNKNOWN_COMMAND_STRING;
case (12010):
return SUPV_EXE_ACK_UNKNOWN_COMMAND_STRING;
case (12100):
return SANITIZATION_FAILED_STRING;
case (12101):
return MOUNTED_SD_CARD_STRING;
case (12300):
return SEND_MRAM_DUMP_FAILED_STRING;
case (12301):
return MRAM_DUMP_FAILED_STRING;
case (12302):
return MRAM_DUMP_FINISHED_STRING;
case (12401):
return INVALID_TC_FRAME_STRING;
case (12402):
return INVALID_FAR_STRING;
case (12403):
return CARRIER_LOCK_STRING;
case (12404):
return BIT_LOCK_PDEC_STRING;
case (12405):
return LOST_CARRIER_LOCK_PDEC_STRING;
case (12406):
return LOST_BIT_LOCK_PDEC_STRING;
case (12407):
return TOO_MANY_IRQS_STRING;
case (12408):
return POLL_SYSCALL_ERROR_PDEC_STRING;
case (12409):
return WRITE_SYSCALL_ERROR_PDEC_STRING;
case (12410):
return PDEC_TRYING_RESET_WITH_INIT_STRING;
case (12411):
return PDEC_TRYING_RESET_NO_INIT_STRING;
case (12412):
return PDEC_RESET_FAILED_STRING;
case (12413):
return OPEN_IRQ_FILE_FAILED_STRING;
case (12414):
return PDEC_INIT_FAILED_STRING;
case (12415):
return PDEC_CONFIG_CORRUPTED_STRING;
case (12500):
return IMAGE_UPLOAD_FAILED_STRING;
case (12501):
return IMAGE_DOWNLOAD_FAILED_STRING;
case (12502):
return IMAGE_UPLOAD_SUCCESSFUL_STRING;
case (12503):
return IMAGE_DOWNLOAD_SUCCESSFUL_STRING;
case (12504):
return FLASH_WRITE_SUCCESSFUL_STRING;
case (12505):
return FLASH_READ_SUCCESSFUL_STRING;
case (12506):
return FLASH_READ_FAILED_STRING;
case (12507):
return FIRMWARE_UPDATE_SUCCESSFUL_STRING;
case (12508):
return FIRMWARE_UPDATE_FAILED_STRING;
case (12509):
return STR_HELPER_READING_REPLY_FAILED_STRING;
case (12510):
return STR_HELPER_COM_ERROR_STRING;
case (12511):
return STR_COM_REPLY_TIMEOUT_STRING;
case (12513):
return STR_HELPER_DEC_ERROR_STRING;
case (12514):
return POSITION_MISMATCH_STRING;
case (12515):
return STR_HELPER_FILE_NOT_EXISTS_STRING;
case (12516):
return STR_HELPER_SENDING_PACKET_FAILED_STRING;
case (12517):
return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
case (12600):
return MPSOC_FLASH_WRITE_FAILED_STRING;
case (12601):
return MPSOC_FLASH_WRITE_SUCCESSFUL_STRING;
case (12602):
return MPSOC_SENDING_COMMAND_FAILED_STRING;
case (12603):
return MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING;
case (12604):
return MPSOC_HELPER_READING_REPLY_FAILED_STRING;
case (12605):
return MPSOC_MISSING_ACK_STRING;
case (12606):
return MPSOC_MISSING_EXE_STRING;
case (12607):
return MPSOC_ACK_FAILURE_REPORT_STRING;
case (12608):
return MPSOC_EXE_FAILURE_REPORT_STRING;
case (12609):
return MPSOC_ACK_INVALID_APID_STRING;
case (12610):
return MPSOC_EXE_INVALID_APID_STRING;
case (12611):
return MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING;
case (12612):
return MPSOC_TM_SIZE_ERROR_STRING;
case (12613):
return MPSOC_TM_CRC_MISSMATCH_STRING;
case (12614):
return MPSOC_FLASH_READ_PACKET_ERROR_STRING;
case (12615):
return MPSOC_FLASH_READ_FAILED_STRING;
case (12616):
return MPSOC_FLASH_READ_SUCCESSFUL_STRING;
case (12617):
return MPSOC_READ_TIMEOUT_STRING;
case (12700):
return TRANSITION_BACK_TO_OFF_STRING;
case (12701):
return NEG_V_OUT_OF_BOUNDS_STRING;
case (12702):
return U_DRO_OUT_OF_BOUNDS_STRING;
case (12703):
return I_DRO_OUT_OF_BOUNDS_STRING;
case (12704):
return U_X8_OUT_OF_BOUNDS_STRING;
case (12705):
return I_X8_OUT_OF_BOUNDS_STRING;
case (12706):
return U_TX_OUT_OF_BOUNDS_STRING;
case (12707):
return I_TX_OUT_OF_BOUNDS_STRING;
case (12708):
return U_MPA_OUT_OF_BOUNDS_STRING;
case (12709):
return I_MPA_OUT_OF_BOUNDS_STRING;
case (12710):
return U_HPA_OUT_OF_BOUNDS_STRING;
case (12711):
return I_HPA_OUT_OF_BOUNDS_STRING;
case (12800):
return TRANSITION_OTHER_SIDE_FAILED_STRING;
case (12801):
return NOT_ENOUGH_DEVICES_DUAL_MODE_STRING;
case (12802):
return POWER_STATE_MACHINE_TIMEOUT_STRING;
case (12803):
return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
case (12804):
return DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY_STRING;
case (12900):
return TRANSITION_OTHER_SIDE_FAILED_12900_STRING;
case (12901):
return NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING;
case (12902):
return POWER_STATE_MACHINE_TIMEOUT_12902_STRING;
case (12903):
return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING;
case (13000):
return CHILDREN_LOST_MODE_STRING;
case (13100):
return GPS_FIX_CHANGE_STRING;
case (13101):
return CANT_GET_FIX_STRING;
case (13102):
return RESET_FAIL_STRING;
case (13200):
return P60_BOOT_COUNT_STRING;
case (13201):
return BATT_MODE_STRING;
case (13202):
return BATT_MODE_CHANGED_STRING;
case (13600):
return SUPV_UPDATE_FAILED_STRING;
case (13601):
return SUPV_UPDATE_SUCCESSFUL_STRING;
case (13602):
return SUPV_CONTINUE_UPDATE_FAILED_STRING;
case (13603):
return SUPV_CONTINUE_UPDATE_SUCCESSFUL_STRING;
case (13604):
return TERMINATED_UPDATE_PROCEDURE_STRING;
case (13605):
return SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL_STRING;
case (13606):
return SUPV_EVENT_BUFFER_REQUEST_FAILED_STRING;
case (13607):
return SUPV_EVENT_BUFFER_REQUEST_TERMINATED_STRING;
case (13608):
return SUPV_MEM_CHECK_OK_STRING;
case (13609):
return SUPV_MEM_CHECK_FAIL_STRING;
case (13616):
return SUPV_SENDING_COMMAND_FAILED_STRING;
case (13617):
return SUPV_HELPER_REQUESTING_REPLY_FAILED_STRING;
case (13618):
return SUPV_HELPER_READING_REPLY_FAILED_STRING;
case (13619):
return SUPV_MISSING_ACK_STRING;
case (13620):
return SUPV_MISSING_EXE_STRING;
case (13621):
return SUPV_ACK_FAILURE_REPORT_STRING;
case (13622):
return SUPV_EXE_FAILURE_REPORT_STRING;
case (13623):
return SUPV_ACK_INVALID_APID_STRING;
case (13624):
return SUPV_EXE_INVALID_APID_STRING;
case (13625):
return ACK_RECEPTION_FAILURE_STRING;
case (13626):
return EXE_RECEPTION_FAILURE_STRING;
case (13627):
return WRITE_MEMORY_FAILED_STRING;
case (13628):
return SUPV_REPLY_SIZE_MISSMATCH_STRING;
case (13629):
return SUPV_REPLY_CRC_MISSMATCH_STRING;
case (13630):
return SUPV_UPDATE_PROGRESS_STRING;
case (13631):
return HDLC_FRAME_REMOVAL_ERROR_STRING;
case (13632):
return HDLC_CRC_ERROR_STRING;
case (13701):
return TX_ON_STRING;
case (13702):
return TX_OFF_STRING;
case (13800):
return MISSING_PACKET_STRING;
case (13801):
return EXPERIMENT_TIMEDOUT_STRING;
case (13802):
return MULTI_PACKET_COMMAND_DONE_STRING;
case (13803):
return FS_UNUSABLE_STRING;
case (13901):
return SET_CONFIGFILEVALUE_FAILED_STRING;
case (13902):
return GET_CONFIGFILEVALUE_FAILED_STRING;
case (13903):
return INSERT_CONFIGFILEVALUE_FAILED_STRING;
case (13904):
return WRITE_CONFIGFILE_FAILED_STRING;
case (13905):
return READ_CONFIGFILE_FAILED_STRING;
case (14000):
return ALLOC_FAILURE_STRING;
case (14001):
return REBOOT_SW_STRING;
case (14002):
return REBOOT_MECHANISM_TRIGGERED_STRING;
case (14003):
return REBOOT_HW_STRING;
case (14004):
return NO_SD_CARD_ACTIVE_STRING;
case (14005):
return VERSION_INFO_STRING;
case (14006):
return CURRENT_IMAGE_INFO_STRING;
case (14007):
return REBOOT_COUNTER_STRING;
case (14008):
return INDIVIDUAL_BOOT_COUNTS_STRING;
case (14010):
return TRYING_I2C_RECOVERY_STRING;
case (14011):
return I2C_REBOOT_STRING;
case (14012):
return PDEC_REBOOT_STRING;
case (14013):
return FIRMWARE_INFO_STRING;
case (14014):
return ACTIVE_SD_INFO_STRING;
case (14100):
return NO_VALID_SENSOR_TEMPERATURE_STRING;
case (14101):
return NO_HEALTHY_HEATER_AVAILABLE_STRING;
case (14102):
return SYRLINKS_OVERHEATING_STRING;
case (14104):
return OBC_OVERHEATING_STRING;
case (14105):
return CAMERA_OVERHEATING_STRING;
case (14106):
return PCDU_SYSTEM_OVERHEATING_STRING;
case (14107):
return HEATER_NOT_OFF_FOR_OFF_MODE_STRING;
case (14108):
return MGT_OVERHEATING_STRING;
case (14109):
return TCS_SWITCHING_HEATER_ON_STRING;
case (14110):
return TCS_SWITCHING_HEATER_OFF_STRING;
case (14111):
return TCS_HEATER_MAX_BURN_TIME_REACHED_STRING;
case (14201):
return TX_TIMER_EXPIRED_STRING;
case (14202):
return BIT_LOCK_TX_ON_STRING;
case (14300):
return POSSIBLE_FILE_CORRUPTION_STRING;
case (14301):
return FILE_TOO_LARGE_STRING;
case (14302):
return BUSY_DUMPING_EVENT_STRING;
case (14305):
return DUMP_OK_STORE_DONE_STRING;
case (14306):
return DUMP_NOK_STORE_DONE_STRING;
case (14307):
return DUMP_MISC_STORE_DONE_STRING;
case (14308):
return DUMP_HK_STORE_DONE_STRING;
case (14309):
return DUMP_CFDP_STORE_DONE_STRING;
case (14310):
return DUMP_OK_CANCELLED_STRING;
case (14311):
return DUMP_NOK_CANCELLED_STRING;
case (14312):
return DUMP_MISC_CANCELLED_STRING;
case (14313):
return DUMP_HK_CANCELLED_STRING;
case (14314):
return DUMP_CFDP_CANCELLED_STRING;
case (14500):
return TEMPERATURE_ALL_ONES_START_STRING;
case (14501):
return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
case (14600):
return FAULT_HANDLER_TRIGGERED_STRING;
default:
return "UNKNOWN_EVENT";
}
return 0;
}
linux/fsfwconfig/events/translateEvents.h
+8
View File
@@ -0,0 +1,8 @@
#ifndef FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_
#define FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_
#include "fsfw/events/Event.h"
const char *translateEvents(Event event);
#endif /* FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_ */
linux/fsfwconfig/ipc/MissionMessageTypes.cpp
+10
View File
@@ -0,0 +1,10 @@
#include "MissionMessageTypes.h"
#include <fsfw/ipc/CommandMessage.h>
void messagetypes::clearMissionMessage(CommandMessage* message) {
switch (message->getMessageType()) {
default:
break;
}
}
linux/fsfwconfig/ipc/MissionMessageTypes.h
+22
View File
@@ -0,0 +1,22 @@
#ifndef FSFWCONFIG_IPC_MISSIONMESSAGETYPES_H_
#define FSFWCONFIG_IPC_MISSIONMESSAGETYPES_H_
#include <fsfw/ipc/FwMessageTypes.h>
class CommandMessage;
/**
* Custom command messages are specified here.
* Most messages needed to use FSFW are already located in
* <fsfw/ipc/FwMessageTypes.h>
* @param message Generic Command Message
*/
namespace messagetypes {
enum MESSAGE_TYPE {
MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT,
};
void clearMissionMessage(CommandMessage* message);
} // namespace messagetypes
#endif /* FSFWCONFIG_IPC_MISSIONMESSAGETYPES_H_ */
linux/fsfwconfig/objects/systemObjectList.h
+64
View File
@@ -0,0 +1,64 @@
#ifndef LINUX_FSFWCONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#define LINUX_FSFWCONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#include <fsfw/objectmanager/frameworkObjects.h>
#include <cstdint>
#include "eive/objects.h"
// The objects will be instantiated in the ID order
// For naming scheme see flight manual
/*
https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/EIVE_Project_IDs
Second byte first four bits is the subsystem:
OBDH 0x0
ACS 0x1
EPS 0x2
PL 0x3
TCS 0x4
COM 0x5
Second byte last four bits is the bus:
None 0x0
GPIO 0x1
SPI 0x2
UART 0x3
I2C 0x4
CAN 0x5
Third byte is an assembly counter if there are multiple redundant devices.
Fourth byte is a unique counter.
*/
namespace objects {
enum sourceObjects : uint32_t {
/* 0x53 reserved for FSFW */
FW_ADDRESS_START = PUS_SERVICE_1_VERIFICATION,
FW_ADDRESS_END = TIME_STAMPER,
PUS_SERVICE_6 = 0x51000500,
/* 0x49 ('I') for Communication Interfaces **/
ARDUINO_COM_IF = 0x49000000,
CSP_COM_IF = 0x49050001,
I2C_COM_IF = 0x49040002,
SPI_MAIN_COM_IF = 0x49020004,
GPIO_IF = 0x49010005,
/* Custom device handler */
/* 0x54 ('T') for test handlers */
TEST_TASK = 0x54694269,
LIBGPIOD_TEST = 0x54123456,
SPI_TEST = 0x54000010,
UART_TEST = 0x54000020,
I2C_TEST = 0x54000030,
DUMMY_INTERFACE = 0x5400CAFE,
DUMMY_HANDLER = 0x5400AFFE,
P60DOCK_TEST_TASK = 0x00005060,
DUMMY_COM_IF = 0x54000040
};
}
#endif /* LINUX_FSFWCONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */
linux/fsfwconfig/objects/translateObjects.cpp
+556
View File
@@ -0,0 +1,556 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 180 translations.
* Generated on: 2024-05-06 13:47:38
*/
#include "translateObjects.h"
const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK";
const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
const char *POWER_CONTROLLER_STRING = "POWER_CONTROLLER";
const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
const char *XIPHOS_WDT_STRING = "XIPHOS_WDT";
const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
const char *SUS_0_N_LOC_XFYFZM_PT_XF_STRING = "SUS_0_N_LOC_XFYFZM_PT_XF";
const char *SUS_1_N_LOC_XBYFZM_PT_XB_STRING = "SUS_1_N_LOC_XBYFZM_PT_XB";
const char *SUS_2_N_LOC_XFYBZB_PT_YB_STRING = "SUS_2_N_LOC_XFYBZB_PT_YB";
const char *SUS_3_N_LOC_XFYBZF_PT_YF_STRING = "SUS_3_N_LOC_XFYBZF_PT_YF";
const char *SUS_4_N_LOC_XMYFZF_PT_ZF_STRING = "SUS_4_N_LOC_XMYFZF_PT_ZF";
const char *SUS_5_N_LOC_XFYMZB_PT_ZB_STRING = "SUS_5_N_LOC_XFYMZB_PT_ZB";
const char *SUS_6_R_LOC_XFYBZM_PT_XF_STRING = "SUS_6_R_LOC_XFYBZM_PT_XF";
const char *SUS_7_R_LOC_XBYBZM_PT_XB_STRING = "SUS_7_R_LOC_XBYBZM_PT_XB";
const char *SUS_8_R_LOC_XBYBZB_PT_YB_STRING = "SUS_8_R_LOC_XBYBZB_PT_YB";
const char *SUS_9_R_LOC_XBYBZB_PT_YF_STRING = "SUS_9_R_LOC_XBYBZB_PT_YF";
const char *SUS_10_N_LOC_XMYBZF_PT_ZF_STRING = "SUS_10_N_LOC_XMYBZF_PT_ZF";
const char *SUS_11_R_LOC_XBYMZB_PT_ZB_STRING = "SUS_11_R_LOC_XBYMZB_PT_ZB";
const char *RW1_STRING = "RW1";
const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
const char *RW2_STRING = "RW2";
const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER";
const char *GYRO_2_ADIS_HANDLER_STRING = "GYRO_2_ADIS_HANDLER";
const char *RW3_STRING = "RW3";
const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
const char *RW4_STRING = "RW4";
const char *STAR_TRACKER_STRING = "STAR_TRACKER";
const char *GPS_CONTROLLER_STRING = "GPS_CONTROLLER";
const char *GPS_0_HEALTH_DEV_STRING = "GPS_0_HEALTH_DEV";
const char *GPS_1_HEALTH_DEV_STRING = "GPS_1_HEALTH_DEV";
const char *IMTQ_POLLING_STRING = "IMTQ_POLLING";
const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER";
const char *PDU1_HANDLER_STRING = "PDU1_HANDLER";
const char *PDU2_HANDLER_STRING = "PDU2_HANDLER";
const char *ACU_HANDLER_STRING = "ACU_HANDLER";
const char *BPX_BATT_HANDLER_STRING = "BPX_BATT_HANDLER";
const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
const char *RAD_SENSOR_STRING = "RAD_SENSOR";
const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
const char *STR_COM_IF_STRING = "STR_COM_IF";
const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
const char *PTME_CONFIG_STRING = "PTME_CONFIG";
const char *PTME_VC0_LIVE_TM_STRING = "PTME_VC0_LIVE_TM";
const char *PTME_VC1_LOG_TM_STRING = "PTME_VC1_LOG_TM";
const char *PTME_VC2_HK_TM_STRING = "PTME_VC2_HK_TM";
const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
const char *PLOC_MPSOC_COMMUNICATION_STRING = "PLOC_MPSOC_COMMUNICATION";
const char *SCEX_STRING = "SCEX";
const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
const char *TMP1075_HANDLER_TCS_0_STRING = "TMP1075_HANDLER_TCS_0";
const char *TMP1075_HANDLER_TCS_1_STRING = "TMP1075_HANDLER_TCS_1";
const char *TMP1075_HANDLER_PLPCDU_0_STRING = "TMP1075_HANDLER_PLPCDU_0";
const char *TMP1075_HANDLER_PLPCDU_1_STRING = "TMP1075_HANDLER_PLPCDU_1";
const char *TMP1075_HANDLER_IF_BOARD_STRING = "TMP1075_HANDLER_IF_BOARD";
const char *RTD_0_IC3_PLOC_HEATSPREADER_STRING = "RTD_0_IC3_PLOC_HEATSPREADER";
const char *RTD_1_IC4_PLOC_MISSIONBOARD_STRING = "RTD_1_IC4_PLOC_MISSIONBOARD";
const char *RTD_2_IC5_4K_CAMERA_STRING = "RTD_2_IC5_4K_CAMERA";
const char *RTD_3_IC6_DAC_HEATSPREADER_STRING = "RTD_3_IC6_DAC_HEATSPREADER";
const char *RTD_4_IC7_STARTRACKER_STRING = "RTD_4_IC7_STARTRACKER";
const char *RTD_5_IC8_RW1_MX_MY_STRING = "RTD_5_IC8_RW1_MX_MY";
const char *RTD_6_IC9_DRO_STRING = "RTD_6_IC9_DRO";
const char *RTD_7_IC10_SCEX_STRING = "RTD_7_IC10_SCEX";
const char *RTD_8_IC11_X8_STRING = "RTD_8_IC11_X8";
const char *RTD_9_IC12_HPA_STRING = "RTD_9_IC12_HPA";
const char *RTD_10_IC13_PL_TX_STRING = "RTD_10_IC13_PL_TX";
const char *RTD_11_IC14_MPA_STRING = "RTD_11_IC14_MPA";
const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
const char *SYRLINKS_COM_HANDLER_STRING = "SYRLINKS_COM_HANDLER";
const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
const char *GPIO_IF_STRING = "GPIO_IF";
const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
const char *SPI_MAIN_COM_IF_STRING = "SPI_MAIN_COM_IF";
const char *UART_COM_IF_STRING = "UART_COM_IF";
const char *I2C_COM_IF_STRING = "I2C_COM_IF";
const char *CSP_COM_IF_STRING = "CSP_COM_IF";
const char *ACS_BOARD_POLLING_TASK_STRING = "ACS_BOARD_POLLING_TASK";
const char *RW_POLLING_TASK_STRING = "RW_POLLING_TASK";
const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
const char *SUS_POLLING_TASK_STRING = "SUS_POLLING_TASK";
const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
const char *TCP_TMTC_SERVER_STRING = "TCP_TMTC_SERVER";
const char *UDP_TMTC_SERVER_STRING = "UDP_TMTC_SERVER";
const char *TCP_TMTC_POLLING_TASK_STRING = "TCP_TMTC_POLLING_TASK";
const char *UDP_TMTC_POLLING_TASK_STRING = "UDP_TMTC_POLLING_TASK";
const char *FILE_SYSTEM_HANDLER_STRING = "FILE_SYSTEM_HANDLER";
const char *SDC_MANAGER_STRING = "SDC_MANAGER";
const char *PTME_STRING = "PTME";
const char *PDEC_HANDLER_STRING = "PDEC_HANDLER";
const char *CCSDS_HANDLER_STRING = "CCSDS_HANDLER";
const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
const char *FSFW_OBJECTS_START_STRING = "FSFW_OBJECTS_START";
const char *PUS_SERVICE_1_VERIFICATION_STRING = "PUS_SERVICE_1_VERIFICATION";
const char *PUS_SERVICE_2_DEVICE_ACCESS_STRING = "PUS_SERVICE_2_DEVICE_ACCESS";
const char *PUS_SERVICE_3_HOUSEKEEPING_STRING = "PUS_SERVICE_3_HOUSEKEEPING";
const char *PUS_SERVICE_5_EVENT_REPORTING_STRING = "PUS_SERVICE_5_EVENT_REPORTING";
const char *PUS_SERVICE_8_FUNCTION_MGMT_STRING = "PUS_SERVICE_8_FUNCTION_MGMT";
const char *PUS_SERVICE_9_TIME_MGMT_STRING = "PUS_SERVICE_9_TIME_MGMT";
const char *PUS_SERVICE_11_TC_SCHEDULER_STRING = "PUS_SERVICE_11_TC_SCHEDULER";
const char *PUS_SERVICE_15_TM_STORAGE_STRING = "PUS_SERVICE_15_TM_STORAGE";
const char *PUS_SERVICE_17_TEST_STRING = "PUS_SERVICE_17_TEST";
const char *PUS_SERVICE_20_PARAMETERS_STRING = "PUS_SERVICE_20_PARAMETERS";
const char *PUS_SERVICE_200_MODE_MGMT_STRING = "PUS_SERVICE_200_MODE_MGMT";
const char *PUS_SERVICE_201_HEALTH_STRING = "PUS_SERVICE_201_HEALTH";
const char *CFDP_PACKET_DISTRIBUTOR_STRING = "CFDP_PACKET_DISTRIBUTOR";
const char *HEALTH_TABLE_STRING = "HEALTH_TABLE";
const char *MODE_STORE_STRING = "MODE_STORE";
const char *EVENT_MANAGER_STRING = "EVENT_MANAGER";
const char *INTERNAL_ERROR_REPORTER_STRING = "INTERNAL_ERROR_REPORTER";
const char *TC_STORE_STRING = "TC_STORE";
const char *TM_STORE_STRING = "TM_STORE";
const char *IPC_STORE_STRING = "IPC_STORE";
const char *TIME_STAMPER_STRING = "TIME_STAMPER";
const char *VERIFICATION_REPORTER_STRING = "VERIFICATION_REPORTER";
const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
const char *SPI_TEST_STRING = "SPI_TEST";
const char *UART_TEST_STRING = "UART_TEST";
const char *I2C_TEST_STRING = "I2C_TEST";
const char *DUMMY_COM_IF_STRING = "DUMMY_COM_IF";
const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
const char *TEST_TASK_STRING = "TEST_TASK";
const char *HEATER_0_PLOC_PROC_BRD_STRING = "HEATER_0_PLOC_PROC_BRD";
const char *HEATER_1_PCDU_BRD_STRING = "HEATER_1_PCDU_BRD";
const char *HEATER_2_ACS_BRD_STRING = "HEATER_2_ACS_BRD";
const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
const char *HEATER_5_STR_STRING = "HEATER_5_STR";
const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
const char *HEATER_7_SYRLINKS_STRING = "HEATER_7_SYRLINKS";
const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
const char *RW_ASSY_STRING = "RW_ASSY";
const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY";
const char *IMTQ_ASSY_STRING = "IMTQ_ASSY";
const char *STR_ASSY_STRING = "STR_ASSY";
const char *TM_FUNNEL_STRING = "TM_FUNNEL";
const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
const char *CFDP_HANDLER_STRING = "CFDP_HANDLER";
const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
const char *CFDP_FAULT_HANDLER_STRING = "CFDP_FAULT_HANDLER";
const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
const char *EPS_SUBSYSTEM_STRING = "EPS_SUBSYSTEM";
const char *MISC_TM_STORE_STRING = "MISC_TM_STORE";
const char *OK_TM_STORE_STRING = "OK_TM_STORE";
const char *NOT_OK_TM_STORE_STRING = "NOT_OK_TM_STORE";
const char *HK_TM_STORE_STRING = "HK_TM_STORE";
const char *CFDP_TM_STORE_STRING = "CFDP_TM_STORE";
const char *LIVE_TM_TASK_STRING = "LIVE_TM_TASK";
const char *LOG_STORE_AND_TM_TASK_STRING = "LOG_STORE_AND_TM_TASK";
const char *HK_STORE_AND_TM_TASK_STRING = "HK_STORE_AND_TM_TASK";
const char *CFDP_STORE_AND_TM_TASK_STRING = "CFDP_STORE_AND_TM_TASK";
const char *DOWNLINK_RAM_STORE_STRING = "DOWNLINK_RAM_STORE";
const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
const char *NO_OBJECT_STRING = "NO_OBJECT";
const char *translateObject(object_id_t object) {
switch ((object & 0xFFFFFFFF)) {
case 0x00005060:
return P60DOCK_TEST_TASK_STRING;
case 0x43000002:
return ACS_CONTROLLER_STRING;
case 0x43000003:
return CORE_CONTROLLER_STRING;
case 0x43000004:
return POWER_CONTROLLER_STRING;
case 0x43000006:
return GLOBAL_JSON_CFG_STRING;
case 0x43000007:
return XIPHOS_WDT_STRING;
case 0x43400001:
return THERMAL_CONTROLLER_STRING;
case 0x44120006:
return MGM_0_LIS3_HANDLER_STRING;
case 0x44120010:
return GYRO_0_ADIS_HANDLER_STRING;
case 0x44120032:
return SUS_0_N_LOC_XFYFZM_PT_XF_STRING;
case 0x44120033:
return SUS_1_N_LOC_XBYFZM_PT_XB_STRING;
case 0x44120034:
return SUS_2_N_LOC_XFYBZB_PT_YB_STRING;
case 0x44120035:
return SUS_3_N_LOC_XFYBZF_PT_YF_STRING;
case 0x44120036:
return SUS_4_N_LOC_XMYFZF_PT_ZF_STRING;
case 0x44120037:
return SUS_5_N_LOC_XFYMZB_PT_ZB_STRING;
case 0x44120038:
return SUS_6_R_LOC_XFYBZM_PT_XF_STRING;
case 0x44120039:
return SUS_7_R_LOC_XBYBZM_PT_XB_STRING;
case 0x44120040:
return SUS_8_R_LOC_XBYBZB_PT_YB_STRING;
case 0x44120041:
return SUS_9_R_LOC_XBYBZB_PT_YF_STRING;
case 0x44120042:
return SUS_10_N_LOC_XMYBZF_PT_ZF_STRING;
case 0x44120043:
return SUS_11_R_LOC_XBYMZB_PT_ZB_STRING;
case 0x44120047:
return RW1_STRING;
case 0x44120107:
return MGM_1_RM3100_HANDLER_STRING;
case 0x44120111:
return GYRO_1_L3G_HANDLER_STRING;
case 0x44120148:
return RW2_STRING;
case 0x44120208:
return MGM_2_LIS3_HANDLER_STRING;
case 0x44120212:
return GYRO_2_ADIS_HANDLER_STRING;
case 0x44120249:
return RW3_STRING;
case 0x44120309:
return MGM_3_RM3100_HANDLER_STRING;
case 0x44120313:
return GYRO_3_L3G_HANDLER_STRING;
case 0x44120350:
return RW4_STRING;
case 0x44130001:
return STAR_TRACKER_STRING;
case 0x44130045:
return GPS_CONTROLLER_STRING;
case 0x44130046:
return GPS_0_HEALTH_DEV_STRING;
case 0x44130047:
return GPS_1_HEALTH_DEV_STRING;
case 0x44140013:
return IMTQ_POLLING_STRING;
case 0x44140014:
return IMTQ_HANDLER_STRING;
case 0x442000A1:
return PCDU_HANDLER_STRING;
case 0x44250000:
return P60DOCK_HANDLER_STRING;
case 0x44250001:
return PDU1_HANDLER_STRING;
case 0x44250002:
return PDU2_HANDLER_STRING;
case 0x44250003:
return ACU_HANDLER_STRING;
case 0x44260000:
return BPX_BATT_HANDLER_STRING;
case 0x44300000:
return PLPCDU_HANDLER_STRING;
case 0x443200A5:
return RAD_SENSOR_STRING;
case 0x44330000:
return PLOC_UPDATER_STRING;
case 0x44330001:
return PLOC_MEMORY_DUMPER_STRING;
case 0x44330002:
return STR_COM_IF_STRING;
case 0x44330003:
return PLOC_MPSOC_HELPER_STRING;
case 0x44330004:
return AXI_PTME_CONFIG_STRING;
case 0x44330005:
return PTME_CONFIG_STRING;
case 0x44330006:
return PTME_VC0_LIVE_TM_STRING;
case 0x44330007:
return PTME_VC1_LOG_TM_STRING;
case 0x44330008:
return PTME_VC2_HK_TM_STRING;
case 0x44330009:
return PTME_VC3_CFDP_TM_STRING;
case 0x44330015:
return PLOC_MPSOC_HANDLER_STRING;
case 0x44330016:
return PLOC_SUPERVISOR_HANDLER_STRING;
case 0x44330017:
return PLOC_SUPERVISOR_HELPER_STRING;
case 0x44330018:
return PLOC_MPSOC_COMMUNICATION_STRING;
case 0x44330032:
return SCEX_STRING;
case 0x444100A2:
return SOLAR_ARRAY_DEPL_HANDLER_STRING;
case 0x444100A4:
return HEATER_HANDLER_STRING;
case 0x44420004:
return TMP1075_HANDLER_TCS_0_STRING;
case 0x44420005:
return TMP1075_HANDLER_TCS_1_STRING;
case 0x44420006:
return TMP1075_HANDLER_PLPCDU_0_STRING;
case 0x44420007:
return TMP1075_HANDLER_PLPCDU_1_STRING;
case 0x44420008:
return TMP1075_HANDLER_IF_BOARD_STRING;
case 0x44420016:
return RTD_0_IC3_PLOC_HEATSPREADER_STRING;
case 0x44420017:
return RTD_1_IC4_PLOC_MISSIONBOARD_STRING;
case 0x44420018:
return RTD_2_IC5_4K_CAMERA_STRING;
case 0x44420019:
return RTD_3_IC6_DAC_HEATSPREADER_STRING;
case 0x44420020:
return RTD_4_IC7_STARTRACKER_STRING;
case 0x44420021:
return RTD_5_IC8_RW1_MX_MY_STRING;
case 0x44420022:
return RTD_6_IC9_DRO_STRING;
case 0x44420023:
return RTD_7_IC10_SCEX_STRING;
case 0x44420024:
return RTD_8_IC11_X8_STRING;
case 0x44420025:
return RTD_9_IC12_HPA_STRING;
case 0x44420026:
return RTD_10_IC13_PL_TX_STRING;
case 0x44420027:
return RTD_11_IC14_MPA_STRING;
case 0x44420028:
return RTD_12_IC15_ACU_STRING;
case 0x44420029:
return RTD_13_IC16_PLPCDU_HEATSPREADER_STRING;
case 0x44420030:
return RTD_14_IC17_TCS_BOARD_STRING;
case 0x44420031:
return RTD_15_IC18_IMTQ_STRING;
case 0x445300A3:
return SYRLINKS_HANDLER_STRING;
case 0x445300A4:
return SYRLINKS_COM_HANDLER_STRING;
case 0x49000000:
return ARDUINO_COM_IF_STRING;
case 0x49010005:
return GPIO_IF_STRING;
case 0x49010006:
return SCEX_UART_READER_STRING;
case 0x49020004:
return SPI_MAIN_COM_IF_STRING;
case 0x49030003:
return UART_COM_IF_STRING;
case 0x49040002:
return I2C_COM_IF_STRING;
case 0x49050001:
return CSP_COM_IF_STRING;
case 0x49060004:
return ACS_BOARD_POLLING_TASK_STRING;
case 0x49060005:
return RW_POLLING_TASK_STRING;
case 0x49060006:
return SPI_RTD_COM_IF_STRING;
case 0x49060007:
return SUS_POLLING_TASK_STRING;
case 0x50000100:
return CCSDS_PACKET_DISTRIBUTOR_STRING;
case 0x50000200:
return PUS_PACKET_DISTRIBUTOR_STRING;
case 0x50000300:
return TCP_TMTC_SERVER_STRING;
case 0x50000301:
return UDP_TMTC_SERVER_STRING;
case 0x50000400:
return TCP_TMTC_POLLING_TASK_STRING;
case 0x50000401:
return UDP_TMTC_POLLING_TASK_STRING;
case 0x50000500:
return FILE_SYSTEM_HANDLER_STRING;
case 0x50000550:
return SDC_MANAGER_STRING;
case 0x50000600:
return PTME_STRING;
case 0x50000700:
return PDEC_HANDLER_STRING;
case 0x50000800:
return CCSDS_HANDLER_STRING;
case 0x51000500:
return PUS_SERVICE_6_STRING;
case 0x53000000:
return FSFW_OBJECTS_START_STRING;
case 0x53000001:
return PUS_SERVICE_1_VERIFICATION_STRING;
case 0x53000002:
return PUS_SERVICE_2_DEVICE_ACCESS_STRING;
case 0x53000003:
return PUS_SERVICE_3_HOUSEKEEPING_STRING;
case 0x53000005:
return PUS_SERVICE_5_EVENT_REPORTING_STRING;
case 0x53000008:
return PUS_SERVICE_8_FUNCTION_MGMT_STRING;
case 0x53000009:
return PUS_SERVICE_9_TIME_MGMT_STRING;
case 0x53000011:
return PUS_SERVICE_11_TC_SCHEDULER_STRING;
case 0x53000015:
return PUS_SERVICE_15_TM_STORAGE_STRING;
case 0x53000017:
return PUS_SERVICE_17_TEST_STRING;
case 0x53000020:
return PUS_SERVICE_20_PARAMETERS_STRING;
case 0x53000200:
return PUS_SERVICE_200_MODE_MGMT_STRING;
case 0x53000201:
return PUS_SERVICE_201_HEALTH_STRING;
case 0x53001000:
return CFDP_PACKET_DISTRIBUTOR_STRING;
case 0x53010000:
return HEALTH_TABLE_STRING;
case 0x53010100:
return MODE_STORE_STRING;
case 0x53030000:
return EVENT_MANAGER_STRING;
case 0x53040000:
return INTERNAL_ERROR_REPORTER_STRING;
case 0x534f0100:
return TC_STORE_STRING;
case 0x534f0200:
return TM_STORE_STRING;
case 0x534f0300:
return IPC_STORE_STRING;
case 0x53500010:
return TIME_STAMPER_STRING;
case 0x53500020:
return VERIFICATION_REPORTER_STRING;
case 0x53ffffff:
return FSFW_OBJECTS_END_STRING;
case 0x54000010:
return SPI_TEST_STRING;
case 0x54000020:
return UART_TEST_STRING;
case 0x54000030:
return I2C_TEST_STRING;
case 0x54000040:
return DUMMY_COM_IF_STRING;
case 0x5400AFFE:
return DUMMY_HANDLER_STRING;
case 0x5400CAFE:
return DUMMY_INTERFACE_STRING;
case 0x54123456:
return LIBGPIOD_TEST_STRING;
case 0x54694269:
return TEST_TASK_STRING;
case 0x60000000:
return HEATER_0_PLOC_PROC_BRD_STRING;
case 0x60000001:
return HEATER_1_PCDU_BRD_STRING;
case 0x60000002:
return HEATER_2_ACS_BRD_STRING;
case 0x60000003:
return HEATER_3_OBC_BRD_STRING;
case 0x60000004:
return HEATER_4_CAMERA_STRING;
case 0x60000005:
return HEATER_5_STR_STRING;
case 0x60000006:
return HEATER_6_DRO_STRING;
case 0x60000007:
return HEATER_7_SYRLINKS_STRING;
case 0x73000001:
return ACS_BOARD_ASS_STRING;
case 0x73000002:
return SUS_BOARD_ASS_STRING;
case 0x73000003:
return TCS_BOARD_ASS_STRING;
case 0x73000004:
return RW_ASSY_STRING;
case 0x73000006:
return CAM_SWITCHER_STRING;
case 0x73000007:
return SYRLINKS_ASSY_STRING;
case 0x73000008:
return IMTQ_ASSY_STRING;
case 0x73000009:
return STR_ASSY_STRING;
case 0x73000100:
return TM_FUNNEL_STRING;
case 0x73000101:
return PUS_TM_FUNNEL_STRING;
case 0x73000102:
return CFDP_TM_FUNNEL_STRING;
case 0x73000205:
return CFDP_HANDLER_STRING;
case 0x73000206:
return CFDP_DISTRIBUTOR_STRING;
case 0x73000207:
return CFDP_FAULT_HANDLER_STRING;
case 0x73010000:
return EIVE_SYSTEM_STRING;
case 0x73010001:
return ACS_SUBSYSTEM_STRING;
case 0x73010002:
return PL_SUBSYSTEM_STRING;
case 0x73010003:
return TCS_SUBSYSTEM_STRING;
case 0x73010004:
return COM_SUBSYSTEM_STRING;
case 0x73010005:
return EPS_SUBSYSTEM_STRING;
case 0x73020001:
return MISC_TM_STORE_STRING;
case 0x73020002:
return OK_TM_STORE_STRING;
case 0x73020003:
return NOT_OK_TM_STORE_STRING;
case 0x73020004:
return HK_TM_STORE_STRING;
case 0x73030000:
return CFDP_TM_STORE_STRING;
case 0x73040000:
return LIVE_TM_TASK_STRING;
case 0x73040001:
return LOG_STORE_AND_TM_TASK_STRING;
case 0x73040002:
return HK_STORE_AND_TM_TASK_STRING;
case 0x73040003:
return CFDP_STORE_AND_TM_TASK_STRING;
case 0x73040004:
return DOWNLINK_RAM_STORE_STRING;
case 0x90000003:
return THERMAL_TEMP_INSERTER_STRING;
case 0xFFFFFFFF:
return NO_OBJECT_STRING;
default:
return "UNKNOWN_OBJECT";
}
return 0;
}
linux/fsfwconfig/objects/translateObjects.h
+8
View File
@@ -0,0 +1,8 @@
#ifndef FSFWCONFIG_OBJECTS_TRANSLATEOBJECTS_H_
#define FSFWCONFIG_OBJECTS_TRANSLATEOBJECTS_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
const char *translateObject(object_id_t object);
#endif /* FSFWCONFIG_OBJECTS_TRANSLATEOBJECTS_H_ */
linux/fsfwconfig/returnvalues/classIds.h
+21
View File
@@ -0,0 +1,21 @@
#ifndef FSFWCONFIG_RETURNVALUES_CLASSIDS_H_
#define FSFWCONFIG_RETURNVALUES_CLASSIDS_H_
#include <fsfw/returnvalues/FwClassIds.h>
#include "eive/resultClassIds.h"
/**
* Source IDs starts at 73 for now
* Framework IDs for ReturnValues run from 0 to 56
* and are located inside <fsfw/returnvalues/FwClassIds.h>
*/
namespace CLASS_ID {
enum {
CLASS_ID_START = COMMON_CLASS_ID_END,
SCRATCH_BUFFER, // SCBU
CLASS_ID_END // [EXPORT] : [END]
};
}
#endif /* FSFWCONFIG_RETURNVALUES_CLASSIDS_H_ */
linux/ipcore/AxiPtmeConfig.cpp
+103
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@@ -0,0 +1,103 @@
#include "AxiPtmeConfig.h"
#include <fsfw/ipc/MutexGuard.h>
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw_hal/linux/uio/UioMapper.h"
AxiPtmeConfig::AxiPtmeConfig(object_id_t objectId, std::string axiUio, int mapNum)
: SystemObject(objectId), axiUio(std::move(axiUio)), mapNum(mapNum) {
mutex = MutexFactory::instance()->createMutex();
if (mutex == nullptr) {
sif::warning << "Failed to create mutex" << std::endl;
}
}
AxiPtmeConfig::~AxiPtmeConfig() {}
ReturnValue_t AxiPtmeConfig::initialize() {
UioMapper uioMapper(axiUio, mapNum);
ReturnValue_t result =
uioMapper.getMappedAdress(&baseAddress, UioMapper::Permissions::READ_WRITE);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t AxiPtmeConfig::writeCaduRateReg(uint8_t rateVal) {
ReturnValue_t result = mutex->lockMutex(timeoutType, mutexTimeout);
if (result != returnvalue::OK) {
sif::warning << "AxiPtmeConfig::writeCaduRateReg: Failed to lock mutex" << std::endl;
return returnvalue::FAILED;
}
*(baseAddress + CADU_BITRATE_REG) = static_cast<uint32_t>(rateVal);
result = mutex->unlockMutex();
if (result != returnvalue::OK) {
sif::warning << "AxiPtmeConfig::writeCaduRateReg: Failed to unlock mutex" << std::endl;
return returnvalue::FAILED;
}
return returnvalue::OK;
}
uint8_t AxiPtmeConfig::readCaduRateReg() {
MutexGuard mg(mutex);
return static_cast<uint8_t>(*(baseAddress + CADU_BITRATE_REG));
}
void AxiPtmeConfig::enableTxclockManipulator() {
writeBit(COMMON_CONFIG_REG, true, BitPos::EN_TX_CLK_MANIPULATOR);
}
void AxiPtmeConfig::disableTxclockManipulator() {
writeBit(COMMON_CONFIG_REG, false, BitPos::EN_TX_CLK_MANIPULATOR);
}
void AxiPtmeConfig::enableTxclockInversion() {
writeBit(COMMON_CONFIG_REG, true, BitPos::INVERT_CLOCK);
}
void AxiPtmeConfig::disableTxclockInversion() {
writeBit(COMMON_CONFIG_REG, false, BitPos::INVERT_CLOCK);
}
void AxiPtmeConfig::enableBatPriorityBit() {
writeBit(COMMON_CONFIG_REG, true, BitPos::EN_BAT_PRIORITY);
}
void AxiPtmeConfig::disableBatPriorityBit() {
writeBit(COMMON_CONFIG_REG, false, BitPos::EN_BAT_PRIORITY);
}
void AxiPtmeConfig::writeReg(uint32_t regOffset, uint32_t writeVal) {
MutexGuard mg(mutex, timeoutType, mutexTimeout);
*(baseAddress + regOffset / ADRESS_DIVIDER) = writeVal;
}
uint32_t AxiPtmeConfig::readReg(uint32_t regOffset) {
MutexGuard mg(mutex, timeoutType, mutexTimeout);
return *(baseAddress + regOffset / ADRESS_DIVIDER);
}
void AxiPtmeConfig::writePollThreshold(AxiPtmeConfig::IdlePollThreshold pollThreshold) {
uint32_t regVal = readCommonCfgReg();
// Clear bits first
regVal &= ~(0b111 << 3);
regVal |= (static_cast<uint8_t>(pollThreshold) << 3);
writeCommonCfgReg(regVal);
}
AxiPtmeConfig::IdlePollThreshold AxiPtmeConfig::readPollThreshold() {
uint32_t regVal = readCommonCfgReg();
return static_cast<AxiPtmeConfig::IdlePollThreshold>((regVal >> 3) & 0b111);
}
void AxiPtmeConfig::writeCommonCfgReg(uint32_t value) { writeReg(COMMON_CONFIG_REG, value); }
uint32_t AxiPtmeConfig::readCommonCfgReg() { return readReg(COMMON_CONFIG_REG); }
void AxiPtmeConfig::writeBit(uint32_t regOffset, bool bitVal, BitPos bitPos) {
uint32_t readVal = readReg(regOffset);
uint32_t writeVal =
(readVal & ~(1 << static_cast<uint32_t>(bitPos))) | bitVal << static_cast<uint32_t>(bitPos);
writeReg(regOffset, writeVal);
}
linux/ipcore/AxiPtmeConfig.h
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#ifndef LINUX_OBC_AXIPTMECONFIG_H_
#define LINUX_OBC_AXIPTMECONFIG_H_
#include <string>
#include "fsfw/ipc/MutexIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/returnvalue.h"
/**
* @brief Class providing low level access to the configuration interface of the PTME.
*
* @author J. Meier
*/
class AxiPtmeConfig : public SystemObject {
public:
enum IdlePollThreshold : uint8_t {
ALWAYS = 0b000,
POLL_1 = 0b001,
POLL_4 = 0b010,
POLL_16 = 0b011,
POLL_64 = 0b100,
POLL_256 = 0b101,
POLL_1024 = 0b110,
NEVER = 0b111
};
/**
* @brief Constructor
* @param axiUio Device file of UIO belonging to the AXI configuration interface.
* @param mapNum Number of map belonging to axi configuration interface.
*/
AxiPtmeConfig(object_id_t objectId, std::string axiUio, int mapNum);
virtual ~AxiPtmeConfig();
virtual ReturnValue_t initialize() override;
/**
* @brief Will write to the bitrate configuration register. Actual generated rate depends on
* frequency of the clock connected to the bit clock input of PTME.
*/
ReturnValue_t writeCaduRateReg(uint8_t rateVal);
uint8_t readCaduRateReg();
/**
* @brief Next to functions control the tx clock manipulator component
*
* @details If the tx clock manipulator is enabled the output clock of the PTME is manipulated
* in a way that both high and low periods in the clock signal have equal lengths.
* The default implementation of the PTME generates a clock where the high level is
* only one bit clock period long. This might be too short to match the setup and hold
* times of the S-and transceiver.
* Default: Enables TX clock manipulator
*
*/
void enableTxclockManipulator();
void disableTxclockManipulator();
/**
* @brief The next to functions control whether data will be updated on the rising or falling edge
* of the tx clock.
* Enable inversion will update data on falling edge (not the configuration required by the
* syrlinks)
* Disable clock inversion. Data updated on rising edge.
* Default: Inversion is disabled
*/
void enableTxclockInversion();
void disableTxclockInversion();
void enableBatPriorityBit();
void disableBatPriorityBit();
void writePollThreshold(IdlePollThreshold pollThreshold);
IdlePollThreshold readPollThreshold();
private:
// Address of register storing the bitrate configuration parameter
static const uint32_t CADU_BITRATE_REG = 0x0;
// Address of register storing common configuration parameters
static const uint32_t COMMON_CONFIG_REG = 0x4;
static const uint32_t ADRESS_DIVIDER = 4;
enum class BitPos : uint32_t { EN_TX_CLK_MANIPULATOR = 0, INVERT_CLOCK = 1, EN_BAT_PRIORITY = 2 };
std::string axiUio;
std::string uioMap;
int mapNum = 0;
MutexIF* mutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t mutexTimeout = 20;
uint32_t* baseAddress = nullptr;
/**
* @brief Function to write to configuration registers
*
* @param writeVal Value to write
*/
void writeReg(uint32_t regOffset, uint32_t writeVal);
/**
* @brief Reads value from configuration register
*
* @param regOffset Offset of register from base address to read from
* Qparam readVal Pointer to variable where read value will be written to
*/
uint32_t readReg(uint32_t regOffset);
uint32_t readCommonCfgReg();
void writeCommonCfgReg(uint32_t value);
/**
* @brief Sets one bit in a register
*
* @param regOffset Offset of the register where to set the bit
* @param bitVal The value of the bit to set (1 or 0)
* @param bitPos The position of the bit within the register to set
*
* @return returnvalue::OK if successful, otherwise returnvalue::FAILED
*/
void writeBit(uint32_t regOffset, bool bitVal, BitPos bitPos);
};
#endif /* LINUX_OBC_AXIPTMECONFIG_H_ */
linux/ipcore/CMakeLists.txt
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target_sources(
${OBSW_NAME} PUBLIC PapbVcInterface.cpp Ptme.cpp PdecHandler.cpp
PdecConfig.cpp PtmeConfig.cpp AxiPtmeConfig.cpp)
linux/ipcore/PapbVcInterface.cpp
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#include <fsfw_hal/linux/uio/UioMapper.h>
#include <linux/ipcore/PapbVcInterface.h>
#include <unistd.h>
#include <cstring>
#include <ctime>
#include "fsfw/serviceinterface/ServiceInterface.h"
PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId,
std::string uioFile, int mapNum, size_t maxPacketSize)
: gpioComIF(gpioComIF),
papbEmptyId(papbEmptyId),
packetBuf(maxPacketSize),
uioFile(std::move(uioFile)),
mapNum(mapNum) {}
PapbVcInterface::~PapbVcInterface() {}
ReturnValue_t PapbVcInterface::initialize() {
UioMapper uioMapper(uioFile, mapNum);
ReturnValue_t result = uioMapper.getMappedAdress(const_cast<uint32_t**>(&vcBaseReg),
UioMapper::Permissions::READ_WRITE);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size, size_t& writtenSize) {
// There are no packets smaller than 4, this is considered a configuration error.
if (size < 4) {
sif::warning << "PapbVcInterface::write: Passed packet smaller than 4 bytes" << std::endl;
return returnvalue::FAILED;
}
// The user must call advance until completion before starting a new packet transfer.
if (writeActiveStatus) {
return IS_BUSY;
}
if (size > packetBuf.capacity()) {
sif::error << "PapbVcInterface: Packet with size " << size << " larger than maximum configured"
<< " byte size " << packetBuf.capacity() << std::endl;
return returnvalue::FAILED;
}
std::memcpy(packetBuf.data(), data, size);
currentPacketSize = size;
currentPacketIndex = 0;
if (pollReadyForPacket()) {
startPacketTransfer(ByteWidthCfg::ONE);
} else {
return DirectTmSinkIF::IS_BUSY;
}
return advanceWrite(writtenSize);
}
void PapbVcInterface::startPacketTransfer(ByteWidthCfg initWidth) {
*vcBaseReg = CONFIG_DATA_INPUT | initWidth;
writeActiveStatus = true;
}
bool PapbVcInterface::pollReadyForPacket() const {
// Check if PAPB interface is ready to receive data. Use the configuration register for this.
// Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
uint32_t reg = *vcBaseReg;
return (reg >> 6) & 0b1;
}
ReturnValue_t PapbVcInterface::advanceWrite(size_t& writtenSize) {
if (!writeActiveStatus) {
return NO_WRITE_ACTIVE;
}
if (not pollReadyForPacket()) {
return IS_BUSY;
}
while (currentPacketIndex < currentPacketSize) {
if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
if (not pollReadyForPacket()) {
return PARTIALLY_WRITTEN;
}
abortPacketTransfer();
return returnvalue::FAILED;
}
*(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(packetBuf[currentPacketIndex++]);
writtenSize++;
}
if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
if (not pollReadyForPacket()) {
return PARTIALLY_WRITTEN;
}
abortPacketTransfer();
return returnvalue::FAILED;
}
completePacketTransfer();
return returnvalue::OK;
}
bool PapbVcInterface::writeActive() const { return writeActiveStatus; }
bool PapbVcInterface::isVcInterfaceBufferEmpty() {
ReturnValue_t result = returnvalue::OK;
gpio::Levels papbEmptyState = gpio::Levels::HIGH;
result = gpioComIF->readGpio(papbEmptyId, papbEmptyState);
if (result != returnvalue::OK) {
sif::error << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
<< std::endl;
return true;
}
if (papbEmptyState == gpio::Levels::HIGH) {
return true;
}
return false;
}
bool PapbVcInterface::isBusy() const { return not pollReadyForPacket(); }
void PapbVcInterface::cancelTransfer() { abortPacketTransfer(); }
inline bool PapbVcInterface::pollReadyForOctet(uint32_t maxCycles) const {
uint32_t reg;
uint32_t idx = 0;
while (idx < maxCycles) {
reg = *vcBaseReg;
// Busy bit.
if (not((reg >> 5) & 0b1)) {
return true;
}
idx++;
}
return false;
}
void PapbVcInterface::abortPacketTransfer() {
*vcBaseReg = CONFIG_ABORT;
writeActiveStatus = false;
currentPacketIndex = 0;
currentPacketSize = 0;
}
void PapbVcInterface::completePacketTransfer() {
*vcBaseReg = CONFIG_END;
writeActiveStatus = false;
currentPacketIndex = 0;
currentPacketSize = 0;
}
linux/ipcore/PapbVcInterface.h
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#ifndef LINUX_OBC_PAPBVCINTERFACE_H_
#define LINUX_OBC_PAPBVCINTERFACE_H_
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <linux/ipcore/VirtualChannelIF.h>
#include <atomic>
#include <vector>
#include "OBSWConfig.h"
#include "fsfw/returnvalues/returnvalue.h"
/**
* @brief This class handles the transmission of data to a virtual channel of the PTME IP Core
* via the PAPB interface.
*
* @author J. Meier
*/
class PapbVcInterface : public VirtualChannelIF {
public:
/**
* @brief Constructor
*
* @param papbBusyId The ID of the GPIO which is connected to the PAPBBusy_N signal of the
* VcInterface IP Core. A low logic level indicates the VcInterface is not
* ready to receive more data.
* @param papbEmptyId The ID of the GPIO which is connected to the PAPBEmpty signal of the
* VcInterface IP Core. The signal is high when there are no packets in the
* external buffer memory (BRAM).
* @param uioFile UIO file providing access to the PAPB bus
* @param mapNum Map number of UIO map associated with this virtual channel
*/
PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId, std::string uioFile, int mapNum,
size_t maxPacketSize);
virtual ~PapbVcInterface();
// See interface function documentation for docs on these functions.
bool isBusy() const override;
ReturnValue_t write(const uint8_t* data, size_t size, size_t& writtenSize) override;
ReturnValue_t advanceWrite(size_t& remainingSize) override;
void cancelTransfer() override;
bool writeActive() const override;
ReturnValue_t initialize() override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_IP_CORE_BRIDGE;
static const ReturnValue_t PAPB_BUSY = MAKE_RETURN_CODE(0xA0);
enum ByteWidthCfg : uint32_t { ONE = 0b00, TWO = 0b01, THREE = 0b10, FOUR = 0b11 };
/**
* Configuration bits:
* bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00
* bit[2]: Set this bit to 1 to abort a transferred packet
* bit[3]: Signals to VcInterface the start of a new telemetry packet
*/
static constexpr uint32_t CONFIG_DATA_INPUT = 0b00001000;
/**
* Abort a transferred packet.
*/
static constexpr uint32_t CONFIG_ABORT = 0b00000100;
/**
* Writing this word to the VcInterface base address signals to the virtual channel interface
* that a complete tm packet has been transferred.
*/
static constexpr uint32_t CONFIG_END = 0x0;
/**
* Writing to this offset within the memory space of a virtual channel will insert data for
* encoding to the external buffer memory of the PTME IP Core.
* The address offset is 0x400 (= 4 * 256)
*/
static const int DATA_REG_OFFSET = 256;
static constexpr long int FIRST_DELAY_PAPB_POLLING_NS = 10;
static constexpr long int MAX_DELAY_PAPB_POLLING_NS = 40;
static constexpr uint32_t MAX_BUSY_POLLS = 1000;
LinuxLibgpioIF* gpioComIF = nullptr;
/** High when external buffer memory of virtual channel is empty */
gpioId_t papbEmptyId = gpio::NO_GPIO;
std::vector<uint8_t> packetBuf;
std::string uioFile;
int mapNum = 0;
bool writeActiveStatus = false;
size_t currentPacketIndex = 0;
size_t currentPacketSize = 0;
mutable struct timespec nextDelay = {.tv_sec = 0, .tv_nsec = 0};
const struct timespec BETWEEN_POLL_DELAY = {.tv_sec = 0, .tv_nsec = 10};
volatile uint32_t* vcBaseReg = nullptr;
uint32_t vcOffset = 0;
/**
* @brief This function sends the config byte to the virtual channel of the PTME IP Core
* to initiate a packet transfer.
*/
void startPacketTransfer(ByteWidthCfg initWidth);
void abortPacketTransfer();
/**
* @brief This function sends the config byte to the virtual channel interface of the PTME
* IP Core to signal the end of a packet transfer.
*/
void completePacketTransfer();
/**
* @brief This function reads the papb busy signal indicating whether the virtual channel
* interface is ready to receive more data or not. PAPB is ready when
* PAPB_Busy_N == '1'.
*
* @return returnvalue::OK when ready to receive data else PAPB_BUSY.
*/
inline bool pollReadyForPacket() const;
inline bool pollReadyForOctet(uint32_t maxCycles) const;
/**
* @brief This function can be used for debugging to check whether there are packets in
* the packet buffer of the virtual channel or not.
*/
bool isVcInterfaceBufferEmpty();
};
#endif /* LINUX_OBC_PAPBVCINTERFACE_H_ */
linux/ipcore/PdecConfig.cpp
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#include "PdecConfig.h"
#include "fsfw/filesystem/HasFileSystemIF.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "pdecconfigdefs.h"
PdecConfig::PdecConfig()
: localParameterHandler("conf/pdecconfig.json", SdCardManager::instance()) {}
PdecConfig::~PdecConfig() {}
void PdecConfig::setMemoryBaseAddress(uint32_t* memoryBaseAddress_) {
memoryBaseAddress = memoryBaseAddress_;
}
ReturnValue_t PdecConfig::write() {
if (memoryBaseAddress == nullptr) {
sif::error << "PdecConfig::write: Memory base address not set" << std::endl;
return returnvalue::FAILED;
}
ReturnValue_t result = initializePersistentParameters();
if (result != returnvalue::OK) {
return result;
}
result = writeFrameHeaderFirstWord();
if (result != returnvalue::OK) {
return result;
}
result = writeFrameHeaderSecondWord();
if (result != returnvalue::OK) {
return result;
}
writeMapConfig();
return returnvalue::OK;
}
ReturnValue_t PdecConfig::initializePersistentParameters() {
ReturnValue_t result = localParameterHandler.initialize();
if (result == HasFileSystemIF::FILE_DOES_NOT_EXIST) {
result = createPersistentConfig();
if (result != returnvalue::OK) {
return result;
}
}
return result;
}
ReturnValue_t PdecConfig::createPersistentConfig() {
ReturnValue_t result = localParameterHandler.addParameter(
pdecconfigdefs::paramkeys::POSITIVE_WINDOW, pdecconfigdefs::defaultvalue::positiveWindow);
if (result != returnvalue::OK) {
sif::error << "PdecConfig::createPersistentConfig: Failed to set positive window" << std::endl;
return result;
}
result = localParameterHandler.addParameter(pdecconfigdefs::paramkeys::NEGATIVE_WINDOW,
pdecconfigdefs::defaultvalue::negativeWindow);
if (result != returnvalue::OK) {
sif::error << "PdecConfig::createPersistentConfig: Failed to set negative window" << std::endl;
return result;
}
return returnvalue::OK;
}
uint32_t PdecConfig::getImrReg() {
return static_cast<uint32_t>(enableNewFarIrq << 2) |
static_cast<uint32_t>(enableTcAbortIrq << 1) | static_cast<uint32_t>(enableTcNewIrq);
}
ReturnValue_t PdecConfig::setPositiveWindow(uint8_t pw) {
if (memoryBaseAddress == nullptr) {
sif::error << "PdecConfig::setPositiveWindow: Memory base address not set" << std::endl;
return returnvalue::FAILED;
}
ReturnValue_t result =
localParameterHandler.updateParameter(pdecconfigdefs::paramkeys::POSITIVE_WINDOW, pw);
if (result != returnvalue::OK) {
return result;
}
// Rewrite second config word which contains the positive window parameter
writeFrameHeaderSecondWord();
return returnvalue::OK;
}
ReturnValue_t PdecConfig::setNegativeWindow(uint8_t nw) {
if (memoryBaseAddress == nullptr) {
sif::error << "PdecConfig::setPositiveWindow: Memory base address not set" << std::endl;
return returnvalue::FAILED;
}
ReturnValue_t result =
localParameterHandler.updateParameter(pdecconfigdefs::paramkeys::NEGATIVE_WINDOW, nw);
if (result != returnvalue::OK) {
return result;
}
// Rewrite second config word which contains the negative window parameter
writeFrameHeaderSecondWord();
return returnvalue::OK;
}
ReturnValue_t PdecConfig::getPositiveWindow(uint8_t& positiveWindow) {
ReturnValue_t result =
localParameterHandler.getValue(pdecconfigdefs::paramkeys::POSITIVE_WINDOW, positiveWindow);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t PdecConfig::getNegativeWindow(uint8_t& negativeWindow) {
ReturnValue_t result =
localParameterHandler.getValue(pdecconfigdefs::paramkeys::NEGATIVE_WINDOW, negativeWindow);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t PdecConfig::writeFrameHeaderFirstWord() {
uint32_t word = 0;
ReturnValue_t result = createFirstWord(&word);
if (result != returnvalue::OK) {
return result;
}
*(memoryBaseAddress + FRAME_HEADER_OFFSET + OFFSET_FIRST_CONFIG_WORD) = word;
return returnvalue::OK;
}
ReturnValue_t PdecConfig::writeFrameHeaderSecondWord() {
uint32_t word = 0;
ReturnValue_t result = createSecondWord(&word);
if (result != returnvalue::OK) {
return result;
}
*(memoryBaseAddress + FRAME_HEADER_OFFSET + OFFSET_SECOND_CONFIG_WORD) = word;
return returnvalue::OK;
}
void PdecConfig::writeMapConfig() {
// Configure all MAP IDs as invalid
for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
*(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + idx / 4) =
NO_DESTINATION << 24 | NO_DESTINATION << 16 | NO_DESTINATION << 8 | NO_DESTINATION;
}
// All TCs with MAP ID 7 will be routed to the PM module (can then be read from memory)
uint8_t routeToPm = calcMapAddrEntry(PM_BUFFER);
*(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + 1) =
(NO_DESTINATION << 24) | (NO_DESTINATION << 16) | (NO_DESTINATION << 8) | routeToPm;
// Write map id clock frequencies
for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
*(memoryBaseAddress + MAP_CLK_FREQ_OFFSET + idx / 4) =
MAP_CLK_FREQ << 24 | MAP_CLK_FREQ << 16 | MAP_CLK_FREQ << 8 | MAP_CLK_FREQ;
}
}
uint8_t PdecConfig::calcMapAddrEntry(uint8_t moduleId) {
uint8_t lutEntry = 0;
uint8_t parity = getOddParity(moduleId | (1 << VALID_POSITION));
lutEntry = (parity << PARITY_POSITION) | (1 << VALID_POSITION) | moduleId;
return lutEntry;
}
uint8_t PdecConfig::getOddParity(uint8_t number) {
uint8_t parityBit = 0;
uint8_t countBits = 0;
for (unsigned int idx = 0; idx < sizeof(number) * 8; idx++) {
countBits += (number >> idx) & 0x1;
}
parityBit = ~(countBits & 0x1) & 0x1;
return parityBit;
}
ReturnValue_t PdecConfig::createFirstWord(uint32_t* word) {
*word = 0;
*word |= (VERSION_ID << 30);
// Setting the bypass flag and the control command flag should not have any
// implication on the operation of the PDEC IP Core
*word |= (BYPASS_FLAG << 29);
*word |= (CONTROL_COMMAND_FLAG << 28);
*word |= (RESERVED_FIELD_A << 26);
*word |= (SPACECRAFT_ID << 16);
*word |= (VIRTUAL_CHANNEL << 10);
*word |= (DUMMY_BITS << 8);
uint8_t positiveWindow = 0;
ReturnValue_t result =
localParameterHandler.getValue(pdecconfigdefs::paramkeys::POSITIVE_WINDOW, positiveWindow);
if (result != returnvalue::OK) {
return result;
}
*word |= static_cast<uint32_t>(positiveWindow);
return returnvalue::OK;
}
ReturnValue_t PdecConfig::createSecondWord(uint32_t* word) {
uint8_t negativeWindow = 0;
ReturnValue_t result =
localParameterHandler.getValue(pdecconfigdefs::paramkeys::NEGATIVE_WINDOW, negativeWindow);
if (result != returnvalue::OK) {
return result;
}
*word = 0;
*word = 0;
*word |= (static_cast<uint32_t>(negativeWindow) << 24);
*word |= (HIGH_AU_MAP_ID << 16);
*word |= (ENABLE_DERANDOMIZER << 8);
return returnvalue::OK;
}
uint32_t PdecConfig::readbackFirstWord() {
return *(memoryBaseAddress + FRAME_HEADER_OFFSET + OFFSET_FIRST_CONFIG_WORD);
}
uint32_t PdecConfig::readbackSecondWord() {
return *(memoryBaseAddress + FRAME_HEADER_OFFSET + OFFSET_SECOND_CONFIG_WORD);
}
linux/ipcore/PdecConfig.h
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#ifndef LINUX_OBC_PDECCONFIG_H_
#define LINUX_OBC_PDECCONFIG_H_
#include <string>
#include "bsp_q7s/fs/SdCardManager.h"
#include "bsp_q7s/memory/LocalParameterHandler.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "pdec.h"
/**
* @brief This class generates the configuration words for the configuration memory of the PDEC
* IP Cores.
*
* @details Fields are initialized according to specification in PDEC datasheet section 6.11.3.1
* PROM usage.
*
* @author J. Meier
*/
class PdecConfig {
public:
/**
* @brief Constructor
*/
PdecConfig();
virtual ~PdecConfig();
/**
* @brief Sets the memory base address pointer
*/
void setMemoryBaseAddress(uint32_t* memoryBaseAddress_);
/**
* @brief Will write the config to the PDEC configuration memory. New config
* becomes active after resetting PDEC.
*/
ReturnValue_t write();
/**
* @brief Returns the value to write to the interrupt mask register. This
* value defines which interrupts should be enabled/disabled.
*/
uint32_t getImrReg();
ReturnValue_t setPositiveWindow(uint8_t pw);
ReturnValue_t setNegativeWindow(uint8_t nw);
ReturnValue_t getPositiveWindow(uint8_t& positiveWindow);
ReturnValue_t getNegativeWindow(uint8_t& negativeWindow);
/**
* @brief Creates the first word of the PDEC configuration
*
* @param word The created word will be written to this pointer
*
* @return OK if successful, otherwise error return value
*
*/
ReturnValue_t createFirstWord(uint32_t* word);
/**
* @brief Creates the second word of the PDEC configuration
*
* @param word The created word will be written to this pointer
*
* @return OK if successful, otherwise error return value
*/
ReturnValue_t createSecondWord(uint32_t* word);
/**
* @brief Reads first config word from the config memory
*
* @return The config word
*/
uint32_t readbackFirstWord();
/**
* @brief Reads the second config word from the config memory
*
* @return The config word
*/
uint32_t readbackSecondWord();
private:
// TC transfer frame configuration parameters
static const uint8_t VERSION_ID = 0;
// BD Frames
static const uint8_t BYPASS_FLAG = 1;
static const uint8_t CONTROL_COMMAND_FLAG = 0;
static const uint8_t VIRTUAL_CHANNEL = 0;
static const uint8_t RESERVED_FIELD_A = 0;
static const uint16_t SPACECRAFT_ID = 0x3DC;
static const uint16_t DUMMY_BITS = 0;
static const uint8_t HIGH_AU_MAP_ID = 0xF;
static const uint8_t ENABLE_DERANDOMIZER = 1;
static const uint8_t CONFIG_WORDS_NUM = 2;
// 0x200 / 4 = 0x80
static const uint32_t FRAME_HEADER_OFFSET = 0x80;
static const uint32_t OFFSET_FIRST_CONFIG_WORD = 0;
static const uint32_t OFFSET_SECOND_CONFIG_WORD = 1;
static const uint32_t MAP_ADDR_LUT_OFFSET = 0xA0;
static const uint32_t MAP_CLK_FREQ_OFFSET = 0x90;
// MAP clock frequency. Must be a value between 1 and 13 otherwise the TC segment will be
// discarded
static const uint8_t MAP_CLK_FREQ = 2;
static const uint8_t MAX_MAP_ADDR = 63;
// Writing this to the map address in the look up table will invalidate a MAP ID.
static const uint8_t NO_DESTINATION = 0;
static const uint8_t VALID_POSITION = 6;
static const uint8_t PARITY_POSITION = 7;
/**
* TCs with map addresses (also know as Map IDs) assigned to this channel will be stored in
* the PDEC memory.
*/
static const uint8_t PM_BUFFER = 7;
uint32_t* memoryBaseAddress = nullptr;
// Pointer to object providing access to persistent configuration parameters
LocalParameterHandler localParameterHandler;
uint32_t configWords[CONFIG_WORDS_NUM];
bool enableTcNewIrq = true;
bool enableTcAbortIrq = true;
bool enableNewFarIrq = true;
ReturnValue_t initializePersistentParameters();
/**
* @brief If the json file containing the persistent config parameters does
* not exist it will be created here.
*/
ReturnValue_t createPersistentConfig();
ReturnValue_t writeFrameHeaderFirstWord();
ReturnValue_t writeFrameHeaderSecondWord();
void writeMapConfig();
/**
* @brief This function calculates the entry for the configuration of the MAP ID routing.
*
* @param mapAddr The MAP ID to configure
* @param moduleId The destination module where all TCs with the map id mapAddr will be routed
* to.
*
* @details The PDEC has different modules where the TCs can be routed to. A lookup table is
* used which links the MAP ID field to the destination module. The entry for this
* lookup table is created by this function and must be stored in the configuration
* memory region of the PDEC. The entry has a specific format
*/
uint8_t calcMapAddrEntry(uint8_t moduleId);
/**
* @brief This functions calculates the odd parity of the bits in number.
*
* @param number The number from which to calculate the odd parity.
*/
uint8_t getOddParity(uint8_t number);
};
#endif /* LINUX_OBC_PDECCONFIG_H_ */
linux/ipcore/PdecHandler.cpp
+854
View File
@@ -0,0 +1,854 @@
#include "PdecHandler.h"
#include <fcntl.h>
#include <fsfw/tasks/TaskFactory.h>
#include <poll.h>
#include <sys/mman.h>
#include <unistd.h>
#include <cstring>
#include <sstream>
#include "OBSWConfig.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
#include "fsfw_hal/linux/uio/UioMapper.h"
#include "linux/ipcore/PdecConfig.h"
#include "pdec.h"
using namespace pdec;
// If this is ever shared, protect it with a mutex!
uint32_t PdecHandler::CURRENT_FAR = 0;
PdecHandler::PdecHandler(object_id_t objectId, object_id_t tcDestinationId,
LinuxLibgpioIF* gpioComIF, gpioId_t pdecReset, UioNames names,
uint32_t cfgMemPhyAddr, uint32_t pdecRamPhyAddr)
: SystemObject(objectId),
tcDestinationId(tcDestinationId),
gpioComIF(gpioComIF),
pdecReset(pdecReset),
actionHelper(this, nullptr),
cfgMemBaseAddr(cfgMemPhyAddr),
pdecRamBaseAddr(pdecRamPhyAddr),
uioNames(names),
paramHelper(this) {
auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(
QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
PdecHandler::~PdecHandler() {}
ReturnValue_t PdecHandler::initialize() {
tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
sif::error << "PdecHandler::initialize: Invalid TC store" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tcDestination = ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestinationId);
if (tcDestination == nullptr) {
sif::error << "PdecHandler::initialize: Invalid tc destination specified" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
UioMapper regMapper(uioNames.registers);
ReturnValue_t result =
regMapper.getMappedAdress(&registerBaseAddress, UioMapper::Permissions::READ_WRITE);
if (result != returnvalue::OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
int fd = 0;
if ((fd = open("/dev/mem", O_RDWR | O_SYNC)) == -1) {
sif::error << "PdecHandler::initialize: Opening /dev/mem failed" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
};
memoryBaseAddress = static_cast<uint32_t*>(
mmap(0, PDEC_CFG_MEM_SIZE, static_cast<int>(UioMapper::Permissions::READ_WRITE), MAP_SHARED,
fd, cfgMemBaseAddr));
if (memoryBaseAddress == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
pdecConfig.setMemoryBaseAddress(memoryBaseAddress);
ramBaseAddress = static_cast<uint32_t*>(mmap(0, PDEC_RAM_SIZE,
static_cast<int>(UioMapper::Permissions::READ_WRITE),
MAP_SHARED, fd, pdecRamBaseAddr));
if (ramBaseAddress == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
if (OP_MODE == Modes::IRQ and uioNames.irq == nullptr) {
sif::error << "Can not use IRQ mode if IRQ UIO name is invalid" << std::endl;
return returnvalue::FAILED;
}
result = actionHelper.initialize(commandQueue);
if (result != returnvalue::OK) {
return result;
}
result = paramHelper.initialize();
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t PdecHandler::firstLoop() {
ReturnValue_t result = pdecConfig.write();
if (result != returnvalue::OK) {
if (result == LocalParameterHandler::SD_NOT_READY) {
return result;
} else {
sif::error << "PdecHandler::firstLoop: Failed to write PDEC config" << std::endl;
}
return returnvalue::FAILED;
}
result = releasePdec();
if (result != returnvalue::OK) {
return result;
}
return postResetOperation();
}
ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
if (OP_MODE == Modes::POLLED) {
return polledOperation();
} else if (OP_MODE == Modes::IRQ) {
return irqOperation();
}
return returnvalue::FAILED;
}
ReturnValue_t PdecHandler::polledOperation() {
readCommandQueue();
switch (state) {
case State::INIT: {
handleInitState();
break;
}
case State::RUNNING: {
if (newTcReceived()) {
handleNewTc();
}
doPeriodicWork();
break;
}
case State::PDEC_RESET: {
triggerEvent(pdec::PDEC_TRYING_RESET_WITH_INIT);
ReturnValue_t result = pdecToReset();
if (result != returnvalue::OK) {
triggerEvent(PDEC_RESET_FAILED);
}
state = State::INIT;
break;
}
case State::WAIT_FOR_RECOVERY:
break;
default:
sif::error << "PdecHandler::performOperation: Invalid state" << std::endl;
break;
}
return returnvalue::OK;
}
// See https://yurovsky.github.io/2014/10/10/linux-uio-gpio-interrupt.html for more information.
ReturnValue_t PdecHandler::irqOperation() {
ReturnValue_t result = returnvalue::OK;
// int fd = -1;
// Used to unmask IRQ
uint32_t info = 1;
interruptWindowCd.resetTimer();
// Clear interrupts with dummy read before unmasking the interrupt. Use a volatile to prevent
// read being optimized away.
volatile uint32_t dummy = *(registerBaseAddress + PDEC_PIR_OFFSET);
while (true) {
// Default value to unmask IRQ on the write call.
info = 1;
readCommandQueue();
switch (state) {
case State::INIT: {
result = handleInitState();
if (result != returnvalue::OK) {
break;
}
openIrqFile();
if (ptmeResetWithReinitializationPending) {
actionHelper.finish(true, commandedBy, pdec::RESET_PDEC_WITH_REINIITALIZATION);
ptmeResetWithReinitializationPending = false;
}
break;
}
case State::PDEC_RESET: {
triggerEvent(pdec::PDEC_TRYING_RESET_WITH_INIT);
result = pdecToReset();
if (result != returnvalue::OK) {
triggerEvent(PDEC_RESET_FAILED);
}
usleep(20);
state = State::INIT;
break;
}
case State::RUNNING: {
doPeriodicWork();
checkAndHandleIrqs(info);
break;
}
case State::WAIT_FOR_RECOVERY:
TaskFactory::delayTask(400);
break;
default:
// Should never happen.
sif::error << "PdecHandler::performOperation: Invalid state" << std::endl;
TaskFactory::delayTask(400);
break;
}
}
// To avoid compiler warning
static_cast<void>(dummy);
return returnvalue::OK;
}
ReturnValue_t PdecHandler::handleInitState() {
ReturnValue_t result = firstLoop();
if (result != returnvalue::OK) {
if (result == LocalParameterHandler::SD_NOT_READY) {
if (initTries == MAX_INIT_TRIES) {
sif::error << "PdecHandler::handleInitState: SD card never becomes ready" << std::endl;
initFailedHandler(result);
return result;
}
state = State::INIT;
initTries++;
TaskFactory::delayTask(400);
return result;
}
sif::error << "PDEC: Init failed with reason 0x" << std::hex << std::setw(4) << result
<< std::endl;
initFailedHandler(result);
return result;
}
state = State::RUNNING;
return returnvalue::OK;
}
void PdecHandler::openIrqFile() {
irqFd = open(uioNames.irq, O_RDWR);
if (irqFd < 0) {
sif::error << "PdecHandler::irqOperation: Opening UIO IRQ file" << uioNames.irq << " failed"
<< std::endl;
triggerEvent(OPEN_IRQ_FILE_FAILED);
state = State::WAIT_FOR_RECOVERY;
}
}
ReturnValue_t PdecHandler::checkAndHandleIrqs(uint32_t& info) {
ssize_t nb = write(irqFd, &info, sizeof(info));
if (nb != static_cast<ssize_t>(sizeof(info))) {
sif::error << "PdecHandler::irqOperation: Unmasking IRQ failed" << std::endl;
triggerEvent(WRITE_SYSCALL_ERROR_PDEC, errno);
close(irqFd);
state = State::INIT;
return returnvalue::FAILED;
}
struct pollfd fds = {.fd = irqFd, .events = POLLIN, .revents = 0};
int ret = poll(&fds, 1, IRQ_TIMEOUT_MS);
if (ret == 0) {
// No TCs for timeout period
genericCheckCd.resetTimer();
resetIrqLimiters();
} else if (ret >= 1) {
// Interrupt handling.
nb = read(irqFd, &info, sizeof(info));
interruptCounter++;
if (nb == static_cast<ssize_t>(sizeof(info))) {
uint32_t pisr = *(registerBaseAddress + PDEC_PISR_OFFSET);
if ((pisr & TC_NEW_MASK) == TC_NEW_MASK) {
// handle TC
handleNewTc();
}
if ((pisr & TC_ABORT_MASK) == TC_ABORT_MASK) {
tcAbortCounter += 1;
}
if ((pisr & NEW_FAR_MASK) == NEW_FAR_MASK) {
// Read FAR here
CURRENT_FAR = readFar();
checkFrameAna(CURRENT_FAR);
}
// Clear interrupts with dummy read. Volatile is important here to prevent
// compiler opitmizations in release builds!
volatile uint32_t dummy = *(registerBaseAddress + PDEC_PIR_OFFSET);
static_cast<void>(dummy);
if (genericCheckCd.hasTimedOut()) {
genericCheckCd.resetTimer();
if (interruptWindowCd.hasTimedOut()) {
if (interruptCounter >= MAX_ALLOWED_IRQS_PER_WINDOW) {
sif::error << "PdecHandler::irqOperation: Possible IRQ storm" << std::endl;
triggerEvent(TOO_MANY_IRQS, MAX_ALLOWED_IRQS_PER_WINDOW);
resetIrqLimiters();
TaskFactory::delayTask(400);
return returnvalue::FAILED;
}
resetIrqLimiters();
}
}
}
} else {
sif::error << "PdecHandler::irqOperation: Poll error with errno " << errno << ": "
<< strerror(errno) << std::endl;
triggerEvent(POLL_SYSCALL_ERROR_PDEC, errno);
close(irqFd);
state = State::INIT;
return returnvalue::FAILED;
}
return returnvalue::OK;
}
void PdecHandler::readCommandQueue(void) {
CommandMessage message;
ReturnValue_t result = returnvalue::FAILED;
result = commandQueue->receiveMessage(&message);
if (result == returnvalue::OK) {
result = actionHelper.handleActionMessage(&message);
if (result == returnvalue::OK) {
return;
}
result = paramHelper.handleParameterMessage(&message);
if (result == returnvalue::OK) {
return;
}
CommandMessage reply;
reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, message.getCommand());
commandQueue->reply(&reply);
return;
}
}
MessageQueueId_t PdecHandler::getCommandQueue() const { return commandQueue->getId(); }
ReturnValue_t PdecHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
using namespace pdec;
switch (actionId) {
case PRINT_CLCW:
printClcw();
return EXECUTION_FINISHED;
case PRINT_PDEC_MON:
printPdecMon();
return EXECUTION_FINISHED;
case RESET_PDEC_NO_REINIITALIZATION: {
pdecResetNoInit();
return EXECUTION_FINISHED;
}
case RESET_PDEC_WITH_REINIITALIZATION: {
initializeReset();
ptmeResetWithReinitializationPending = true;
this->commandedBy = commandedBy;
return returnvalue::OK;
}
default:
return COMMAND_NOT_IMPLEMENTED;
}
}
ReturnValue_t PdecHandler::getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues, uint16_t startAtIndex) {
if ((domainId == 0) and (uniqueIdentifier == ParameterId::POSITIVE_WINDOW)) {
uint8_t newVal = 0;
ReturnValue_t result = newValues->getElement(&newVal);
if (result != returnvalue::OK) {
return result;
}
uint8_t positiveWindow = 0;
result = pdecConfig.getPositiveWindow(positiveWindow);
if (result != returnvalue::OK) {
sif::warning << "PdecHandler::getParameter: Failed to get positive window from pdec config"
<< std::endl;
return returnvalue::FAILED;
}
parameterWrapper->set(positiveWindow);
result = pdecConfig.setPositiveWindow(newVal);
if (result != returnvalue::OK) {
sif::warning << "PdecHandler::getParameter: Failed to set positive window" << std::endl;
return returnvalue::FAILED;
}
// PDEC needs reset to apply this parameter change
initializeReset();
return returnvalue::OK;
} else if ((domainId == 0) and (uniqueIdentifier == ParameterId::NEGATIVE_WINDOW)) {
uint8_t newVal = 0;
ReturnValue_t result = newValues->getElement(&newVal);
if (result != returnvalue::OK) {
return result;
}
uint8_t negativeWindow = 0;
result = pdecConfig.getNegativeWindow(negativeWindow);
if (result != returnvalue::OK) {
sif::warning << "PdecHandler::getParameter: Failed to get negative window from pdec config"
<< std::endl;
return returnvalue::FAILED;
}
parameterWrapper->set(negativeWindow);
result = pdecConfig.setNegativeWindow(newVal);
if (result != returnvalue::OK) {
sif::warning << "PdecHandler::getParameter: Failed to set negative window" << std::endl;
return returnvalue::FAILED;
}
// PDEC needs reset to apply this parameter change
initializeReset();
return returnvalue::OK;
}
return returnvalue::OK;
}
ReturnValue_t PdecHandler::resetFarStatFlag() {
uint32_t pdecFar = readFar();
if ((pdecFar & FAR_STAT_MASK) != 0) {
sif::warning << "PdecHandler::resetFarStatFlag: FAR register stat bit is not 0."
<< " Read value for FAR: 0x" << std::hex << static_cast<unsigned int>(pdecFar)
<< std::endl;
CURRENT_FAR = pdecFar;
return returnvalue::FAILED;
}
#if OBSW_DEBUG_PDEC_HANDLER == 1
sif::debug << "PdecHandler::resetFarStatFlag: read FAR with value: 0x" << std::hex << pdecFar
<< std::endl;
#endif /* OBSW_DEBUG_PDEC_HANDLER == 1 */
CURRENT_FAR = pdecFar;
return returnvalue::OK;
}
ReturnValue_t PdecHandler::releasePdec() {
ReturnValue_t result = returnvalue::OK;
result = gpioComIF->pullHigh(pdecReset);
if (result != returnvalue::OK) {
sif::error << "PdecHandler::releasePdec: Failed to release PDEC reset signal" << std::endl;
}
return result;
}
ReturnValue_t PdecHandler::pdecToReset() {
ReturnValue_t result = gpioComIF->pullLow(pdecReset);
if (result != returnvalue::OK) {
sif::error << "PdecHandler::pdecToReset: Failed to pull PDEC reset line"
" to low"
<< std::endl;
}
return result;
}
bool PdecHandler::newTcReceived() {
uint32_t pdecFar = readFar();
if (pdecFar >> STAT_POSITION != NEW_FAR_RECEIVED) {
CURRENT_FAR = pdecFar;
return false;
}
if (!checkFrameAna(pdecFar)) {
CURRENT_FAR = pdecFar;
return false;
}
return true;
}
void PdecHandler::doPeriodicWork() { checkLocks(); }
bool PdecHandler::checkFrameAna(uint32_t pdecFar) {
bool frameValid = false;
FrameAna_t frameAna = static_cast<FrameAna_t>((pdecFar & FRAME_ANA_MASK) >> FRAME_ANA_POSITION);
switch (frameAna) {
case (FrameAna_t::ABANDONED_CLTU): {
triggerEvent(INVALID_TC_FRAME, ABANDONED_CLTU_RETVAL);
sif::warning << "PdecHandler::checkFrameAna: Abondoned CLTU" << std::endl;
break;
}
case (FrameAna_t::FRAME_DIRTY): {
triggerEvent(INVALID_TC_FRAME, FRAME_DIRTY_RETVAL);
checkConfig();
sif::warning << "PdecHandler::checkFrameAna: Frame dirty" << std::endl;
break;
}
case (FrameAna_t::FRAME_ILLEGAL): {
sif::warning << "PdecHandler::checkFrameAna: Frame illegal for one reason" << std::endl;
handleIReason(pdecFar, FRAME_ILLEGAL_ONE_REASON);
break;
}
case (FrameAna_t::FRAME_ILLEGAL_MULTI_REASON): {
sif::warning << "PdecHandler::checkFrameAna: Frame illegal for multiple reasons" << std::endl;
handleIReason(pdecFar, FRAME_ILLEGAL_MULTIPLE_REASONS);
break;
}
case (FrameAna_t::AD_DISCARDED_LOCKOUT): {
triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_LOCKOUT_RETVAL);
sif::warning << "PdecHandler::checkFrameAna: AD frame discarded because of lockout"
<< std::endl;
break;
}
case (FrameAna_t::AD_DISCARDED_WAIT): {
triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_LOCKOUT_RETVAL);
sif::warning << "PdecHandler::checkFrameAna: AD frame discarded because of wait" << std::endl;
break;
}
case (FrameAna_t::AD_DISCARDED_NS_VR): {
triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_NS_VS);
sif::warning << "PdecHandler::checkFrameAna: AD frame discarded because N(S) or V(R)"
<< std::endl;
break;
}
case (FrameAna_t::FRAME_ACCEPTED): {
#if OBSW_DEBUG_PDEC_HANDLER == 1
sif::info << "PdecHandler::checkFrameAna: Accepted TC frame" << std::endl;
#endif
frameValid = true;
break;
}
default: {
sif::debug << "PdecHandler::checkFrameAna: Invalid frame analysis report" << std::endl;
break;
}
}
return frameValid;
}
void PdecHandler::handleIReason(uint32_t pdecFar, ReturnValue_t parameter1) {
IReason_t ireason = static_cast<IReason_t>((pdecFar & IREASON_MASK) >> IREASON_POSITION);
switch (ireason) {
case (IReason_t::NO_REPORT): {
triggerEvent(INVALID_TC_FRAME, parameter1, NO_REPORT_RETVAL);
sif::info << "PdecHandler::handleIReason: No illegal report" << std::endl;
break;
}
case (IReason_t::ERROR_VERSION_NUMBER): {
triggerEvent(INVALID_TC_FRAME, parameter1, ERROR_VERSION_NUMBER_RETVAL);
sif::info << "PdecHandler::handleIReason: Error in version number and reserved A and B "
<< "fields" << std::endl;
break;
}
case (IReason_t::ILLEGAL_COMBINATION): {
triggerEvent(INVALID_TC_FRAME, parameter1, ILLEGAL_COMBINATION_RETVAL);
sif::info << "PdecHandler::handleIReason: Illegal combination (AC) of bypass and control "
<< "command flags" << std::endl;
break;
}
case (IReason_t::INVALID_SC_ID): {
triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_SC_ID_RETVAL);
sif::info << "PdecHandler::handleIReason: Invalid spacecraft identifier " << std::endl;
break;
}
case (IReason_t::INVALID_VC_ID_MSB): {
triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_VC_ID_MSB_RETVAL);
sif::info << "PdecHandler::handleIReason: VC identifier bit 0 to 4 did not match "
<< std::endl;
break;
}
case (IReason_t::INVALID_VC_ID_LSB): {
triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_VC_ID_LSB_RETVAL);
sif::info << "PdecHandler::handleIReason: VC identifier bit 5 did not match " << std::endl;
break;
}
case (IReason_t::NS_NOT_ZERO): {
triggerEvent(INVALID_TC_FRAME, parameter1, NS_NOT_ZERO_RETVAL);
sif::info << "PdecHandler::handleIReason: N(S) of BC or BD frame not set to all zeros"
<< std::endl;
break;
}
case (IReason_t::INCORRECT_BC_CC): {
triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_BC_CC);
sif::info << "PdecHandler::handleIReason: Invalid BC control command format" << std::endl;
break;
}
default: {
sif::info << "PdecHandler::handleIReason: Invalid reason id" << std::endl;
break;
}
}
}
void PdecHandler::checkConfig() {
uint32_t firstWord = 0;
ReturnValue_t result = pdecConfig.createFirstWord(&firstWord);
if (result != returnvalue::OK) {
// This should normally never happen during runtime. So here is just
// output a warning
sif::warning << "PdecHandler::checkConfig: Failed to create first word" << std::endl;
return;
}
uint32_t secondWord = 0;
result = pdecConfig.createSecondWord(&secondWord);
if (result != returnvalue::OK) {
// This should normally never happen during runtime. So here is just
// output a warning
sif::warning << "PdecHandler::checkConfig: Failed to create second word" << std::endl;
return;
}
uint32_t readbackFirstWord = pdecConfig.readbackFirstWord();
uint32_t readbackSecondWord = pdecConfig.readbackSecondWord();
if (firstWord != readbackFirstWord or secondWord != readbackSecondWord) {
triggerEvent(PDEC_CONFIG_CORRUPTED, readbackFirstWord, readbackSecondWord);
}
}
void PdecHandler::handleNewTc() {
ReturnValue_t result = returnvalue::OK;
uint32_t tcLength = 0;
result = readTc(tcLength);
if (result != returnvalue::OK) {
return;
}
#if OBSW_DEBUG_PDEC_HANDLER == 1
unsigned int mapId = tcSegment[0] & MAP_ID_MASK;
sif::info << "PdecHandler::handleNewTc: Received TC segment with map ID " << mapId << std::endl;
printTC(tcLength);
#endif /* OBSW_DEBUG_PDEC_HANDLER */
store_address_t storeId;
result = tcStore->addData(&storeId, tcSegment + 1, tcLength - 1);
if (result != returnvalue::OK) {
sif::warning << "PdecHandler::handleNewTc: Failed to add received space packet to store"
<< std::endl;
return;
}
TmTcMessage message(storeId);
result = MessageQueueSenderIF::sendMessage(tcDestination->getRequestQueue(), &message);
if (result != returnvalue::OK) {
sif::warning << "PdecHandler::handleNewTc: Failed to send message to TC destination"
<< std::endl;
tcStore->deleteData(storeId);
return;
}
return;
}
ReturnValue_t PdecHandler::readTc(uint32_t& tcLength) {
uint32_t tcOffset = (*(registerBaseAddress + PDEC_BPTR_OFFSET) - pdecRamBaseAddr) / 4;
#if OBSW_DEBUG_PDEC_HANDLER == 1
sif::debug << "PdecHandler::readTc: TC offset: 0x" << std::hex << tcOffset << std::endl;
#endif /* OBSW_DEBUG_PDEC_HANDLER */
tcLength = *(registerBaseAddress + PDEC_SLEN_OFFSET);
#if OBSW_DEBUG_PDEC_HANDLER == 1
sif::debug << "PdecHandler::readTc: TC segment length: " << std::dec << tcLength << std::endl;
#endif /* OBSW_DEBUG_PDEC_HANDLER */
if (tcLength > MAX_TC_SEGMENT_SIZE) {
sif::warning << "PdecHandler::handleNewTc: Read invalid TC length from PDEC register"
<< std::endl;
return returnvalue::FAILED;
}
uint32_t idx = 0;
uint32_t tcData = 0;
for (idx = 0; idx <= tcLength; idx = idx + 4) {
tcData = *(ramBaseAddress + tcOffset + idx / 4);
if (idx == 0) {
tcSegment[idx] = static_cast<uint8_t>((tcData >> 16) & 0xFF);
tcSegment[idx + 1] = static_cast<uint8_t>((tcData >> 8) & 0xFF);
tcSegment[idx + 2] = static_cast<uint8_t>(tcData & 0xFF);
} else if (tcLength - idx + 1 == 3) {
tcSegment[idx - 1] = static_cast<uint8_t>((tcData >> 24) & 0xFF);
tcSegment[idx] = static_cast<uint8_t>((tcData >> 16) & 0xFF);
tcSegment[idx + 1] = static_cast<uint8_t>((tcData >> 8) & 0xFF);
} else if (tcLength - idx + 1 == 2) {
tcSegment[idx - 1] = static_cast<uint8_t>((tcData >> 24) & 0xFF);
tcSegment[idx] = static_cast<uint8_t>((tcData >> 16) & 0xFF);
} else if (tcLength - idx + 1 == 1) {
tcSegment[idx - 1] = static_cast<uint8_t>((tcData >> 24) & 0xFF);
} else {
tcSegment[idx - 1] = static_cast<uint8_t>((tcData >> 24) & 0xFF);
tcSegment[idx] = static_cast<uint8_t>((tcData >> 16) & 0xFF);
tcSegment[idx + 1] = static_cast<uint8_t>((tcData >> 8) & 0xFF);
tcSegment[idx + 2] = static_cast<uint8_t>(tcData & 0xFF);
}
}
// Backend buffer is handled back to PDEC3
*(registerBaseAddress + PDEC_BFREE_OFFSET) = 0;
return returnvalue::OK;
}
void PdecHandler::printTC(uint32_t tcLength) {
std::stringstream tcSegmentStream;
tcSegmentStream << "TC segment data: 0x";
for (uint32_t idx = 0; idx < tcLength; idx++) {
tcSegmentStream << std::setfill('0') << std::setw(2) << std::hex
<< static_cast<unsigned int>(tcSegment[idx]);
}
sif::info << tcSegmentStream.str() << std::endl;
}
uint32_t PdecHandler::getClcw() { return *(registerBaseAddress + PDEC_CLCW_OFFSET); }
uint32_t PdecHandler::getPdecMon() { return *(registerBaseAddress + PDEC_MON_OFFSET); }
void PdecHandler::printClcw() {
uint32_t clcw = getClcw();
uint8_t type = static_cast<uint8_t>((clcw >> 31) & 0x1);
uint8_t versionNo = static_cast<uint8_t>((clcw >> 29) & 0x3);
uint8_t status = static_cast<uint8_t>((clcw >> 26) & 0x7);
uint8_t cop = static_cast<uint8_t>((clcw >> 24) & 0x3);
uint8_t vcId = static_cast<uint8_t>((clcw >> 18) & 0x3F);
uint8_t noRf = static_cast<uint8_t>((clcw >> 15) & 0x1);
uint8_t noBitLock = static_cast<uint8_t>((clcw >> 14) & 0x1);
uint8_t lockoutFlag = static_cast<uint8_t>((clcw >> 13) & 0x1);
uint8_t waitFlag = static_cast<uint8_t>((clcw >> 12) & 0x1);
uint8_t retransmitFlag = static_cast<uint8_t>((clcw >> 11) & 0x1);
uint8_t farmBcnt = static_cast<uint8_t>((clcw >> 9) & 0x3);
// Expected frame sequence number in te next AD frame
uint8_t repValue = static_cast<uint8_t>(clcw & 0xFF);
sif::info << std::setw(30) << std::left << "CLCW type: " << std::hex << "0x"
<< static_cast<unsigned int>(type) << std::endl;
sif::info << std::setw(30) << std::left << "CLCW version no: " << std::hex << "0x"
<< static_cast<unsigned int>(versionNo) << std::endl;
sif::info << std::setw(30) << std::left << "CLCW status: " << std::hex << "0x"
<< static_cast<unsigned int>(status) << std::endl;
sif::info << std::setw(30) << std::left << "CLCW COP: " << std::hex << "0x"
<< static_cast<unsigned int>(cop) << std::endl;
sif::info << std::setw(30) << std::left << "CLCW virtual channel ID: " << std::hex << "0x"
<< static_cast<unsigned int>(vcId) << std::endl;
sif::info << std::setw(30) << std::left << "CLCW no RF: " << std::hex << "0x"
<< static_cast<unsigned int>(noRf) << std::endl;
sif::info << std::setw(30) << std::left << "CLCW no bit lock: " << std::hex << "0x"
<< static_cast<unsigned int>(noBitLock) << std::endl;
sif::info << std::setw(30) << std::left << "CLCW lockout flag: " << std::hex << "0x"
<< static_cast<unsigned int>(lockoutFlag) << std::endl;
sif::info << std::setw(30) << std::left << "CLCW wait flag: " << std::hex << "0x"
<< static_cast<unsigned int>(waitFlag) << std::endl;
sif::info << std::setw(30) << std::left << "CLCW retransmit flag: " << std::hex << "0x"
<< static_cast<unsigned int>(retransmitFlag) << std::endl;
sif::info << std::setw(30) << std::left << "CLCW FARM B count: " << std::hex << "0x"
<< static_cast<unsigned int>(farmBcnt) << std::endl;
sif::info << std::setw(30) << std::left << "CLCW rep value: " << std::hex << "0x"
<< static_cast<unsigned int>(repValue) << std::endl;
}
void PdecHandler::printPdecMon() {
uint32_t pdecMon = getPdecMon();
uint32_t tc0ChannelStatus = (pdecMon & TC0_STATUS_MASK) >> TC0_STATUS_POS;
uint32_t tc1ChannelStatus = (pdecMon & TC1_STATUS_MASK) >> TC1_STATUS_POS;
uint32_t tc2ChannelStatus = (pdecMon & TC2_STATUS_MASK) >> TC2_STATUS_POS;
uint32_t tc3ChannelStatus = (pdecMon & TC3_STATUS_MASK) >> TC3_STATUS_POS;
uint32_t tc4ChannelStatus = (pdecMon & TC4_STATUS_MASK) >> TC4_STATUS_POS;
uint32_t tc5ChannelStatus = (pdecMon & TC5_STATUS_MASK) >> TC5_STATUS_POS;
uint32_t lock = (pdecMon & LOCK_MASK) >> LOCK_POS;
sif::info << std::setw(30) << std::left << "TC0 status: " << getMonStatusString(tc0ChannelStatus)
<< std::endl;
sif::info << std::setw(30) << std::left << "TC1 status: " << getMonStatusString(tc1ChannelStatus)
<< std::endl;
sif::info << std::setw(30) << std::left << "TC2 status: " << getMonStatusString(tc2ChannelStatus)
<< std::endl;
sif::info << std::setw(30) << std::left << "TC3 status: " << getMonStatusString(tc3ChannelStatus)
<< std::endl;
sif::info << std::setw(30) << std::left << "TC4 status: " << getMonStatusString(tc4ChannelStatus)
<< std::endl;
sif::info << std::setw(30) << std::left << "TC5 status: " << getMonStatusString(tc5ChannelStatus)
<< std::endl;
sif::info << std::setw(30) << std::left << "Start sequence lock: " << lock << std::endl;
}
uint32_t PdecHandler::readFar() { return *(registerBaseAddress + PDEC_FAR_OFFSET); }
void PdecHandler::resetIrqLimiters() {
interruptWindowCd.resetTimer();
interruptCounter = 0;
}
void PdecHandler::checkLocks() {
uint32_t clcw = getClcw();
if (not(clcw & NO_RF_MASK) && not carrierLock) {
triggerEvent(CARRIER_LOCK);
carrierLock = true;
} else if ((clcw & NO_RF_MASK) && carrierLock) {
carrierLock = false;
triggerEvent(LOST_CARRIER_LOCK_PDEC);
}
if (not(clcw & NO_BITLOCK_MASK) && not bitLock) {
triggerEvent(BIT_LOCK_PDEC);
bitLock = true;
} else if ((clcw & NO_BITLOCK_MASK) && bitLock) {
bitLock = false;
triggerEvent(LOST_BIT_LOCK_PDEC);
}
}
void PdecHandler::initFailedHandler(ReturnValue_t reason) {
triggerEvent(pdec::PDEC_INIT_FAILED, reason, 0);
if (ptmeResetWithReinitializationPending) {
actionHelper.finish(false, commandedBy, pdec::RESET_PDEC_WITH_REINIITALIZATION, reason);
ptmeResetWithReinitializationPending = false;
}
state = State::WAIT_FOR_RECOVERY;
}
void PdecHandler::pdecResetNoInit() {
triggerEvent(pdec::PDEC_TRYING_RESET_NO_INIT);
pdecToReset();
usleep(20);
releasePdec();
ReturnValue_t result = postResetOperation();
if (result != returnvalue::OK) {
// What can we really do here? Event was already triggered if this is due to the FAR flag
// not being reset.
sif::error << "PdecHandler::pdecResetNoInit: Post reset operation failed unexpectedly"
<< std::endl;
}
}
ReturnValue_t PdecHandler::postResetOperation() {
// This configuration must be done while the PDEC is not held in reset.
if (OP_MODE == Modes::IRQ) {
// Configure interrupt mask register to enable interrupts
*(registerBaseAddress + PDEC_IMR_OFFSET) = pdecConfig.getImrReg();
}
ReturnValue_t result = resetFarStatFlag();
if (result != returnvalue::OK) {
// Requires reconfiguration and reinitialization of PDEC
triggerEvent(INVALID_FAR);
}
return result;
}
void PdecHandler::initializeReset() {
if (irqFd != 0) {
close(irqFd);
}
state = State::PDEC_RESET;
}
std::string PdecHandler::getMonStatusString(uint32_t status) {
switch (status) {
case TC_CHANNEL_INACTIVE:
return std::string("inactive");
case TC_CHANNEL_ACTIVE:
return std::string("active");
case TC_CHANNEL_TIMEDOUT:
return std::string("timed out");
default:
sif::warning << "PdecHandler::getMonStatusString: Invalid status" << std::endl;
return std::string();
break;
}
}
linux/ipcore/PdecHandler.h
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#ifndef LINUX_OBC_PDECHANDLER_H_
#define LINUX_OBC_PDECHANDLER_H_
#include <fsfw/timemanager/Countdown.h>
#include <atomic>
#include "OBSWConfig.h"
#include "PdecConfig.h"
#include "eive/definitions.h"
#include "fsfw/action/ActionHelper.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/parameters/ParameterHelper.h"
#include "fsfw/parameters/ReceivesParameterMessagesIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/storagemanager/StorageManagerIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
struct UioNames {
const char* configMemory;
const char* ramMemory;
const char* registers;
const char* irq;
};
/**
* @brief This class controls the PDEC IP Core implemented in the programmable logic of the
* Zynq-7020. All registers and memories of the PDEC IP Core are accessed via UIO
* drivers.
*
* @details The PDEC IP Core is responsible for processing data received in form of CLTUs from the
* S-Band transceiver. This comprises the BCH decoding of the CLTUs and reconstruction of
* telecommand transfer frames. Finally the PDEC stores the TC segment transported with
* the TC transfer frame in a register. As soon as a new TC has been received a new
* frame acceptance report (FAR) will be generated. If the FAR confirms the validity of
* a received TC segment, the data can be read out from the associated register.
* Currently, the ground software only supports transmissions of CLTUs containing one
* space packet.
* Link to datasheet of PDEC IP Core: https://eive-cloud.irs.uni-stuttgart.de/index.php/
* apps/files/?dir=/EIVE_IRS/Arbeitsdaten/08_Used%20Components/CCSDS_IP_Cores&fileid=1108967
*
* @author J. Meier
*/
class PdecHandler : public SystemObject,
public ExecutableObjectIF,
public HasActionsIF,
public ReceivesParameterMessagesIF {
public:
static constexpr dur_millis_t IRQ_TIMEOUT_MS = 500;
static constexpr uint32_t PDEC_CFG_MEM_SIZE = 0x1000;
static constexpr uint32_t PDEC_RAM_SIZE = 0x10000;
enum class Modes { POLLED, IRQ };
/**
* @brief Constructor
* @param objectId Object ID of PDEC handler system object
* @param tcDestinationId Object ID of object responsible for processing TCs.
* @param gpioComIF Pointer to GPIO interace responsible for driving GPIOs.
* @param pdecReset GPIO ID of GPIO connected to the reset signal of the PDEC.
* @param uioConfigMemory String of uio device file same mapped to the PDEC memory space
* @param uioregsiters String of uio device file same mapped to the PDEC register space
*/
PdecHandler(object_id_t objectId, object_id_t tcDestinationId, LinuxLibgpioIF* gpioComIF,
gpioId_t pdecReset, UioNames names, uint32_t cfgMemPhyAddr, uint32_t pdecRamPhyAddr);
virtual ~PdecHandler();
ReturnValue_t performOperation(uint8_t operationCode = 0);
ReturnValue_t initialize() override;
MessageQueueId_t getCommandQueue() const;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) override;
private:
static constexpr Modes OP_MODE = Modes::IRQ;
static const uint32_t QUEUE_SIZE = config::CCSDS_HANDLER_QUEUE_SIZE;
#ifdef TE0720_1CFA
static const int CONFIG_MEMORY_MAP_SIZE = 0x400;
static const int RAM_MAP_SIZE = 0x4000;
static const int REGISTER_MAP_SIZE = 0x10000;
#else
static const int CONFIG_MEMORY_MAP_SIZE = 0x400;
static const int RAM_MAP_SIZE = 0x4000;
static const int REGISTER_MAP_SIZE = 0x4000;
#endif /* BOARD_TE0720 == 1 */
static const size_t MAX_TC_SEGMENT_SIZE = 1017;
static const uint8_t MAP_ID_MASK = 0x3F;
// Expected value stored in FAR register after reset
static const uint32_t FAR_RESET = 0x7FE0;
static const uint32_t TC_SEGMENT_LEN = 1017;
static const uint32_t NO_RF_MASK = 0x8000;
static const uint32_t NO_BITLOCK_MASK = 0x4000;
static const uint32_t MAX_INIT_TRIES = 20;
class ParameterId {
public:
// ID of the parameter to update the positive window of AD frames
static const uint8_t POSITIVE_WINDOW = 0;
// ID of the parameter to update the negative window of AD frames
static const uint8_t NEGATIVE_WINDOW = 1;
};
static constexpr uint32_t MAX_ALLOWED_IRQS_PER_WINDOW = 800;
enum class IReason_t : uint8_t {
NO_REPORT,
ERROR_VERSION_NUMBER,
ILLEGAL_COMBINATION,
INVALID_SC_ID,
INVALID_VC_ID_LSB,
INVALID_VC_ID_MSB,
NS_NOT_ZERO,
INCORRECT_BC_CC
};
enum class State : uint8_t { INIT, PDEC_RESET, RUNNING, WAIT_FOR_RECOVERY };
static uint32_t CURRENT_FAR;
Countdown genericCheckCd = Countdown(IRQ_TIMEOUT_MS);
object_id_t tcDestinationId;
int irqFd = 0;
AcceptsTelecommandsIF* tcDestination = nullptr;
LinuxLibgpioIF* gpioComIF = nullptr;
uint32_t interruptCounter = 0;
Countdown interruptWindowCd = Countdown(1000);
/**
* Reset signal is required to hold PDEC in reset state until the configuration has been
* written to the appropriate memory space.
* Can also be used to reboot PDEC in case of erros.
*/
gpioId_t pdecReset = gpio::NO_GPIO;
uint32_t tcAbortCounter = 0;
ActionHelper actionHelper;
StorageManagerIF* tcStore = nullptr;
MessageQueueIF* commandQueue = nullptr;
State state = State::INIT;
/**
* Pointer pointing to base address of the PDEC memory space.
* This address is equivalent with the base address of the section named configuration area in
* the PDEC datasheet.
*/
uint32_t* memoryBaseAddress = nullptr;
uint32_t* ramBaseAddress = nullptr;
// Pointer pointing to base address of register space
uint32_t* registerBaseAddress = nullptr;
uint8_t tcSegment[TC_SEGMENT_LEN];
// Used to check carrier and bit lock changes (default set to no rf and no bitlock)
uint32_t lastClcw = 0xC000;
bool carrierLock = false;
bool bitLock = false;
MessageQueueId_t commandedBy = MessageQueueIF::NO_QUEUE;
bool ptmeResetWithReinitializationPending = false;
uint32_t cfgMemBaseAddr;
uint32_t pdecRamBaseAddr;
UioNames uioNames;
ParameterHelper paramHelper;
PdecConfig pdecConfig;
uint32_t initTries = 0;
// scuffed test counter.
uint8_t testCntr = 0;
/**
* @brief Performs initialization stuff which must be performed in first
* loop of running task
*
* @return OK if successful, otherwise FAILED
*/
ReturnValue_t firstLoop();
/**
* @brief Reads and handles messages stored in the commandQueue
*/
void readCommandQueue(void);
ReturnValue_t polledOperation();
ReturnValue_t irqOperation();
ReturnValue_t handleInitState();
void openIrqFile();
ReturnValue_t checkAndHandleIrqs(uint32_t& info);
uint32_t readFar();
/**
* @brief This functions writes the configuration parameters to the configuration
* section of the PDEC.
*/
void writePdecConfigDuringReset(PdecConfig& config);
/**
* @brief Reading the FAR resets the set stat flag which signals a new TC. Without clearing
* this flag no new TC will be excepted. After start up the flag is set and needs
* to be reset.
* Stat flag 0 - new TC received
* Stat flag 1 - old TC (ready to receive next TC)
*/
ReturnValue_t resetFarStatFlag();
/**
* @brief Releases the PDEC from reset state. PDEC will start with loading the written
* configuration parameters.
*/
ReturnValue_t releasePdec();
/**
* @brief Will set PDEC in reset state. Use releasePdec() to release PDEC
* from reset state
*
* @return OK if successful, otherwise error return value
*/
ReturnValue_t pdecToReset();
/**
* @brief Reads the FAR register and checks if a new TC has been received.
*/
bool newTcReceived();
/**
* @brief Checks if carrier lock or bit lock has been detected and triggers appropriate
* event.
*/
void doPeriodicWork();
void checkLocks();
void resetIrqLimiters();
/**
* @brief Analyzes the FramAna field (frame analysis data) of a FAR report.
*
* @return True if frame valid, otherwise false.
*/
bool checkFrameAna(uint32_t pdecFar);
/**
* @brief This function handles the IReason field of the frame analysis report.
*
* @details In case frame as been declared illegal for multiple reasons, the reason with the
* lowest value will be shown.
*/
void handleIReason(uint32_t pdecFar, ReturnValue_t parameter1);
/**
* @brief Checks if PDEC configuration is still correct
*/
void checkConfig();
/**
* @brief Handles the reception of new TCs. Reads the pointer to the storage location of the
* new TC segment, extracts the PUS packet and forwards the data to the object
* responsible for processing the TC.
*/
void handleNewTc();
/**
* @brief Function reads the last received TC segment from the PDEC memory and copies
* the data to the tcSegement array.
*
* @param tcLength The length of the received TC.
*
*/
ReturnValue_t readTc(uint32_t& tcLength);
/**
* @brief Prints the tc segment data
*/
void printTC(uint32_t tcLength);
/**
* @brief This function calculates the entry for the configuration of the MAP ID routing.
*
* @param mapAddr The MAP ID to configure
* @param moduleId The destination module where all TCs with the map id mapAddr will be routed
* to.
*
* @details The PDEC has different modules where the TCs can be routed to. A lookup table is
* used which links the MAP ID field to the destination module. The entry for this
* lookup table is created by this function and must be stored in the configuration
* memory region of the PDEC. The entry has a specific format
*/
uint8_t calcMapAddrEntry(uint8_t moduleId);
/**
* brief Returns the 32-bit wide communication link control word (CLCW)
*/
uint32_t getClcw();
/**
* @brief Returns the PDEC monitor register content
*
*/
uint32_t getPdecMon();
/**
* @brief Reads and prints the CLCW. Can be useful for debugging.
*/
void printClcw();
/**
* @brief Prints monitor register information to debug console.
*/
void printPdecMon();
void pdecResetNoInit();
ReturnValue_t postResetOperation();
void initializeReset();
void initFailedHandler(ReturnValue_t reason);
std::string getMonStatusString(uint32_t status);
};
#endif /* LINUX_OBC_PDECHANDLER_H_ */
linux/ipcore/Ptme.cpp
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#include <fcntl.h>
#include <linux/ipcore/Ptme.h>
#include <sys/mman.h>
#include <unistd.h>
#include "PtmeConfig.h"
#include "eive/definitions.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
Ptme::Ptme(object_id_t objectId) : SystemObject(objectId) {}
Ptme::~Ptme() {}
ReturnValue_t Ptme::initialize() {
VcInterfaceMapIter iter;
for (iter = vcInterfaceMap.begin(); iter != vcInterfaceMap.end(); iter++) {
iter->second->initialize();
}
return returnvalue::OK;
}
bool Ptme::containsVc(uint8_t vcId) const {
auto channelIter = vcInterfaceMap.find(vcId);
if (channelIter == vcInterfaceMap.end()) {
return false;
}
return true;
}
void Ptme::addVcInterface(VcId_t vcId, VirtualChannelIF* vc) {
if (vcId > config::NUMBER_OF_VIRTUAL_CHANNELS) {
sif::warning << "Ptme::addVcInterface: Invalid virtual channel ID" << std::endl;
return;
}
if (vc == nullptr) {
sif::warning << "Ptme::addVcInterface: Invalid virtual channel interface" << std::endl;
return;
}
auto status = vcInterfaceMap.emplace(vcId, vc);
if (status.second == false) {
sif::warning << "Ptme::addVcInterface: Failed to add virtual channel interface to "
"virtual channel map"
<< std::endl;
return;
}
}
VirtualChannelIF* Ptme::getVirtChannel(uint8_t vcId) {
auto channelIter = vcInterfaceMap.find(vcId);
if (channelIter == vcInterfaceMap.end()) {
return nullptr;
}
return channelIter->second;
}
linux/ipcore/Ptme.h
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#ifndef LINUX_OBC_PTME_H_
#define LINUX_OBC_PTME_H_
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <linux/ipcore/VirtualChannelIF.h>
#include <cstring>
#include <unordered_map>
#include "OBSWConfig.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "linux/ipcore/PtmeIF.h"
/**
* @brief This class handles the interfacing to the telemetry (PTME) IP core.
*
* @details
* This module is responsible for the encoding of telemetry packets according to the CCSDS
* standards CCSDS 131.0-B-3 (TM Synchronization and channel coding) and CCSDS 132.0-B-2
* (TM Space Data Link Protocoll). The IP cores are implemented on the programmable logic and are
* accessible through the linux UIO driver.
*/
class Ptme : public PtmeIF, public SystemObject {
public:
using VcId_t = uint8_t;
/**
* @brief Constructor
*
* @param objectId
*/
Ptme(object_id_t objectId);
virtual ~Ptme();
ReturnValue_t initialize() override;
bool containsVc(uint8_t vcId) const override;
VirtualChannelIF* getVirtChannel(uint8_t vcId) override;
/**
* @brief This function adds the reference to a virtual channel interface to the vcInterface
* map.
*/
void addVcInterface(VcId_t vcId, VirtualChannelIF* vc);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PTME;
static const ReturnValue_t UNKNOWN_VC_ID = MAKE_RETURN_CODE(0xA0);
/**
* Configuration bits:
* bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00
* bit[2]: Set this bit to 1 to abort a transfered packet
* bit[3]: Signals to PTME the start of a new telemetry packet
*/
static const uint32_t PTME_CONFIG_START = 0x8;
/**
* Writing this word to the ptme base address signals to the PTME that a complete tm packet has
* been transferred.
*/
static const uint32_t PTME_CONFIG_END = 0x0;
/**
* Writing to this offset within the PTME memory space will insert data for encoding to the
* PTME IP core.
* The address offset is 0x400 (= 4 * 256)
*/
static const int PTME_DATA_REG_OFFSET = 256;
/** The file descriptor of the UIO driver */
int fd = 0;
uint32_t* ptmeBaseAddress = nullptr;
using VcInterfaceMap = std::unordered_map<VcId_t, VirtualChannelIF*>;
using VcInterfaceMapIter = VcInterfaceMap::iterator;
VcInterfaceMap vcInterfaceMap;
};
#endif /* LINUX_OBC_PTME_H_ */
linux/ipcore/PtmeConfig.cpp
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#include "PtmeConfig.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
PtmeConfig::PtmeConfig(object_id_t objectId, AxiPtmeConfig* axiPtmeConfig)
: SystemObject(objectId), axiPtmeConfig(axiPtmeConfig) {}
PtmeConfig::~PtmeConfig() {}
ReturnValue_t PtmeConfig::initialize() {
if (axiPtmeConfig == nullptr) {
sif::warning << "PtmeConfig::initialize: Invalid AxiPtmeConfig object" << std::endl;
return returnvalue::FAILED;
}
return returnvalue::OK;
}
ReturnValue_t PtmeConfig::setRate(uint32_t bitRate) {
if (bitRate == 0) {
return BAD_BIT_RATE;
}
uint32_t rateVal = BIT_CLK_FREQ / bitRate - 1;
if (rateVal > 0xFF) {
return RATE_NOT_SUPPORTED;
}
return axiPtmeConfig->writeCaduRateReg(static_cast<uint8_t>(rateVal));
}
uint32_t PtmeConfig::getRate() {
uint8_t rateReg = axiPtmeConfig->readCaduRateReg();
return (BIT_CLK_FREQ / (rateReg + 1));
}
void PtmeConfig::invertTxClock(bool invert) {
if (invert) {
axiPtmeConfig->enableTxclockInversion();
} else {
axiPtmeConfig->disableTxclockInversion();
}
}
void PtmeConfig::configTxManipulator(bool enable) {
if (enable) {
axiPtmeConfig->enableTxclockManipulator();
} else {
axiPtmeConfig->disableTxclockManipulator();
}
}
void PtmeConfig::enableBatPriorityBit(bool enable) {
if (enable) {
axiPtmeConfig->enableBatPriorityBit();
} else {
axiPtmeConfig->disableBatPriorityBit();
}
}
void PtmeConfig::setPollThreshold(AxiPtmeConfig::IdlePollThreshold pollThreshold) {
axiPtmeConfig->writePollThreshold(pollThreshold);
}
linux/ipcore/PtmeConfig.h
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#ifndef LINUX_OBC_PTMECONFIG_H_
#define LINUX_OBC_PTMECONFIG_H_
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include "AxiPtmeConfig.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "linux/ipcore/PtmeConfig.h"
#include "returnvalues/classIds.h"
/**
* @brief Class to configure donwlink specific parameters in the PTME IP core.
*
* @author J. Meier
*/
class PtmeConfig : public SystemObject {
public:
/**
* @brief Constructor
*
* ptmeAxiConfig Pointer to object providing access to PTME configuration registers.
*/
PtmeConfig(object_id_t opbjectId, AxiPtmeConfig* axiPtmeConfig);
virtual ~PtmeConfig();
virtual ReturnValue_t initialize() override;
/**
* @brief Changes the input frequency to the S-Band transceiver and thus the downlink rate
*
* @details This is the bitrate of the CADU clock and not the downlink which has twice the bitrate
* of the CADU clock due to the convolutional code added by the s-Band transceiver.
*/
ReturnValue_t setRate(uint32_t bitRate);
uint32_t getRate();
/**
* @brief Will change the time the tx data signal is updated with respect to the tx clock
*
* @param invert True -> Data signal will be updated on the falling edge (not desired by the
* Syrlinks)
* False -> Data signal updated on rising edge (default configuration and desired
* by the syrlinks)
*
* @return REUTRN_OK if successful, otherwise error return value
*/
void invertTxClock(bool invert);
/**
* @brief Controls the tx clock manipulator of the PTME wrapper component
*
* @param enable Manipulator will be enabled (this is also the default configuration)
* @param disable Manipulator will be disabled
*
* @return REUTRN_OK if successful, otherwise error return value
*/
void configTxManipulator(bool enable);
/**
* Enable the bat priority bit in the PTME wrapper component.
* Please note that a reset of the PTME is still required as specified in the documentation.
* This is done by a higher level component.
* @param enable
* @return
*/
void enableBatPriorityBit(bool enable);
void setPollThreshold(AxiPtmeConfig::IdlePollThreshold pollThreshold);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::RATE_SETTER;
//! [EXPORT] : [COMMENT] The commanded rate is not supported by the current FPGA design
static const ReturnValue_t RATE_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Bad bitrate has been commanded (e.g. 0)
static const ReturnValue_t BAD_BIT_RATE = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Failed to invert clock and thus change the time the data is updated with
//! respect to the tx clock
static const ReturnValue_t CLK_INVERSION_FAILED = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Failed to change configuration bit of tx clock manipulator
static const ReturnValue_t TX_MANIPULATOR_CONFIG_FAILED = MAKE_RETURN_CODE(0xA3);
// Bitrate register field is only 8 bit wide
static const uint32_t MAX_BITRATE = 0xFF;
// Bit clock frequency of PMTE IP core in Hz
static const uint32_t BIT_CLK_FREQ = 20000000;
AxiPtmeConfig* axiPtmeConfig = nullptr;
};
#endif /* LINUX_OBC_PTMECONFIG_H_ */
linux/ipcore/PtmeIF.h
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#ifndef LINUX_OBC_PTMEIF_H_
#define LINUX_OBC_PTMEIF_H_
#include <linux/ipcore/VirtualChannelIF.h>
#include "fsfw/returnvalues/returnvalue.h"
/**
* @brief Interface class for managing the PTME IP Core implemented in the programmable logic.
*
* @details PTME IP Core: https://www.esa.int/Enabling_Support/Space_Engineering_Technology/
* Microelectronics/PTME
* @author J. Meier
*/
class PtmeIF {
public:
virtual ~PtmeIF() {};
virtual bool containsVc(uint8_t vcId) const = 0;
virtual VirtualChannelIF* getVirtChannel(uint8_t vcId) = 0;
};
#endif /* LINUX_OBC_PTMEIF_H_ */
linux/ipcore/VirtualChannelIF.h
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#ifndef LINUX_OBC_VCINTERFACEIF_H_
#define LINUX_OBC_VCINTERFACEIF_H_
#include <mission/tmtc/DirectTmSinkIF.h>
#include <stddef.h>
#include "fsfw/returnvalues/returnvalue.h"
/**
* @brief Interface class for managing different virtual channels of the PTME IP core implemented
* in the programmable logic.
* @details
* Also implements @DirectTmSinkIF to allow wiriting to the VC directly.
* @author J. Meier
*/
class VirtualChannelIF : public DirectTmSinkIF {
public:
virtual ~VirtualChannelIF() {};
virtual ReturnValue_t initialize() = 0;
virtual void cancelTransfer() = 0;
};
#endif /* LINUX_OBC_VCINTERFACEIF_H_ */
linux/ipcore/pdec.h
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#ifndef LINUX_OBC_PDEC_H_
#define LINUX_OBC_PDEC_H_
#include <eive/resultClassIds.h>
#include <fsfw/action/ActionMessage.h>
#include <cstdint>
namespace pdec {
static const uint8_t INTERFACE_ID = CLASS_ID::PDEC_HANDLER;
static const ReturnValue_t ABANDONED_CLTU_RETVAL = MAKE_RETURN_CODE(0xA0);
static const ReturnValue_t FRAME_DIRTY_RETVAL = MAKE_RETURN_CODE(0xA1);
static const ReturnValue_t FRAME_ILLEGAL_ONE_REASON = MAKE_RETURN_CODE(0xA2);
static const ReturnValue_t FRAME_ILLEGAL_MULTIPLE_REASONS = MAKE_RETURN_CODE(0xA2);
static const ReturnValue_t AD_DISCARDED_LOCKOUT_RETVAL = MAKE_RETURN_CODE(0xA3);
static const ReturnValue_t AD_DISCARDED_WAIT_RETVAL = MAKE_RETURN_CODE(0xA4);
static const ReturnValue_t AD_DISCARDED_NS_VS = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Received action message with unknown action id
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xB0);
static const ReturnValue_t NO_REPORT_RETVAL = MAKE_RETURN_CODE(0xA6);
//! Error in version number and reserved A and B fields
static const ReturnValue_t ERROR_VERSION_NUMBER_RETVAL = MAKE_RETURN_CODE(0xA7);
//! Illegal combination of bypass and control command flag
static const ReturnValue_t ILLEGAL_COMBINATION_RETVAL = MAKE_RETURN_CODE(0xA8);
//! Spacecraft identifier did not match
static const ReturnValue_t INVALID_SC_ID_RETVAL = MAKE_RETURN_CODE(0xA9);
//! VC identifier bits 0 to 4 did not match
static const ReturnValue_t INVALID_VC_ID_MSB_RETVAL = MAKE_RETURN_CODE(0xAA);
//! VC identifier bit 5 did not match
static const ReturnValue_t INVALID_VC_ID_LSB_RETVAL = MAKE_RETURN_CODE(0xAB);
//! N(S) of BC or BD frame not set to all zeros
static const ReturnValue_t NS_NOT_ZERO_RETVAL = MAKE_RETURN_CODE(0xAC);
//! Invalid BC control command
static const ReturnValue_t INVALID_BC_CC = MAKE_RETURN_CODE(0xAE);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PDEC_HANDLER;
//! [EXPORT] : [COMMENT] Frame acceptance report signals an invalid frame
//! P1: The frame analysis information (FrameAna field of PDEC_FAR register)
//! P2: When frame declared illegal this parameter this parameter gives information about the
//! reason (IReason field of the PDEC_FAR register)
static const Event INVALID_TC_FRAME = MAKE_EVENT(1, severity::HIGH);
//! [EXPORT] : [COMMENT] Read invalid FAR from PDEC after startup
static const Event INVALID_FAR = MAKE_EVENT(2, severity::HIGH);
//! [EXPORT] : [COMMENT] Carrier lock detected
static const Event CARRIER_LOCK = MAKE_EVENT(3, severity::INFO);
//! [EXPORT] : [COMMENT] Bit lock detected (data valid)
static const Event BIT_LOCK_PDEC = MAKE_EVENT(4, severity::INFO);
//! [EXPORT] : [COMMENT] Lost carrier lock
static const Event LOST_CARRIER_LOCK_PDEC = MAKE_EVENT(5, severity::INFO);
//! [EXPORT] : [COMMENT] Lost bit lock
static const Event LOST_BIT_LOCK_PDEC = MAKE_EVENT(6, severity::INFO);
//! [EXPORT] : [COMMENT] Too many IRQs over the time window of one second. P1: Allowed TCs
static constexpr Event TOO_MANY_IRQS = MAKE_EVENT(7, severity::MEDIUM);
static constexpr Event POLL_SYSCALL_ERROR_PDEC =
event::makeEvent(SUBSYSTEM_ID, 8, severity::MEDIUM);
static constexpr Event WRITE_SYSCALL_ERROR_PDEC = event::makeEvent(SUBSYSTEM_ID, 9, severity::HIGH);
//! [EXPORT] : [COMMENT] Trying a PDEC reset with complete re-initialization
static constexpr Event PDEC_TRYING_RESET_WITH_INIT =
event::makeEvent(SUBSYSTEM_ID, 10, severity::LOW);
//! [EXPORT] : [COMMENT] Trying a PDEC reset without re-initialization.
static constexpr Event PDEC_TRYING_RESET_NO_INIT =
event::makeEvent(SUBSYSTEM_ID, 11, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to pull PDEC reset to low
static constexpr Event PDEC_RESET_FAILED = event::makeEvent(SUBSYSTEM_ID, 12, severity::HIGH);
//! [EXPORT] : [COMMENT] Failed to open the IRQ uio file
static constexpr Event OPEN_IRQ_FILE_FAILED = event::makeEvent(SUBSYSTEM_ID, 13, severity::HIGH);
//! [EXPORT] : [COMMENT] PDEC initialization failed. This might also be due to the persistent
//! confiuration never becoming available, for example due to SD card issues.
static constexpr Event PDEC_INIT_FAILED = event::makeEvent(SUBSYSTEM_ID, 14, severity::HIGH);
//! [EXPORT] : [COMMENT] The PDEC configuration area has been corrupted
//! P1: The first configuration word
//! P2: The second configuration word
static constexpr Event PDEC_CONFIG_CORRUPTED = event::makeEvent(SUBSYSTEM_ID, 15, severity::HIGH);
// Action IDs
static constexpr ActionId_t PRINT_CLCW = 0;
// Print PDEC monitor register
static constexpr ActionId_t PRINT_PDEC_MON = 1;
static constexpr ActionId_t RESET_PDEC_NO_REINIITALIZATION = 2;
static constexpr ActionId_t RESET_PDEC_WITH_REINIITALIZATION = 3;
enum class FrameAna_t : uint8_t {
ABANDONED_CLTU,
FRAME_DIRTY,
FRAME_ILLEGAL,
FRAME_ILLEGAL_MULTI_REASON,
AD_DISCARDED_LOCKOUT,
AD_DISCARDED_WAIT,
AD_DISCARDED_NS_VR,
FRAME_ACCEPTED
};
static const uint8_t STAT_POSITION = 31;
static const uint8_t FRAME_ANA_POSITION = 28;
static const uint8_t IREASON_POSITION = 25;
static const uint8_t NEW_FAR_RECEIVED = 0;
static constexpr uint32_t NEW_FAR_MASK = 1 << 2;
static constexpr uint32_t TC_ABORT_MASK = 1 << 1;
static constexpr uint32_t TC_NEW_MASK = 1 << 0;
static constexpr uint32_t FAR_STAT_MASK = 1UL << 31;
static const uint32_t FRAME_ANA_MASK = 0x70000000;
static const uint32_t IREASON_MASK = 0x0E000000;
static const uint32_t TC_CHANNEL_INACTIVE = 0x0;
static const uint32_t TC_CHANNEL_ACTIVE = 0x1;
static const uint32_t TC_CHANNEL_TIMEDOUT = 0x2;
static const uint32_t TC0_STATUS_MASK = 0x3;
static const uint32_t TC1_STATUS_MASK = 0xC;
static const uint32_t TC2_STATUS_MASK = 0x300;
static const uint32_t TC3_STATUS_MASK = 0xC00;
static const uint32_t TC4_STATUS_MASK = 0x30000;
static const uint32_t TC5_STATUS_MASK = 0xc00000;
// Lock register set to 1 when start sequence has been found (CLTU is beeing processed)
static const uint32_t LOCK_MASK = 0xc00000;
static const uint32_t TC0_STATUS_POS = 0;
static const uint32_t TC1_STATUS_POS = 2;
static const uint32_t TC2_STATUS_POS = 4;
static const uint32_t TC3_STATUS_POS = 6;
static const uint32_t TC4_STATUS_POS = 8;
static const uint32_t TC5_STATUS_POS = 10;
// Lock register set to 1 when start sequence has been found (CLTU is beeing processed)
static const uint32_t LOCK_POS = 12;
/**
* UIO is 4 byte aligned. Thus offset is calculated with "true offset" / 4
* Example: PDEC_FAR = 0x2840 => Offset in virtual address space is 0xA10
*/
static constexpr uint32_t PDEC_PISR_OFFSET = 0xA02;
static constexpr uint32_t PDEC_PIR_OFFSET = 0xA03;
static constexpr uint32_t PDEC_IMR_OFFSET = 0xA04;
static const uint32_t PDEC_FAR_OFFSET = 0xA10;
static const uint32_t PDEC_CLCW_OFFSET = 0xA12;
static const uint32_t PDEC_BFREE_OFFSET = 0xA24;
static const uint32_t PDEC_BPTR_OFFSET = 0xA25;
static const uint32_t PDEC_SLEN_OFFSET = 0xA26;
static const uint32_t PDEC_MON_OFFSET = 0xA27;
} // namespace pdec
#endif /* LINUX_OBC_PDEC_H_ */
linux/ipcore/pdecconfigdefs.h
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#ifndef LINUX_IPCORE_PDECCONFIGDEFS_H_
#define LINUX_IPCORE_PDECCONFIGDEFS_H_
#include <string>
namespace pdecconfigdefs {
namespace paramkeys {
static const std::string POSITIVE_WINDOW = "positive_window";
static const std::string NEGATIVE_WINDOW = "negattive_window";
} // namespace paramkeys
namespace defaultvalue {
static const uint8_t positiveWindow = 10;
static const uint8_t negativeWindow = 151;
} // namespace defaultvalue
} // namespace pdecconfigdefs
#endif /* LINUX_IPCORE_PDECCONFIGDEFS_H_ */
linux/payload/CMakeLists.txt
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target_sources(
${OBSW_NAME}
PUBLIC PlocMemoryDumper.cpp
MpsocCommunication.cpp
SerialCommunicationHelper.cpp
FreshMpsocHandler.cpp
FreshSupvHandler.cpp
PlocMpsocSpecialComHelper.cpp
plocMpsocHelpers.cpp
PlocSupvUartMan.cpp
ScexDleParser.cpp
ScexHelper.cpp
ScexUartReader.cpp)
linux/payload/FreshMpsocHandler.cpp
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linux/payload/FreshMpsocHandler.h
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#include "fsfw/action/ActionMessage.h"
#include "fsfw/action/CommandsActionsIF.h"
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/messageQueueDefinitions.h"
#include "fsfw/modes/ModeMessage.h"
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/power/PowerSwitchIF.h"
#include "fsfw/power/definitions.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw_hal/linux/gpio/Gpio.h"
#include "linux/payload/MpsocCommunication.h"
#include "linux/payload/PlocMpsocSpecialComHelper.h"
#include "linux/payload/plocMpsocHelpers.h"
class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsIF {
public:
enum OpCode { DEFAULT_OPERATION = 0, PARSE_TM = 1 };
static constexpr uint32_t MPSOC_MODE_CMD_TIMEOUT_MS = 120000;
FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
PlocMpsocSpecialComHelper& specialComHelper, Gpio uartIsolatorSwitch,
object_id_t supervisorHandler, PowerSwitchIF& powerSwitcher,
power::Switch_t camSwitchId);
/**
* Periodic helper executed function, implemented by child class.
*/
void performDeviceOperation(uint8_t opCode) override;
void performDefaultDeviceOperation();
/**
* Implemented by child class. Handle all command messages which are
* not health, mode, action or housekeeping messages.
* @param message
* @return
*/
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
ReturnValue_t initialize() override;
private:
enum class StartupState { IDLE, HW_INIT, DONE } startupState = StartupState::IDLE;
enum class PowerState { IDLE, PENDING_STARTUP, PENDING_SHUTDOWN, SUPV_FAILED, DONE };
enum TransitionState { NONE, TO_ON, TO_OFF, SUBMODE } transitionState = TransitionState::NONE;
MpsocCommunication& comInterface;
PlocMpsocSpecialComHelper& specialComHelper;
MessageQueueIF* eventQueue = nullptr;
SourceSequenceCounter commandSequenceCount = SourceSequenceCounter(0);
MessageQueueIF* commandActionHelperQueue = nullptr;
CommandActionHelper commandActionHelper;
Gpio uartIsolatorSwitch;
mpsoc::HkReport hkReport;
object_id_t supervisorHandler;
Countdown mpsocBootTransitionCd = Countdown(6500);
Countdown supvTransitionCd = Countdown(3000);
PoolEntry<uint32_t> peStatus = PoolEntry<uint32_t>();
PoolEntry<uint8_t> peMode = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peDownlinkPwrOn = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peDownlinkReplyActive = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peDownlinkJesdSyncStatus = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peDownlinkDacStatus = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peCameraStatus = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peCameraSdiStatus = PoolEntry<uint8_t>();
PoolEntry<float> peCameraFpgaTemp = PoolEntry<float>();
PoolEntry<float> peCameraSocTemp = PoolEntry<float>();
PoolEntry<float> peSysmonTemp = PoolEntry<float>();
PoolEntry<float> peSysmonVccInt = PoolEntry<float>();
PoolEntry<float> peSysmonVccAux = PoolEntry<float>();
PoolEntry<float> peSysmonVccBram = PoolEntry<float>();
PoolEntry<float> peSysmonVccPaux = PoolEntry<float>();
PoolEntry<float> peSysmonVccPint = PoolEntry<float>();
PoolEntry<float> peSysmonVccPdro = PoolEntry<float>();
PoolEntry<float> peSysmonMb12V = PoolEntry<float>();
PoolEntry<float> peSysmonMb3V3 = PoolEntry<float>();
PoolEntry<float> peSysmonMb1V8 = PoolEntry<float>();
PoolEntry<float> peSysmonVcc12V = PoolEntry<float>();
PoolEntry<float> peSysmonVcc5V = PoolEntry<float>();
PoolEntry<float> peSysmonVcc3V3 = PoolEntry<float>();
PoolEntry<float> peSysmonVcc3V3VA = PoolEntry<float>();
PoolEntry<float> peSysmonVcc2V5DDR = PoolEntry<float>();
PoolEntry<float> peSysmonVcc1V2DDR = PoolEntry<float>();
PoolEntry<float> peSysmonVcc0V9 = PoolEntry<float>();
PoolEntry<float> peSysmonVcc0V6VTT = PoolEntry<float>();
PoolEntry<float> peSysmonSafeCotsCur = PoolEntry<float>();
PoolEntry<float> peSysmonNvm4XoCur = PoolEntry<float>();
PoolEntry<uint16_t> peSemUncorrectableErrs = PoolEntry<uint16_t>();
PoolEntry<uint16_t> peSemCorrectableErrs = PoolEntry<uint16_t>();
PoolEntry<uint8_t> peSemStatus = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peRebootMpsocRequired = PoolEntry<uint8_t>();
PowerState powerState;
bool specialComHelperExecuting = false;
struct ActionCommandInfo {
Countdown cmdCountdown = Countdown(mpsoc::DEFAULT_CMD_TIMEOUT_MS);
bool pending = false;
MessageQueueId_t commandedBy = MessageQueueIF::NO_QUEUE;
DeviceCommandId_t pendingCmd = DeviceHandlerIF::NO_COMMAND_ID;
uint16_t pendingCmdMpsocApid = 0;
void reset() {
pending = false;
commandedBy = MessageQueueIF::NO_QUEUE;
pendingCmd = DeviceHandlerIF::NO_COMMAND_ID;
}
void start(DeviceCommandId_t commandId, MessageQueueId_t commandedBy) {
pending = true;
cmdCountdown.resetTimer();
pendingCmd = commandId;
this->commandedBy = commandedBy;
}
} activeCmdInfo;
uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
SpacePacketCreator creator;
ploc::SpTcParams spParams = ploc::SpTcParams(creator);
Mode_t targetMode = HasModesIF::MODE_UNDEFINED;
Submode_t targetSubmode = 0;
struct TmMemReadReport {
static const uint8_t FIX_SIZE = 14;
size_t rememberRequestedSize = 0;
};
TmMemReadReport tmMemReadReport;
uint32_t lastReplySequenceCount = 0;
uint8_t skipSupvCommandingToOn = false;
PowerSwitchIF& powerSwitcher;
power::Switch_t camSwitchId;
// HK manager abstract functions.
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
// Mode abstract functions
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
// Action override. Forward to user.
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
/**
* @overload
* @param submode
*/
void startTransition(Mode_t newMode, Submode_t submode) override;
ReturnValue_t performDeviceOperationPreQueueHandling(uint8_t opCode) override;
// CommandsActionsIF overrides.
MessageQueueIF* getCommandQueuePtr() override;
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues, uint16_t startAtIndex) override;
void handleActionCommandFailure(ActionId_t actionId, ReturnValue_t returnCode);
ReturnValue_t executeRegularCmd(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t dataLen);
void handleTransitionToOn();
void handleTransitionToOff();
ReturnValue_t commandTcModeReplay();
ReturnValue_t commandTcMemWrite(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcMemRead(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcFlashDelete(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcReplayStart(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcReplayStop();
ReturnValue_t commandTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcDownlinkPwrOff();
ReturnValue_t commandTcGetHkReport();
ReturnValue_t commandTcGetDirContent(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcModeIdle();
ReturnValue_t commandTcCamTakePic(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcSimplexStreamFile(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcSplitFile(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcModeSnapshot();
ReturnValue_t finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase,
uint32_t cmdCountdown = mpsoc::DEFAULT_CMD_TIMEOUT_MS);
void handleEvent(EventMessage* eventMessage);
void cmdDoneHandler(bool success, ReturnValue_t result);
ReturnValue_t handleDeviceReply();
ReturnValue_t handleAckReport();
ReturnValue_t handleExecutionReport();
void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
ReturnValue_t reportReplyData(DeviceCommandId_t tmId);
ReturnValue_t handleGetHkReport();
bool handleHwStartup();
bool handleHwShutdown();
void stopSpecialComHelper();
void commandSubmodeTransition();
void commonSpecialComInit();
void commonSpecialComStop();
void commandInitHandling(ActionId_t actionId, MessageQueueId_t commandedBy);
};
linux/payload/FreshSupvHandler.cpp
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linux/payload/FreshSupvHandler.h
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#ifndef LINUX_PAYLOAD_FRESHSUPVHANDLER_H_
#define LINUX_PAYLOAD_FRESHSUPVHANDLER_H_
#include <fsfw/power/PowerSwitchIF.h>
#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
#include <map>
#include "PlocSupvUartMan.h"
#include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
#include "fsfw/power/definitions.h"
#include "fsfw_hal/linux/gpio/Gpio.h"
#include "plocSupvDefs.h"
using supv::TcBase;
class FreshSupvHandler : public FreshDeviceHandlerBase {
public:
enum OpCode { DEFAULT_OPERATION = 0, PARSE_TM = 1 };
FreshSupvHandler(DhbConfig cfg, CookieIF* comCookie, Gpio uartIsolatorSwitch,
PowerSwitchIF& switchIF, power::Switch_t powerSwitch);
/**
* Periodic helper executed function, implemented by child class.
*/
void performDeviceOperation(uint8_t opCode) override;
/**
* Implemented by child class. Handle all command messages which are
* not health, mode, action or housekeeping messages.
* @param message
* @return
*/
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
ReturnValue_t initialize() override;
private:
// HK manager abstract functions.
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
// Mode abstract functions
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
// Action override. Forward to user.
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
/**
* @overload
* @param submode
*/
void startTransition(Mode_t newMode, Submode_t submode) override;
ReturnValue_t performDeviceOperationPreQueueHandling(uint8_t opCode) override;
void handleTransitionToOn();
void handleTransitionToOff();
private:
static constexpr bool SET_TIME_DURING_BOOT = true;
static const uint8_t SIZE_NULL_TERMINATOR = 1;
enum class StartupState : uint8_t {
IDLE,
POWER_SWITCHING,
BOOTING,
SET_TIME,
WAIT_FOR_TIME_REPLY,
TIME_WAS_SET,
ON
};
StartupState startupState = StartupState::IDLE;
MessageQueueIF* eventQueue = nullptr;
supv::TmBase tmReader;
enum class ShutdownState : uint8_t { IDLE, POWER_SWITCHING };
ShutdownState shutdownState = ShutdownState::IDLE;
PlocSupvUartManager* uartManager;
CookieIF* comCookie;
PowerSwitchIF& switchIF;
power::Switch_t switchId;
Gpio uartIsolatorSwitch;
supv::HkSet hkSet;
supv::BootStatusReport bootStatusReport;
supv::LatchupStatusReport latchupStatusReport;
supv::CountersReport countersReport;
supv::AdcReport adcReport;
bool transitionActive = false;
Mode_t targetMode = HasModesIF::MODE_INVALID;
Submode_t targetSubmode = 0;
Countdown switchTimeout = Countdown(2000);
// Vorago nees some time to boot properly
Countdown bootTimeout = Countdown(supv::BOOT_TIMEOUT_MS);
// Countdown interCmdCd = Countdown(supv::INTER_COMMAND_DELAY);
PoolEntry<uint16_t> adcRawEntry = PoolEntry<uint16_t>(16);
PoolEntry<uint16_t> adcEngEntry = PoolEntry<uint16_t>(16);
PoolEntry<uint32_t> latchupCounters = PoolEntry<uint32_t>(7);
PoolEntry<uint8_t> fmcStateEntry = PoolEntry<uint8_t>(1);
PoolEntry<uint8_t> bootStateEntry = PoolEntry<uint8_t>(1);
PoolEntry<uint8_t> bootCyclesEntry = PoolEntry<uint8_t>(1);
PoolEntry<uint32_t> tempSupEntry = PoolEntry<uint32_t>(1);
pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
struct ActiveCmdInfo {
ActiveCmdInfo(DeviceCommandId_t commandId, uint32_t cmdCountdownMs)
: commandId(commandId), cmdCountdown(cmdCountdownMs) {}
DeviceCommandId_t commandId = DeviceHandlerIF::NO_COMMAND_ID;
bool isPending = false;
bool ackRecv = false;
bool ackExeRecv = false;
bool replyPacketExpected = false;
bool replyPacketReceived = false;
MessageQueueId_t commandedBy = MessageQueueIF::NO_QUEUE;
bool requiresActionReply = false;
Countdown cmdCountdown;
};
uint32_t buildActiveCmdKey(uint16_t moduleApid, uint8_t serviceId);
// Map for Action commands. For normal commands, a separate static structure will be used.
std::map<uint32_t, ActiveCmdInfo> activeActionCmds;
std::array<uint8_t, supv::MAX_COMMAND_SIZE> commandBuffer{};
SpacePacketCreator creator;
supv::TcParams spParams = supv::TcParams(creator);
DeviceCommandId_t commandedByCached = MessageQueueIF::NO_QUEUE;
ReturnValue_t parseTmPackets();
ReturnValue_t sendCommand(DeviceCommandId_t commandId, TcBase& tc, bool replyPacketExpected,
uint32_t cmdCountdownMs = 1000);
ReturnValue_t sendEmptyCmd(DeviceCommandId_t commandId, uint16_t apid, uint8_t serviceId,
bool replyPacketExpected);
ReturnValue_t prepareSelBootImageCmd(const uint8_t* commandData);
ReturnValue_t prepareSetTimeRefCmd();
ReturnValue_t prepareSetBootTimeoutCmd(const uint8_t* commandData, size_t cmdDataLen);
ReturnValue_t prepareRestartTriesCmd(const uint8_t* commandData, size_t cmdDataLen);
ReturnValue_t prepareDisableHk();
ReturnValue_t prepareLatchupConfigCmd(const uint8_t* commandData, DeviceCommandId_t deviceCommand,
size_t cmdDataLen);
ReturnValue_t prepareSetAlertLimitCmd(const uint8_t* commandData, size_t cmdDataLen);
ReturnValue_t prepareFactoryResetCmd(const uint8_t* commandData, size_t len);
ReturnValue_t prepareSetShutdownTimeoutCmd(const uint8_t* commandData, size_t cmdDataLen);
ReturnValue_t prepareSetGpioCmd(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareReadGpioCmd(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData);
ReturnValue_t prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData);
ReturnValue_t prepareSetAdcThresholdCmd(const uint8_t* commandData);
ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData, size_t cmdDataLen);
ReturnValue_t extractUpdateCommand(const uint8_t* commandData, size_t size,
supv::UpdateParams& params);
ReturnValue_t extractBaseParams(const uint8_t** commandData, size_t& remSize,
supv::UpdateParams& params);
void handleEvent(EventMessage* eventMessage);
void handleBadApidServiceCombination(Event event, unsigned int apid, unsigned int serviceId);
ReturnValue_t eventSubscription();
void handlePacketPrint();
bool isCommandAlreadyActive(ActionId_t actionId) const;
ReturnValue_t handleAckReport(const uint8_t* data);
void printAckFailureInfo(uint16_t statusCode, DeviceCommandId_t commandId);
ReturnValue_t handleExecutionReport(const uint8_t* data);
ReturnValue_t handleExecutionSuccessReport(ActiveCmdInfo& info, supv::ExecutionReport& report);
void handleExecutionFailureReport(ActiveCmdInfo& info, supv::ExecutionReport& report);
ReturnValue_t handleHkReport(const uint8_t* data);
ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
void confirmReplyPacketReceived(supv::Apid apid, uint8_t serviceId);
void performCommandCompletionHandling(supv::Apid apid, uint8_t serviceId, ActiveCmdInfo& info);
ReturnValue_t handleBootStatusReport(const uint8_t* data);
ReturnValue_t genericHandleTm(const char* contextString, const uint8_t* data,
LocalPoolDataSetBase& set, supv::Apid apid, uint8_t serviceId);
ReturnValue_t handleLatchupStatusReport(const uint8_t* data);
bool isCommandPending() const;
};
#endif /* LINUX_PAYLOAD_FRESHSUPVHANDLER_H_ */
linux/payload/MpsocCommunication.cpp
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#include "MpsocCommunication.h"
#include "fsfw/globalfunctions/CRC.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
#include "fsfw/tmtcpacket/ccsds/header.h"
#include "linux/payload/plocMpsocHelpers.h"
#include "unistd.h"
MpsocCommunication::MpsocCommunication(object_id_t objectId, SerialConfig cfg)
: SystemObject(objectId), readRingBuf(4096, true), helper(cfg) {}
ReturnValue_t MpsocCommunication::initialize() { return helper.initialize(); }
ReturnValue_t MpsocCommunication::send(const uint8_t* data, size_t dataLen) {
if (MPSOC_LOW_LEVEL_TX_WIRETAPPING) {
sif::debug << "SEND MPSOC packet with size " << dataLen << std::endl;
}
return helper.send(data, dataLen);
}
ReturnValue_t MpsocCommunication::parseAndRetrieveNextPacket() {
// We do not have a data link layer, so this whole thing is a mess in any case..
// But basically, we try to parse space packets from the internal ring buffer and trasnfer
// them to the higher level device handler. The CRC check is performed here as well, with
// few other ways to detect if we even have a valid packet.
size_t availableReadData = readRingBuf.getAvailableReadData();
// Minimum valid size for a space packet header.
if (availableReadData < ccsds::HEADER_LEN + 1) {
return returnvalue::OK;
}
readRingBuf.readData(readBuf, availableReadData);
spReader.setReadOnlyData(readBuf, sizeof(readBuf));
auto res = spReader.checkSize();
if (res != returnvalue::OK) {
return res;
}
// The packet might be garbage, with no way to recover without a data link layer.
if (spReader.getFullPacketLen() > 4096) {
readRingBuf.clear();
// TODO: Maybe we should also clear the serial input buffer in Linux?
return FAULTY_PACKET_SIZE;
}
if (availableReadData < spReader.getFullPacketLen()) {
// Might be split packet where the rest still has to be read.
return returnvalue::OK;
}
if (CRC::crc16ccitt(readBuf, spReader.getFullPacketLen()) != 0) {
// Possibly invalid packet. We can not even trust the detected packet length.
// Just clear the whole read buffer as well.
readRingBuf.clear();
triggerEvent(mpsoc::CRC_FAILURE);
return CRC_CHECK_FAILED;
}
readRingBuf.deleteData(spReader.getFullPacketLen());
return PACKET_RECEIVED;
}
ReturnValue_t MpsocCommunication::readSerialInterface() {
int bytesRead = read(helper.rawFd(), readBuf, sizeof(readBuf));
if (bytesRead < 0) {
return returnvalue::FAILED;
}
if (bytesRead > 0) {
if (MPSOC_LOW_LEVEL_RX_WIRETAPPING) {
sif::debug << "Read " << bytesRead << " bytes on the MPSoC interface" << std::endl;
}
return readRingBuf.writeData(readBuf, bytesRead);
}
return returnvalue::OK;
}
const SpacePacketReader& MpsocCommunication::getSpReader() const { return spReader; }
SerialCommunicationHelper& MpsocCommunication::getComHelper() { return helper; }
linux/payload/MpsocCommunication.h
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#pragma once
#include <fsfw/objectmanager/SystemObject.h>
#include "eive/resultClassIds.h"
#include "fsfw/container/SimpleRingBuffer.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
#include "linux/payload/SerialCommunicationHelper.h"
static constexpr bool MPSOC_LOW_LEVEL_TX_WIRETAPPING = false;
static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = false;
class MpsocCommunication : public SystemObject {
public:
static const uint8_t CLASS_ID = CLASS_ID::PLOC_MPSOC_COM;
static constexpr ReturnValue_t PACKET_RECEIVED = returnvalue::makeCode(CLASS_ID, 0);
static constexpr ReturnValue_t FAULTY_PACKET_SIZE = returnvalue::makeCode(CLASS_ID, 1);
static constexpr ReturnValue_t CRC_CHECK_FAILED = returnvalue::makeCode(CLASS_ID, 2);
MpsocCommunication(object_id_t objectId, SerialConfig cfg);
ReturnValue_t initialize() override;
ReturnValue_t send(const uint8_t* data, size_t dataLen);
// Should be called periodically to transfer the received data from the MPSoC from the Linux
// buffer to the internal ring buffer for further processing.
ReturnValue_t readSerialInterface();
// Parses the internal ring buffer for packets and checks whether a packet was received.
ReturnValue_t parseAndRetrieveNextPacket();
// Can be used to read the parse packet, if one was received.
const SpacePacketReader& getSpReader() const;
SerialCommunicationHelper& getComHelper();
private:
SpacePacketReader spReader;
uint8_t readBuf[4096];
SimpleRingBuffer readRingBuf;
SerialCommunicationHelper helper;
};
linux/payload/PlocMemoryDumper.cpp
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#include <fsfw/src/fsfw/serialize/SerializeAdapter.h>
#include <linux/payload/PlocMemoryDumper.h>
#include <filesystem>
#include <fstream>
#include <string>
#include "fsfw/ipc/QueueFactory.h"
PlocMemoryDumper::PlocMemoryDumper(object_id_t objectId)
: SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
auto mqArgs = MqArgs(this->getObjectId());
commandQueue = QueueFactory::instance()->createMessageQueue(
QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
PlocMemoryDumper::~PlocMemoryDumper() {}
ReturnValue_t PlocMemoryDumper::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != returnvalue::OK) {
return result;
}
result = commandActionHelper.initialize();
if (result != returnvalue::OK) {
return result;
}
result = actionHelper.initialize(commandQueue);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t PlocMemoryDumper::performOperation(uint8_t operationCode) {
readCommandQueue();
doStateMachine();
return returnvalue::OK;
}
ReturnValue_t PlocMemoryDumper::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
if (state != State::IDLE) {
return IS_BUSY;
}
switch (actionId) {
case DUMP_MRAM: {
size_t deserializeSize = sizeof(mram.startAddress) + sizeof(mram.endAddress);
SerializeAdapter::deSerialize(&mram.startAddress, &data, &deserializeSize,
SerializeIF::Endianness::BIG);
SerializeAdapter::deSerialize(&mram.endAddress, &data, &deserializeSize,
SerializeIF::Endianness::BIG);
if (mram.endAddress > MAX_MRAM_ADDRESS) {
return MRAM_ADDRESS_TOO_HIGH;
}
if (mram.endAddress <= mram.startAddress) {
return MRAM_INVALID_ADDRESS_COMBINATION;
}
state = State::COMMAND_FIRST_MRAM_DUMP;
break;
}
default: {
sif::warning << "PlocMemoryDumper::executeAction: Received command with invalid action id"
<< std::endl;
return INVALID_ACTION_ID;
}
}
return EXECUTION_FINISHED;
}
MessageQueueId_t PlocMemoryDumper::getCommandQueue() const { return commandQueue->getId(); }
MessageQueueIF* PlocMemoryDumper::getCommandQueuePtr() { return commandQueue; }
void PlocMemoryDumper::readCommandQueue() {
CommandMessage message;
ReturnValue_t result = returnvalue::OK;
for (result = commandQueue->receiveMessage(&message); result == returnvalue::OK;
result = commandQueue->receiveMessage(&message)) {
if (result != returnvalue::OK) {
continue;
}
result = actionHelper.handleActionMessage(&message);
if (result == returnvalue::OK) {
continue;
}
result = commandActionHelper.handleReply(&message);
if (result == returnvalue::OK) {
continue;
}
sif::debug << "PlocMemoryDumper::readCommandQueue: Received message with invalid format"
<< std::endl;
}
}
void PlocMemoryDumper::doStateMachine() {
switch (state) {
case State::IDLE:
break;
case State::COMMAND_FIRST_MRAM_DUMP:
commandNextMramDump(supv::FIRST_MRAM_DUMP);
break;
case State::COMMAND_CONSECUTIVE_MRAM_DUMP:
commandNextMramDump(supv::CONSECUTIVE_MRAM_DUMP);
break;
case State::EXECUTING_MRAM_DUMP:
break;
default:
sif::debug << "PlocMemoryDumper::doStateMachine: Invalid state" << std::endl;
break;
}
}
void PlocMemoryDumper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
void PlocMemoryDumper::stepFailedReceived(ActionId_t actionId, uint8_t step,
ReturnValue_t returnCode) {
triggerEvent(MRAM_DUMP_FAILED);
state = State::IDLE;
}
void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
switch (pendingCommand) {
case (supv::FIRST_MRAM_DUMP):
case (supv::CONSECUTIVE_MRAM_DUMP):
if (mram.endAddress == mram.startAddress) {
triggerEvent(MRAM_DUMP_FINISHED);
state = State::IDLE;
} else {
state = State::COMMAND_CONSECUTIVE_MRAM_DUMP;
}
break;
default:
sif::debug << "PlocMemoryDumper::completionSuccessfulReceived: Invalid pending command"
<< std::endl;
state = State::IDLE;
break;
}
}
void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
switch (pendingCommand) {
case (supv::FIRST_MRAM_DUMP):
case (supv::CONSECUTIVE_MRAM_DUMP):
triggerEvent(MRAM_DUMP_FAILED, mram.lastStartAddress);
pendingCommand = NONE;
break;
default:
break;
}
state = State::IDLE;
}
void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
ReturnValue_t result = returnvalue::OK;
uint32_t tempStartAddress = 0;
uint32_t tempEndAddress = 0;
if (mram.endAddress - mram.startAddress > MAX_MRAM_DUMP_SIZE) {
tempStartAddress = mram.startAddress;
tempEndAddress = mram.startAddress + MAX_MRAM_DUMP_SIZE;
mram.startAddress += MAX_MRAM_DUMP_SIZE;
} else {
tempStartAddress = mram.startAddress;
tempEndAddress = mram.endAddress;
mram.startAddress = mram.endAddress;
}
mram.lastStartAddress = tempStartAddress;
MemoryParams params(tempStartAddress, tempEndAddress);
result =
commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, dumpCommand, &params);
if (result != returnvalue::OK) {
sif::warning << "PlocMemoryDumper::commandNextMramDump: Failed to send mram dump command "
<< "with start address " << tempStartAddress << " and end address "
<< tempEndAddress << std::endl;
triggerEvent(SEND_MRAM_DUMP_FAILED, result, tempStartAddress);
state = State::IDLE;
pendingCommand = NONE;
return;
}
state = State::EXECUTING_MRAM_DUMP;
pendingCommand = dumpCommand;
return;
}
linux/payload/PlocMemoryDumper.h
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#ifndef MISSION_DEVICES_PLOCMEMORYDUMPER_H_
#define MISSION_DEVICES_PLOCMEMORYDUMPER_H_
#include <linux/payload/plocMemDumpDefs.h>
#include <linux/payload/plocSupvDefs.h>
#include "OBSWConfig.h"
#ifdef XIPHOS_Q7S
#include "bsp_q7s/fs/SdCardManager.h"
#endif
#include "eive/eventSubsystemIds.h"
#include "fsfw/action/ActionHelper.h"
#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/CommandsActionsIF.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "objects/systemObjectList.h"
/**
* @brief Because the buffer of the linux tty driver is limited to 2 x 65535 bytes, this class is
* created to perform large dumps of PLOC memories.
*
* @details Currently the PLOC supervisor only implements the functionality to dump the MRAM.
*
* @author J. Meier
*/
class PlocMemoryDumper : public SystemObject,
public HasActionsIF,
public ExecutableObjectIF,
public CommandsActionsIF {
public:
static const ActionId_t NONE = 0;
static const ActionId_t DUMP_MRAM = 1;
PlocMemoryDumper(object_id_t objectId);
virtual ~PlocMemoryDumper();
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t initialize() override;
MessageQueueIF* getCommandQueuePtr() override;
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
private:
static const uint32_t QUEUE_SIZE = 10;
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MEMORY_DUMPER;
//! [EXPORT] : [COMMENT] The capacity of the MRAM amounts to 512 kB. Thus the maximum address must
//! not be higher than 0x7d000.
static const ReturnValue_t MRAM_ADDRESS_TOO_HIGH = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] The specified end address is lower than the start address
static const ReturnValue_t MRAM_INVALID_ADDRESS_COMBINATION = MAKE_RETURN_CODE(0xA1);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MEMORY_DUMPER;
//! [EXPORT] : [COMMENT] Failed to send mram dump command to supervisor handler
//! P1: Return value of commandAction function
//! P2: Start address of MRAM to dump with this command
static const Event SEND_MRAM_DUMP_FAILED = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Received completion failure report form PLOC supervisor handler
//! P1: MRAM start address of failing dump command
static const Event MRAM_DUMP_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] MRAM dump finished successfully
static const Event MRAM_DUMP_FINISHED = MAKE_EVENT(2, severity::LOW);
// Maximum size of mram dump which can be retrieved with one command
static const uint32_t MAX_MRAM_DUMP_SIZE = 100000;
static const uint32_t MAX_MRAM_ADDRESS = 0x7d000;
MessageQueueIF* commandQueue = nullptr;
CommandActionHelper commandActionHelper;
ActionHelper actionHelper;
enum class State : uint8_t {
IDLE,
COMMAND_FIRST_MRAM_DUMP,
COMMAND_CONSECUTIVE_MRAM_DUMP,
EXECUTING_MRAM_DUMP
};
State state = State::IDLE;
ActionId_t pendingCommand = NONE;
typedef struct MemoryInfo {
// Stores the start address of the next memory range to dump
uint32_t startAddress;
uint32_t endAddress;
// Stores the start address of the last sent dump command
uint32_t lastStartAddress;
} MemoryInfo_t;
MemoryInfo_t mram = {0, 0, 0};
void readCommandQueue();
void doStateMachine();
/**
* @brief Sends the next mram dump command to the PLOC supervisor handler.
*/
void commandNextMramDump(ActionId_t dumpCommand);
};
#endif /* MISSION_DEVICES_PLOCMEMORYDUMPER_H_ */
linux/payload/PlocMpsocSpecialComHelper.cpp
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#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/tasks/TaskFactory.h>
#include <linux/payload/PlocMpsocSpecialComHelper.h>
#include <unistd.h>
#include <filesystem>
#include <fstream>
#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
#include "linux/payload/MpsocCommunication.h"
#include "linux/payload/plocMpsocHelpers.h"
#ifdef XIPHOS_Q7S
#include "bsp_q7s/fs/FilesystemHelper.h"
#endif
using namespace ploc;
PlocMpsocSpecialComHelper::PlocMpsocSpecialComHelper(object_id_t objectId,
MpsocCommunication& comInterface)
: SystemObject(objectId), comInterface(comInterface) {
spParams.buf = commandBuffer;
spParams.maxSize = sizeof(commandBuffer);
}
PlocMpsocSpecialComHelper::~PlocMpsocSpecialComHelper() {}
ReturnValue_t PlocMpsocSpecialComHelper::initialize() {
#ifdef XIPHOS_Q7S
sdcMan = SdCardManager::instance();
if (sdcMan == nullptr) {
sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
return returnvalue::FAILED;
}
#endif
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode) {
ReturnValue_t result = returnvalue::OK;
semaphore.acquire();
while (true) {
#if OBSW_THREAD_TRACING == 1
trace::threadTrace(opCounter, "PLOC MPSOC Helper");
#endif
switch (internalState) {
case InternalState::IDLE: {
semaphore.acquire();
break;
}
case InternalState::FLASH_WRITE: {
result = performFlashWrite();
if (result == returnvalue::OK) {
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, txSequenceCount.get());
} else {
triggerEvent(MPSOC_FLASH_WRITE_FAILED, txSequenceCount.get());
}
internalState = InternalState::IDLE;
break;
}
case InternalState::FLASH_READ: {
result = performFlashRead();
if (result == returnvalue::OK) {
triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, txSequenceCount.get());
} else {
sif::printWarning("PLOC MPSoC Helper: Flash read failed with code %04x\n", result);
triggerEvent(MPSOC_FLASH_READ_FAILED, txSequenceCount.get(), result);
}
internalState = InternalState::IDLE;
break;
}
default:
sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
break;
}
}
}
void PlocMpsocSpecialComHelper::setCommandSequenceCount(uint16_t sequenceCount_) {
txSequenceCount.set(sequenceCount_);
}
uint16_t PlocMpsocSpecialComHelper::getCommandSequenceCount() const {
return txSequenceCount.get();
}
ReturnValue_t PlocMpsocSpecialComHelper::startFlashWrite(std::string obcFile,
std::string mpsocFile) {
if (internalState != InternalState::IDLE) {
return returnvalue::FAILED;
}
ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
if (result != returnvalue::OK) {
return result;
}
internalState = InternalState::FLASH_WRITE;
return semaphore.release();
}
ReturnValue_t PlocMpsocSpecialComHelper::startFlashRead(std::string obcFile, std::string mpsocFile,
size_t readFileSize) {
if (internalState != InternalState::IDLE) {
return returnvalue::FAILED;
}
ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
if (result != returnvalue::OK) {
return result;
}
flashReadAndWrite.totalReadSize = readFileSize;
internalState = InternalState::FLASH_READ;
return semaphore.release();
}
void PlocMpsocSpecialComHelper::resetHelper() {
spParams.buf = commandBuffer;
terminate = false;
auto& helper = comInterface.getComHelper();
helper.flushUartRxBuffer();
}
void PlocMpsocSpecialComHelper::stopProcess() { terminate = true; }
ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
ReturnValue_t result = returnvalue::OK;
std::ifstream file(flashReadAndWrite.obcFile, std::ifstream::binary);
if (file.bad()) {
return returnvalue::FAILED;
}
result = flashfopen(mpsoc::FileAccessModes::WRITE | mpsoc::FileAccessModes::OPEN_ALWAYS);
if (result != returnvalue::OK) {
return result;
}
// Set position of next character to end of file input stream
file.seekg(0, file.end);
// tellg returns position of character in input stream
size_t remainingSize = file.tellg();
size_t dataLength = 0;
size_t bytesRead = 0;
while (remainingSize > 0) {
if (terminate) {
return returnvalue::OK;
}
// The minus 4 is necessary for unknown reasons. Maybe some bug in the ILH software?
if (remainingSize > mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4) {
dataLength = mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4;
} else {
dataLength = remainingSize;
}
if (file.bad() or not file.is_open()) {
return FILE_WRITE_ERROR;
}
file.seekg(bytesRead, file.beg);
file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
bytesRead += dataLength;
remainingSize -= dataLength;
mpsoc::TcFlashWrite tc(spParams, txSequenceCount);
result = tc.setPayload(fileBuf.data(), dataLength);
if (result != returnvalue::OK) {
return result;
}
result = tc.finishPacket();
if (result != returnvalue::OK) {
return result;
}
txSequenceCount.increment();
result = handlePacketTransmissionNoReply(tc);
if (result != returnvalue::OK) {
return result;
}
}
result = flashfclose();
if (result != returnvalue::OK) {
return result;
}
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
std::error_code e;
if (std::filesystem::exists(flashReadAndWrite.obcFile)) {
// Truncate the file first.
std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::binary | std::ios::trunc);
}
std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::binary | std::ios::app);
if (ofile.bad() or not ofile.is_open()) {
return returnvalue::FAILED;
}
ReturnValue_t result = flashfopen(mpsoc::FileAccessModes::READ);
if (result != returnvalue::OK) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
return result;
}
size_t readSoFar = 0;
size_t nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
while (readSoFar < flashReadAndWrite.totalReadSize) {
if (terminate) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
return returnvalue::OK;
}
nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
if (flashReadAndWrite.totalReadSize - readSoFar < mpsoc::MAX_FLASH_READ_DATA_SIZE) {
nextReadSize = flashReadAndWrite.totalReadSize - readSoFar;
}
if (ofile.bad() or not ofile.is_open()) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
return FILE_READ_ERROR;
}
mpsoc::TcFlashRead flashReadRequest(spParams, txSequenceCount);
result = flashReadRequest.setPayload(nextReadSize);
if (result != returnvalue::OK) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
return result;
}
result = flashReadRequest.finishPacket();
if (result != returnvalue::OK) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
return result;
}
txSequenceCount.increment();
result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
if (result != returnvalue::OK) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
return result;
}
readSoFar += nextReadSize;
}
result = flashfclose();
if (result != returnvalue::OK) {
return result;
}
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
spParams.buf = commandBuffer;
mpsoc::TcFlashFopen flashFopen(spParams, txSequenceCount);
ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
if (result != returnvalue::OK) {
return result;
}
result = flashFopen.finishPacket();
if (result != returnvalue::OK) {
return result;
}
txSequenceCount.increment();
result = handlePacketTransmissionNoReply(flashFopen);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::flashfclose() {
spParams.buf = commandBuffer;
mpsoc::TcFlashFclose flashFclose(spParams, txSequenceCount);
ReturnValue_t result = flashFclose.finishPacket();
if (result != returnvalue::OK) {
return result;
}
txSequenceCount.increment();
result = handlePacketTransmissionNoReply(flashFclose);
if (result != returnvalue::OK) {
return result;
}
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc,
std::ofstream& ofile,
size_t expectedReadLen) {
ReturnValue_t result = sendCommand(tc);
if (result != returnvalue::OK) {
return result;
}
result = handleAck();
if (result != returnvalue::OK) {
return result;
}
result = handleTmReception();
if (result != returnvalue::OK) {
return result;
}
auto& spReader = comInterface.getSpReader();
// We have the nominal case where the flash read report appears first, or the case where we
// get an EXE failure immediately.
if (spReader.getApid() == mpsoc::apid::TM_FLASH_READ_REPORT) {
result = handleFlashReadReply(ofile, expectedReadLen);
if (result != returnvalue::OK) {
return result;
}
return handleExe();
} else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
handleExeFailure(spReader);
} else {
triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
sif::warning << "PLOC MPSoC: Expected execution report "
<< "but received space packet with apid " << std::hex << spReader.getApid()
<< std::endl;
}
return returnvalue::FAILED;
}
ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionNoReply(ploc::SpTcBase& tc) {
ReturnValue_t result = sendCommand(tc);
if (result != returnvalue::OK) {
return result;
}
result = handleAck();
if (result != returnvalue::OK) {
return result;
}
return handleExe();
}
ReturnValue_t PlocMpsocSpecialComHelper::sendCommand(ploc::SpTcBase& tc) {
ReturnValue_t result = comInterface.send(tc.getFullPacket(), tc.getFullPacketLen());
mpsoc::printTxPacket(tc);
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
return result;
}
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
ReturnValue_t result = returnvalue::OK;
result = handleTmReception();
if (result != returnvalue::OK) {
return result;
}
result = checkReceivedTm();
if (result != returnvalue::OK) {
return result;
}
const auto& spReader = comInterface.getSpReader();
uint16_t apid = spReader.getApid();
if (apid != mpsoc::apid::ACK_SUCCESS) {
handleAckApidFailure(spReader);
return returnvalue::FAILED;
}
return returnvalue::OK;
}
void PlocMpsocSpecialComHelper::handleAckApidFailure(const SpacePacketReader& reader) {
uint16_t apid = reader.getApid();
if (apid == mpsoc::apid::ACK_FAILURE) {
uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
sif::warning << "PLOC MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState), status);
} else {
triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
}
ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
ReturnValue_t result = returnvalue::OK;
result = handleTmReception();
if (result != returnvalue::OK) {
return result;
}
result = checkReceivedTm();
if (result != returnvalue::OK) {
return result;
}
const auto& spReader = comInterface.getSpReader();
uint16_t apid = spReader.getApid();
if (apid == mpsoc::apid::EXE_FAILURE) {
handleExeFailure(spReader);
return returnvalue::FAILED;
} else if (apid != mpsoc::apid::EXE_SUCCESS) {
triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
sif::warning << "PLOC MPSoC: Expected execution report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
return returnvalue::OK;
}
void PlocMpsocSpecialComHelper::handleExeFailure(const SpacePacketReader& spReader) {
uint16_t status = mpsoc::getStatusFromRawData(spReader.getFullData());
sif::warning << "PLOC MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
}
ReturnValue_t PlocMpsocSpecialComHelper::handleTmReception() {
ReturnValue_t result = returnvalue::OK;
tmCountdown.resetTimer();
uint32_t usleepDelay = 5;
while (true) {
if (tmCountdown.hasTimedOut()) {
triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
return returnvalue::FAILED;
}
result = tryReceiveNextReply();
if (result == MpsocCommunication::PACKET_RECEIVED) {
// Need to convert this, we are faking a synchronous API here.
result = returnvalue::OK;
break;
}
if (result != returnvalue::OK) {
if (result == MpsocCommunication::FAULTY_PACKET_SIZE) {
sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: faulty packet size\n");
} else if (result == MpsocCommunication::CRC_CHECK_FAILED) {
sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: CRC check failed\n");
}
sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed with code %d\n", result);
return result;
}
usleep(usleepDelay);
if (usleepDelay < 200000) {
usleepDelay *= 4;
}
}
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::handleFlashReadReply(std::ofstream& ofile,
size_t expectedReadLen) {
ReturnValue_t result = checkReceivedTm();
if (result != returnvalue::OK) {
return result;
}
auto& spReader = comInterface.getSpReader();
uint16_t apid = spReader.getApid();
if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
sif::warning << "PLOC MPSoC Flash Read: Unexpected APID" << std::endl;
return result;
}
const uint8_t* packetData = spReader.getPacketData();
size_t deserDummy = spReader.getPacketDataLen() - mpsoc::CRC_SIZE;
uint32_t receivedReadLen = 0;
// I think this is buggy, weird stuff in the short name field.
// std::string receivedShortName = std::string(reinterpret_cast<const char*>(packetData), 12);
// if (receivedShortName != flashReadAndWrite.mpsocFile.substr(0, 11)) {
// sif::warning << "PLOC MPSoC Flash Read: Missmatch between request file name and "
// "received file name"
// << std::endl;
// triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_FILENAME_ERROR);
// return returnvalue::FAILED;
// }
packetData += 12;
result = SerializeAdapter::deSerialize(&receivedReadLen, &packetData, &deserDummy,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
if (receivedReadLen != expectedReadLen) {
sif::warning << "PLOC MPSoC Flash Read: Missmatch between request read length and "
"received read length"
<< std::endl;
triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_READLEN_ERROR);
return returnvalue::FAILED;
}
ofile.write(reinterpret_cast<const char*>(packetData), receivedReadLen);
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::fileCheck(std::string obcFile) {
#ifdef XIPHOS_Q7S
ReturnValue_t result = FilesystemHelper::checkPath(obcFile);
if (result != returnvalue::OK) {
return result;
}
#elif defined(TE0720_1CFA)
if (not std::filesystem::exists(obcFile)) {
sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist"
<< std::endl;
return returnvalue::FAILED;
}
#endif
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::startFlashReadOrWriteBase(std::string obcFile,
std::string mpsocFile) {
ReturnValue_t result = fileCheck(obcFile);
if (result != returnvalue::OK) {
return result;
}
flashReadAndWrite.obcFile = std::move(obcFile);
flashReadAndWrite.mpsocFile = std::move(mpsocFile);
resetHelper();
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::checkReceivedTm() {
const auto& spReader = comInterface.getSpReader();
ReturnValue_t result = spReader.checkSize();
if (result != returnvalue::OK) {
sif::error << "PLOC MPSoC: Size check on received TM failed" << std::endl;
triggerEvent(MPSOC_TM_SIZE_ERROR);
return result;
}
rxSequenceCount = spReader.getSequenceCount();
mpsoc::printRxPacket(spReader);
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::tryReceiveNextReply() {
ReturnValue_t result = returnvalue::OK;
result = comInterface.readSerialInterface();
if (result != returnvalue::OK) {
triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
return returnvalue::FAILED;
}
return comInterface.parseAndRetrieveNextPacket();
}
linux/payload/PlocMpsocSpecialComHelper.h
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#ifndef BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
#define BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
#include <linux/payload/plocMpsocHelpers.h>
#include <mission/utility/trace.h>
#include <string>
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/osal/linux/BinarySemaphore.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
#include "fsfw/tmtcservices/SourceSequenceCounter.h"
#include "linux/payload/MpsocCommunication.h"
#ifdef XIPHOS_Q7S
#include "bsp_q7s/fs/SdCardManager.h"
#endif
/**
* @brief Helper class for MPSoC of PLOC intended to accelerate large data transfers between
* MPSoC and OBC.
* @author J. Meier
*/
class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HELPER;
//! [EXPORT] : [COMMENT] Flash write fails
static const Event MPSOC_FLASH_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Flash write successful
static const Event MPSOC_FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(1, severity::INFO);
//! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command
//! to the MPSoC
//! P1: Return value returned by the communication interface sendMessage function
//! P2: Internal state of MPSoC helper
static const Event MPSOC_SENDING_COMMAND_FAILED = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Request receive message of communication interface failed
//! P1: Return value returned by the communication interface requestReceiveMessage function
//! P2: Internal state of MPSoC helper
static const Event MPSOC_HELPER_REQUESTING_REPLY_FAILED = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Reading receive message of communication interface failed
//! P1: Return value returned by the communication interface readingReceivedMessage function
//! P2: Internal state of MPSoC helper
static const Event MPSOC_HELPER_READING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Did not receive acknowledgment report
//! P1: Number of bytes missing
//! P2: Internal state of MPSoC helper
static const Event MPSOC_MISSING_ACK = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Did not receive execution report
//! P1: Number of bytes missing
//! P2: Internal state of MPSoC helper
static const Event MPSOC_MISSING_EXE = MAKE_EVENT(6, severity::LOW);
//! [EXPORT] : [COMMENT] Received acknowledgment failure report
//! P1: Internal state of MPSoC
static const Event MPSOC_ACK_FAILURE_REPORT = MAKE_EVENT(7, severity::LOW);
//! [EXPORT] : [COMMENT] Received execution failure report
//! P1: Internal state of MPSoC
static const Event MPSOC_EXE_FAILURE_REPORT = MAKE_EVENT(8, severity::LOW);
//! [EXPORT] : [COMMENT] Expected acknowledgment report but received space packet with other apid
//! P1: Apid of received space packet
//! P2: Internal state of MPSoC
static const Event MPSOC_ACK_INVALID_APID = MAKE_EVENT(9, severity::LOW);
//! [EXPORT] : [COMMENT] Expected execution report but received space packet with other apid
//! P1: Apid of received space packet
//! P2: Internal state of MPSoC
static const Event MPSOC_EXE_INVALID_APID = MAKE_EVENT(10, severity::LOW);
//! [EXPORT] : [COMMENT] Received sequence count does not match expected sequence count
//! P1: Expected sequence count
//! P2: Received sequence count
static const Event MPSOC_HELPER_SEQ_CNT_MISMATCH = MAKE_EVENT(11, severity::LOW);
static const Event MPSOC_TM_SIZE_ERROR = MAKE_EVENT(12, severity::LOW);
static const Event MPSOC_TM_CRC_MISSMATCH = MAKE_EVENT(13, severity::LOW);
static const Event MPSOC_FLASH_READ_PACKET_ERROR = MAKE_EVENT(14, severity::LOW);
static const Event MPSOC_FLASH_READ_FAILED = MAKE_EVENT(15, severity::LOW);
static const Event MPSOC_FLASH_READ_SUCCESSFUL = MAKE_EVENT(16, severity::INFO);
static const Event MPSOC_READ_TIMEOUT = MAKE_EVENT(17, severity::LOW);
enum FlashReadErrorType : uint32_t {
FLASH_READ_APID_ERROR = 0,
FLASH_READ_FILENAME_ERROR = 1,
FLASH_READ_READLEN_ERROR = 2
};
PlocMpsocSpecialComHelper(object_id_t objectId, MpsocCommunication& comInterface);
virtual ~PlocMpsocSpecialComHelper();
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
/**
* @brief Starts flash write sequence
*
* @param obcFile File where to read from the data
* @param mpsocFile The file of the MPSoC where should be written to
*
* @return returnvalue::OK if successful, otherwise error return value
*/
ReturnValue_t startFlashWrite(std::string obcFile, std::string mpsocFile);
/**
*
* @param obcFile Full target file name on OBC
* @param mpsocFile The file on the MPSoC which should be copied ot the OBC
* @param readFileSize The size of the file on the MPSoC.
* @return
*/
ReturnValue_t startFlashRead(std::string obcFile, std::string mpsocFile, size_t readFileSize);
/**
* @brief Can be used to interrupt a running data transfer.
*/
void stopProcess();
/**
* @brief Sets the sequence count object responsible for the sequence count handling
*/
void setCommandSequenceCount(uint16_t sequenceCount_);
uint16_t getCommandSequenceCount() const;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
//! [EXPORT] : [COMMENT] File error occured for file transfers from OBC to the MPSoC.
static const ReturnValue_t FILE_WRITE_ERROR = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] File error occured for file transfers from MPSoC to OBC.
static const ReturnValue_t FILE_READ_ERROR = MAKE_RETURN_CODE(0xA1);
// Maximum number of times the communication interface retries polling data from the reply
// buffer
static const int RETRIES = 10000;
struct FlashInfo {
std::string obcFile;
std::string mpsocFile;
};
struct FlashRead : public FlashInfo {
size_t totalReadSize = 0;
};
struct FlashRead flashReadAndWrite;
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0;
#endif
enum class InternalState { IDLE, FLASH_WRITE, FLASH_READ };
InternalState internalState = InternalState::IDLE;
BinarySemaphore semaphore;
#ifdef XIPHOS_Q7S
SdCardManager* sdcMan = nullptr;
#endif
uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
SpacePacketCreator creator;
ploc::SpTcParams spParams = ploc::SpTcParams(creator);
Countdown tmCountdown = Countdown(5000);
std::array<uint8_t, mpsoc::SP_MAX_DATA_SIZE> fileBuf{};
std::array<uint8_t, mpsoc::MAX_REPLY_SIZE> tmBuf{};
bool terminate = false;
/**
* Communication interface of MPSoC responsible for low level access. Must be set by the
* MPSoC Handler.
*/
// SerialComIF* uartComIF = nullptr;
// Communication cookie. Must be set by the MPSoC Handler
// CookieIF* comCookie = nullptr;
MpsocCommunication& comInterface;
// Sequence count, must be set by Ploc MPSoC Handler
// ploc::SpTmReader spReader;
uint16_t rxSequenceCount = 0;
SourceSequenceCounter txSequenceCount = 0;
void resetHelper();
ReturnValue_t performFlashWrite();
ReturnValue_t performFlashRead();
ReturnValue_t flashfopen(uint8_t accessMode);
ReturnValue_t flashfclose();
ReturnValue_t handlePacketTransmissionNoReply(ploc::SpTcBase& tc);
ReturnValue_t handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc, std::ofstream& ofile,
size_t expectedReadLen);
ReturnValue_t handleFlashReadReply(std::ofstream& ofile, size_t expectedReadLen);
ReturnValue_t sendCommand(ploc::SpTcBase& tc);
ReturnValue_t tryReceiveNextReply();
ReturnValue_t handleAck();
ReturnValue_t handleExe();
ReturnValue_t startFlashReadOrWriteBase(std::string obcFile, std::string mpsocFile);
ReturnValue_t fileCheck(std::string obcFile);
void handleAckApidFailure(const SpacePacketReader& reader);
void handleExeFailure(const SpacePacketReader& reader);
ReturnValue_t handleTmReception();
ReturnValue_t checkReceivedTm();
};
#endif /* BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_ */
linux/payload/PlocSupvUartMan.cpp
+1183
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linux/payload/PlocSupvUartMan.h
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#ifndef BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_
#define BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_
#include <fsfw/container/SimpleRingBuffer.h>
#include <linux/payload/plocSupvDefs.h>
#include <mission/utility/trace.h>
#include <termios.h>
#include <string>
#include "OBSWConfig.h"
#include "fsfw/container/FIFO.h"
#include "fsfw/devicehandlers/CookieIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/osal/linux/BinarySemaphore.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw_hal/linux/serial/SerialComIF.h"
#ifdef XIPHOS_Q7S
#include "bsp_q7s/fs/SdCardManager.h"
#endif
/**
* @brief Helper class for supervisor of PLOC intended to accelerate large data transfers between
* the supervisor and the OBC.
* @author J. Meier
*/
class PlocSupvUartManager : public DeviceCommunicationIF,
public SystemObject,
public ExecutableObjectIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPV_HELPER;
//! [EXPORT] : [COMMENT] File accidentally close
static const ReturnValue_t FILE_CLOSED_ACCIDENTALLY = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Process has been terminated by command
static const ReturnValue_t PROCESS_TERMINATED = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Received command with invalid pathname
static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Expected event buffer TM but received space packet with other APID
static const ReturnValue_t EVENT_BUFFER_REPLY_INVALID_APID = MAKE_RETURN_CODE(0xA3);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPV_HELPER;
//! [EXPORT] : [COMMENT] update failed
static const Event SUPV_UPDATE_FAILED = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] update successful
static const Event SUPV_UPDATE_SUCCESSFUL = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Continue update command failed
static const Event SUPV_CONTINUE_UPDATE_FAILED = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Continue update command successful
static const Event SUPV_CONTINUE_UPDATE_SUCCESSFUL = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Terminated update procedure by command
static const Event TERMINATED_UPDATE_PROCEDURE = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Requesting event buffer was successful
static const Event SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Requesting event buffer failed
static const Event SUPV_EVENT_BUFFER_REQUEST_FAILED = MAKE_EVENT(6, severity::LOW);
//! [EXPORT] : [COMMENT] Terminated event buffer request by command
//! P1: Number of packets read before process was terminated
static const Event SUPV_EVENT_BUFFER_REQUEST_TERMINATED = MAKE_EVENT(7, severity::LOW);
//! Status of memory check command
//! P1: Returncode, 0 for success, other value with returncode for failure
static constexpr Event SUPV_MEM_CHECK_OK = MAKE_EVENT(8, severity::INFO);
static constexpr Event SUPV_MEM_CHECK_FAIL = MAKE_EVENT(9, severity::INFO);
//! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command
//! to the supervisor
//! P1: Return value returned by the communication interface sendMessage function
//! P2: Internal state of supervisor helper
static const Event SUPV_SENDING_COMMAND_FAILED = MAKE_EVENT(16, severity::LOW);
//! [EXPORT] : [COMMENT] Request receive message of communication interface failed
//! P1: Return value returned by the communication interface requestReceiveMessage function
//! P2: Internal state of supervisor helper
static const Event SUPV_HELPER_REQUESTING_REPLY_FAILED = MAKE_EVENT(17, severity::LOW);
//! [EXPORT] : [COMMENT] Reading receive message of communication interface failed
//! P1: Return value returned by the communication interface readingReceivedMessage function
//! P2: Internal state of supervisor helper
static const Event SUPV_HELPER_READING_REPLY_FAILED = MAKE_EVENT(18, severity::LOW);
//! [EXPORT] : [COMMENT] Did not receive acknowledgement report
//! P1: Number of bytes missing
//! P2: Internal state of MPSoC helper
static const Event SUPV_MISSING_ACK = MAKE_EVENT(19, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor did not receive execution report
//! P1: Number of bytes missing
//! P2: Internal state of supervisor helper
static const Event SUPV_MISSING_EXE = MAKE_EVENT(20, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor received acknowledgment failure report
//! P1: Internal state of supervisor helper
static const Event SUPV_ACK_FAILURE_REPORT = MAKE_EVENT(21, severity::LOW);
//! [EXPORT] : [COMMENT] Execution report failure
//! P1:
static const Event SUPV_EXE_FAILURE_REPORT = MAKE_EVENT(22, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor expected acknowledgment report but received space packet with
//! other apid P1: Apid of received space packet P2: Internal state of supervisor helper
static const Event SUPV_ACK_INVALID_APID = MAKE_EVENT(23, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor helper expected execution report but received space packet
//! with other apid P1: Apid of received space packet P2: Internal state of supervisor helper
static const Event SUPV_EXE_INVALID_APID = MAKE_EVENT(24, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to receive acknowledgment report
//! P1: Return value
//! P2: Apid of command for which the reception of the acknowledgment report failed
static const Event ACK_RECEPTION_FAILURE = MAKE_EVENT(25, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to receive execution report
//! P1: Return value
//! P2: Apid of command for which the reception of the execution report failed
static const Event EXE_RECEPTION_FAILURE = MAKE_EVENT(26, severity::LOW);
//! [EXPORT] : [COMMENT] Update procedure failed when sending packet.
//! P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written
static const Event WRITE_MEMORY_FAILED = MAKE_EVENT(27, severity::LOW);
static const Event SUPV_REPLY_SIZE_MISSMATCH = MAKE_EVENT(28, severity::LOW);
static const Event SUPV_REPLY_CRC_MISSMATCH = MAKE_EVENT(29, severity::LOW);
//! [EXPORT] : [COMMENT] Will be triggered every 5 percent of the update progress.
//! P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written
static constexpr Event SUPV_UPDATE_PROGRESS = MAKE_EVENT(30, severity::INFO);
static constexpr Event HDLC_FRAME_REMOVAL_ERROR = MAKE_EVENT(31, severity::INFO);
static constexpr Event HDLC_CRC_ERROR = MAKE_EVENT(32, severity::INFO);
static constexpr unsigned MAX_RETRY_COUNT = 3;
PlocSupvUartManager(object_id_t objectId);
virtual ~PlocSupvUartManager();
/**
* @brief Device specific initialization, using the cookie.
* @details
* The cookie is already prepared in the factory. If the communication
* interface needs to be set up in some way and requires cookie information,
* this can be performed in this function, which is called on device handler
* initialization.
* @param cookie
* @return
* - @c returnvalue::OK if initialization was successfull
* - Everything else triggers failure event with returnvalue as parameter 1
*/
ReturnValue_t initializeInterface(CookieIF* cookie) override;
/**
* Called by DHB in the SEND_WRITE doSendWrite().
* This function is used to send data to the physical device
* by implementing and calling related drivers or wrapper functions.
* @param cookie
* @param data
* @param len If this is 0, nothing shall be sent.
* @return
* - @c returnvalue::OK for successfull send
* - Everything else triggers failure event with returnvalue as parameter 1
*/
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
/**
* @brief Starts update procedure
*
* @param file File containing the update data
* @param memoryId ID of the memory where to write to
* @param startAddress Address where to write data
*
* @return returnvalue::OK if successful, otherwise error return value
*/
ReturnValue_t performUpdate(const supv::UpdateParams& params);
ReturnValue_t startUpdate(std::string file, uint8_t memoryId, uint32_t startAddress);
ReturnValue_t performMemCheck(std::string file, uint8_t memoryId, uint32_t startAddress,
size_t sizeToCheck, bool checkCrc);
ReturnValue_t performMemCheck(std::string file, uint8_t memoryId, uint32_t startAddress);
/**
* @brief This initiate the continuation of a failed update.
*/
ReturnValue_t initiateUpdateContinuation();
/**
* @brief Calling this function will initiate the procedure to request the event buffer
*/
// ReturnValue_t startEventBufferRequest(std::string path);
/**
* @brief Can be used to stop the UART reception and put the task to sleep
*/
void stop();
/**
* @brief Can be used to start the UART reception
*/
void start();
bool longerRequestActive() const;
static uint32_t buildProgParams1(uint8_t percent, uint16_t seqCount);
static uint32_t buildApidServiceParam1(uint8_t apid, uint8_t serviceId);
private:
static constexpr ReturnValue_t REQUEST_DONE = returnvalue::makeCode(1, 0);
static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(1, 1);
static constexpr ReturnValue_t DECODE_BUF_TOO_SMALL = returnvalue::makeCode(1, 2);
static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS_CONSECUTIVE_START =
returnvalue::makeCode(1, 3);
static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS_CONSECUTIVE_END = returnvalue::makeCode(1, 4);
static constexpr ReturnValue_t HDLC_ERROR = returnvalue::makeCode(1, 5);
static constexpr uint32_t COM_TIMEOUT_MS = 3000;
static const uint16_t CRC16_INIT = 0xFFFF;
// Event buffer reply will carry 24 space packets with 1016 bytes and one space packet with
// 192 bytes
static const uint8_t NUM_EVENT_BUFFER_PACKETS = 25;
static const size_t SIZE_EVENT_BUFFER_FULL_PACKET = 1024;
static const size_t SIZE_EVENT_BUFFER_LAST_PACKET = 200;
static const uint32_t PREPARE_UPDATE_EXECUTION_REPORT = 2000;
static constexpr uint8_t MAX_STORED_DECODED_PACKETS = 4;
static constexpr uint8_t HDLC_START_MARKER = 0x7E;
static constexpr uint8_t HDLC_END_MARKER = 0x7C;
struct Update {
uint8_t memoryId;
uint32_t startAddress;
// Absolute name of file containing update data
std::string file;
// Length of full file
size_t fullFileSize = 0;
// Size of update
uint32_t length = 0;
uint32_t crc = 0;
bool crcShouldBeChecked = true;
size_t bytesWritten;
uint32_t packetNum;
uint16_t sequenceCount;
uint8_t progressPercent;
bool deleteMemory = false;
};
struct Update update;
int serialPort = 0;
SemaphoreIF* semaphore;
MutexIF* lock;
MutexIF* ipcLock;
supv::TmBase tmReader;
struct termios tty = {};
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0;
#endif
struct EventBufferRequest {
std::string path = "";
// Default name of file where event buffer data will be written to. Timestamp will be added to
// name when new file is created
std::string filename = "event-buffer.bin";
};
EventBufferRequest eventBufferReq;
enum class InternalState { SLEEPING, DEFAULT, DEDICATED_REQUEST, GO_TO_SLEEP };
enum class Request {
DEFAULT,
UPDATE,
CONTINUE_UPDATE,
REQUEST_EVENT_BUFFER,
CHECK_MEMORY,
};
InternalState state = InternalState::SLEEPING;
Request request = Request::DEFAULT;
#ifdef XIPHOS_Q7S
SdCardManager* sdcMan = nullptr;
#endif
SimpleRingBuffer recRingBuf;
std::array<uint8_t, 1200> cmdBuf = {};
std::array<uint8_t, 2048> encodedSendBuf = {};
std::array<uint8_t, 2048> recBuf = {};
std::array<uint8_t, 2048> encodedBuf = {};
std::array<uint8_t, 1200> decodedBuf = {};
SimpleRingBuffer decodedRingBuf;
FIFO<size_t, MAX_STORED_DECODED_PACKETS> decodedQueue;
std::array<uint8_t, 1200> ipcBuffer = {};
SimpleRingBuffer ipcRingBuf;
FIFO<size_t, MAX_STORED_DECODED_PACKETS> ipcQueue;
SpacePacketCreator creator;
supv::TcParams spParams = supv::TcParams(creator);
std::array<uint8_t, supv::MAX_COMMAND_SIZE> tmBuf{};
static constexpr bool PRINT_TC = false;
static constexpr bool DEBUG_MODE = false;
bool timestamping = true;
// Remembers APID to know at which command a procedure failed
uint16_t rememberApid = 0;
ReturnValue_t handleRunningLongerRequest();
ReturnValue_t handleUartReception();
void addHdlcFraming(const uint8_t* src, size_t slen, uint8_t* dst, size_t* dlen, size_t maxDest);
int removeHdlcFramingWithCrcCheck(const uint8_t* src, size_t slen, uint8_t* dst, size_t* dlen);
ReturnValue_t encodeAndSendPacket(const uint8_t* sendData, size_t sendLen);
void executeFullCheckMemoryCommand();
ReturnValue_t tryHdlcParsing();
ReturnValue_t parseRecRingBufForHdlc(size_t& readSize, size_t& decodedLen);
ReturnValue_t executeUpdate();
ReturnValue_t continueUpdate();
ReturnValue_t updateOperation();
ReturnValue_t writeUpdatePackets();
// ReturnValue_t performEventBufferRequest();
ReturnValue_t handlePacketTransmissionNoReply(supv::TcBase& packet,
uint32_t timeoutExecutionReport);
int handleAckReception(supv::TcBase& tc, size_t packetLen);
int handleExeAckReception(supv::TcBase& tc, size_t packetLen);
/**
* @brief Handles reading of TM packets from the communication interface
*
* @param tmPacket Pointer to space packet where received data will be written to
* @param reaminingBytes Number of bytes to read in the space packet
* @param timeout Receive timeout in milliseconds
*
* @note It can take up to 70 seconds until the supervisor replies with an acknowledgment
* failure report.
*/
ReturnValue_t handleTmReception(size_t remainingBytes, uint8_t* readBuf = nullptr,
uint32_t timeout = 70000);
ReturnValue_t checkReceivedTm();
ReturnValue_t selectMemory();
ReturnValue_t prepareUpdate();
ReturnValue_t eraseMemory();
// Calculates CRC over image. Will be used for verification after update writing has
// finished.
ReturnValue_t calcImageCrc();
ReturnValue_t handleCheckMemoryCommand(uint8_t failStep);
ReturnValue_t exeReportHandling();
/**
* @brief Return size of file with name filename
*
* @param filename
*
* @return The size of the file
*/
uint32_t getFileSize(std::string filename);
ReturnValue_t handleEventBufferReception(ploc::SpTmReader& reader);
void resetSpParams();
void pushIpcData(const uint8_t* data, size_t len);
/**
* Called by DHB in the GET_WRITE doGetWrite().
* Get send confirmation that the data in sendMessage() was sent successfully.
* @param cookie
* @return
* - @c returnvalue::OK if data was sent successfully but a reply is expected
* - NO_REPLY_EXPECTED if data was sent successfully and no reply is expected
* - Everything else to indicate failure
*/
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
/**
* Called by DHB in the SEND_WRITE doSendRead().
* It is assumed that it is always possible to request a reply
* from a device. If a requestLen of 0 is supplied, no reply was enabled
* and communication specific action should be taken (e.g. read nothing
* or read everything).
*
* @param cookie
* @param requestLen Size of data to read
* @return - @c returnvalue::OK to confirm the request for data has been sent.
* - Everything else triggers failure event with
* returnvalue as parameter 1
*/
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t writeMemoryHandlingWithRetryLogic(supv::WriteMemory& packet, unsigned progPercent);
void performUartShutdown();
void updateVtime(uint8_t vtime);
};
#endif /* BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_ */
linux/payload/ScexDleParser.cpp
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#include <linux/payload/ScexDleParser.h>
ScexDleParser::ScexDleParser(SimpleRingBuffer &decodeRingBuf, DleEncoder &decoder,
BufPair encodedBuf, BufPair decodedBuf)
: DleParser(decodeRingBuf, decoder, encodedBuf, decodedBuf) {};
ScexDleParser::~ScexDleParser() {};
linux/payload/ScexDleParser.h
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#pragma once
#include <fsfw/globalfunctions/DleParser.h>
class ScexDleParser : public DleParser {
public:
ScexDleParser(SimpleRingBuffer &decodeRingBuf, DleEncoder &decoder, BufPair encodedBuf,
BufPair decodedBuf);
virtual ~ScexDleParser();
private:
};
linux/payload/ScexHelper.cpp
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#include <fsfw/globalfunctions/CRC.h>
#include <linux/payload/ScexHelper.h>
#include "fsfw/serviceinterface.h"
using namespace returnvalue;
ScexHelper::ScexHelper() {}
ReturnValue_t ScexHelper::serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const {
return FAILED;
}
size_t ScexHelper::getSerializedSize() const { return totalPacketLen; }
ReturnValue_t ScexHelper::deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) {
if (buffer == nullptr or size == nullptr) {
return FAILED;
}
if (*size < 7) {
return STREAM_TOO_SHORT;
}
start = *buffer;
cmdByteRaw = **buffer;
cmd = static_cast<scex::Cmds>((cmdByteRaw >> 1) & 0b11111);
*buffer += 1;
packetCounter = **buffer;
*buffer += 1;
totalPacketCounter = **buffer;
*buffer += 1;
payloadLen = (**buffer << 8) | *(*buffer + 1);
*buffer += 2;
payloadStart = *buffer;
totalPacketLen = payloadLen + scex::HEADER_LEN + scex::CRC_LEN;
if (totalPacketLen >= *size) {
return STREAM_TOO_SHORT;
}
*buffer += payloadLen;
crc = (**buffer << 8) | *(*buffer + 1);
if (CRC::crc16ccitt(start, totalPacketLen) != 0) {
return INVALID_CRC;
}
return OK;
}
scex::Cmds ScexHelper::getCmd() const { return cmd; }
uint8_t ScexHelper::getCmdByteRaw() const { return cmdByteRaw; }
uint16_t ScexHelper::getCrc() const { return crc; }
size_t ScexHelper::getExpectedPacketLen() const { return totalPacketLen; }
uint8_t ScexHelper::getPacketCounter() const { return packetCounter; }
uint16_t ScexHelper::getPayloadLen() const { return payloadLen; }
const uint8_t* ScexHelper::getStart() const { return start; }
uint8_t ScexHelper::getTotalPacketCounter() const { return totalPacketCounter; }
std::ostream& operator<<(std::ostream& os, const ScexHelper& h) {
using namespace std;
sif::info << "Command Byte Raw: 0x" << std::setw(2) << std::setfill('0') << std::hex
<< (int)h.cmdByteRaw << " | Command: 0x" << std::setw(2) << std::setfill('0')
<< std::hex << static_cast<int>(h.cmd) << std::dec << std::endl;
sif::info << "PacketCounter: " << h.packetCounter << endl;
sif::info << "TotalPacketCount: " << h.totalPacketCounter << endl;
sif::info << "PayloadLength: " << h.payloadLen << endl;
sif::info << "TotalPacketLength: " << h.totalPacketLen;
return os;
}
std::ofstream& operator<<(std::ofstream& of, const ScexHelper& h) {
of.write(reinterpret_cast<const char*>(h.start), h.getSerializedSize());
return of;
}
linux/payload/ScexHelper.h
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#ifndef LINUX_PAYLOAD_SCEXHELPER_H_
#define LINUX_PAYLOAD_SCEXHELPER_H_
#include <fsfw/serialize/SerializeIF.h>
#include <mission/payload/scexHelpers.h>
#include <cstddef>
#include <cstdint>
#include <fstream>
#include <iostream>
class ScexHelper : public SerializeIF {
public:
//! [EXPORT] : [SKIP]
static const ReturnValue_t INVALID_CRC = returnvalue::makeCode(0, 2);
ScexHelper();
ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
Endianness streamEndianness) const override;
size_t getSerializedSize() const override;
ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness = Endianness::BIG) override;
friend std::ostream &operator<<(std::ostream &os, const ScexHelper &h);
friend std::ofstream &operator<<(std::ofstream &os, const ScexHelper &h);
scex::Cmds getCmd() const;
uint8_t getCmdByteRaw() const;
uint16_t getCrc() const;
size_t getExpectedPacketLen() const;
uint8_t getPacketCounter() const;
uint16_t getPayloadLen() const;
const uint8_t *getStart() const;
uint8_t getTotalPacketCounter() const;
private:
const uint8_t *start = nullptr;
uint16_t crc = 0;
uint8_t cmdByteRaw = 0;
scex::Cmds cmd = scex::Cmds::INVALID;
int packetCounter = 0;
int totalPacketCounter = 0;
uint16_t payloadLen = 0;
const uint8_t *payloadStart = 0;
size_t totalPacketLen = 0;
};
#endif /* LINUX_PAYLOAD_SCEXHELPER_H_ */
linux/payload/ScexUartReader.cpp
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#include <fcntl.h> // Contains file controls like O_RDWR
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/ipc/MutexFactory.h>
#include <fsfw/ipc/MutexGuard.h>
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/linux/serial/SerialCookie.h>
#include <linux/payload/ScexUartReader.h>
#include <unistd.h> // write(), read(), close()
#include <cerrno> // Error integer and strerror() function
#include <iostream>
#include "OBSWConfig.h"
using namespace returnvalue;
ScexUartReader::ScexUartReader(object_id_t objectId)
: SystemObject(objectId),
decodeRingBuf(4096, true),
ipcRingBuf(200 * 2048, true),
ipcQueue(200),
dleParser(decodeRingBuf, dleEncoder, {encodedBuf.data(), encodedBuf.size()},
{decodedBuf.data(), decodedBuf.size()}) {
semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
semaphore->acquire();
lock = MutexFactory::instance()->createMutex();
}
ReturnValue_t ScexUartReader::performOperation(uint8_t operationCode) {
lock->lockMutex();
state = States::IDLE;
lock->unlockMutex();
while (true) {
semaphore->acquire();
int bytesRead = 0;
// debugMode = true;
while (true) {
bytesRead = read(serialPort, reinterpret_cast<void *>(recBuf.data()),
static_cast<unsigned int>(recBuf.size()));
if (bytesRead == 0) {
{
MutexGuard mg(lock);
if (state == States::FINISH) {
dleParser.reset();
// Flush received and unread data
tcflush(serialPort, TCIOFLUSH);
state = States::IDLE;
break;
}
}
ReturnValue_t result = returnvalue::OK;
// Can be used to read frame, parity and overrun errors
// serial_icounter_struct icounter{};
// uart::readCountersAndErrors(serialPort, icounter);
while (result != DleParser::NO_PACKET_FOUND) {
result = tryDleParsing();
}
TaskFactory::delayTask(150);
} else if (bytesRead < 0) {
sif::warning << "ScexUartReader::performOperation: read call failed with error [" << errno
<< ", " << strerror(errno) << "]" << std::endl;
break;
} else if (bytesRead >= static_cast<int>(recBuf.size())) {
sif::error << "ScexUartReader::performOperation: Receive buffer too small for " << bytesRead
<< " bytes" << std::endl;
} else if (bytesRead > 0) {
if (debugMode) {
sif::info << "Received " << bytesRead
<< " bytes from the Solar Cell Experiment:" << std::endl;
}
ReturnValue_t result = dleParser.passData(recBuf.data(), bytesRead);
if (result != OK) {
sif::warning << "ScexUartReader::performOperation: Passing data to DLE parser failed"
<< std::endl;
}
result = tryDleParsing();
}
};
}
return OK;
}
ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
SerialCookie *uartCookie = dynamic_cast<SerialCookie *>(cookie);
if (uartCookie == nullptr) {
return FAILED;
}
std::string devname = uartCookie->getDeviceFile();
/* Get file descriptor */
serialPort = open(devname.c_str(), O_RDWR);
if (serialPort < 0) {
sif::warning << "ScexUartReader::initializeInterface: open call failed with error [" << errno
<< ", " << strerror(errno) << std::endl;
return FAILED;
}
// Setting up UART parameters
tty.c_cflag &= ~PARENB; // Clear parity bit
serial::setStopbits(tty, uartCookie->getStopBits());
serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
serial::enableRead(tty);
serial::ignoreCtrlLines(tty);
// Use non-canonical mode and clear echo flag
tty.c_lflag &= ~(ICANON | ECHO);
// Non-blocking mode, use polling
tty.c_cc[VTIME] = 0;
tty.c_cc[VMIN] = 0;
serial::setBaudrate(tty, uartCookie->getBaudrate());
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error ["
<< errno << ", " << strerror(errno) << std::endl;
}
// Flush received and unread data
tcflush(serialPort, TCIOFLUSH);
return OK;
}
ReturnValue_t ScexUartReader::sendMessage(CookieIF *cookie, const uint8_t *sendData,
size_t sendLen) {
ReturnValue_t result;
if (sendData == nullptr or sendLen == 0) {
return FAILED;
}
lock->lockMutex();
if (state == States::NOT_READY or state == States::RUNNING) {
lock->unlockMutex();
return FAILED;
}
tcflush(serialPort, TCIFLUSH);
state = States::RUNNING;
lock->unlockMutex();
result = semaphore->release();
if (result != OK) {
std::cout << "ScexUartReader::sendMessage: Releasing semaphore failed" << std::endl;
}
size_t encodedLen = 0;
result = dleEncoder.encode(sendData, sendLen, cmdbuf.data(), cmdbuf.size(), &encodedLen, true);
if (result != OK) {
sif::warning << "ScexUartReader::sendMessage: Encoding failed" << std::endl;
return FAILED;
}
size_t bytesWritten = write(serialPort, cmdbuf.data(), encodedLen);
if (bytesWritten != encodedLen) {
sif::warning << "ScexUartReader::sendMessage: Sending command failed" << std::endl;
return FAILED;
}
return OK;
}
ReturnValue_t ScexUartReader::getSendSuccess(CookieIF *cookie) { return OK; }
ReturnValue_t ScexUartReader::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
return OK;
}
void ScexUartReader::setDebugMode(bool enable) { this->debugMode = enable; }
ReturnValue_t ScexUartReader::finish() {
MutexGuard mg(lock);
if (state == States::IDLE) {
return FAILED;
}
state = States::FINISH;
return OK;
}
void ScexUartReader::handleFoundDlePacket(uint8_t *packet, size_t len) {
MutexGuard mg(lock);
ReturnValue_t result = ipcQueue.insert(len);
if (result != OK) {
sif::warning << "ScexUartReader::handleFoundDlePacket: IPCQueue error" << std::endl;
}
result = ipcRingBuf.writeData(packet, len);
if (result != OK) {
sif::warning << "ScexUartReader::handleFoundDlePacket: IPCRingBuf error" << std::endl;
}
}
ReturnValue_t ScexUartReader::tryDleParsing() {
size_t bytesRead = 0;
ReturnValue_t result = dleParser.parseRingBuf(bytesRead);
if (result == returnvalue::OK) {
// Packet found, advance read pointer.
auto &decodedPacket = dleParser.getContext().decodedPacket;
handleFoundDlePacket(decodedPacket.first, decodedPacket.second);
dleParser.confirmBytesRead(bytesRead);
} else if (result != DleParser::NO_PACKET_FOUND) {
sif::warning << "ScexUartReader::performOperation: Possible packet loss" << std::endl;
// Markers found at wrong place
// which might be a hint for a possibly lost packet.
dleParser.defaultErrorHandler();
dleParser.confirmBytesRead(bytesRead);
}
return result;
}
void ScexUartReader::reset() {
lock->lockMutex();
state = States::FINISH;
ipcRingBuf.clear();
while (not ipcQueue.empty()) {
ipcQueue.pop();
}
lock->unlockMutex();
}
ReturnValue_t ScexUartReader::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) {
MutexGuard mg(lock);
if (ipcQueue.empty()) {
*size = 0;
return OK;
}
ipcQueue.retrieve(size);
*buffer = ipcBuffer.data();
ReturnValue_t result = ipcRingBuf.readData(ipcBuffer.data(), *size, true);
if (result != OK) {
sif::warning << "ScexUartReader::readReceivedMessage: Reading RingBuffer failed" << std::endl;
}
return OK;
}
linux/payload/ScexUartReader.h
+61
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#pragma once
#include <fsfw/container/DynamicFIFO.h>
#include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/globalfunctions/DleEncoder.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/timemanager/Countdown.h>
#include <linux/payload/ScexDleParser.h>
#include <termios.h> // Contains POSIX terminal control definitions
class SemaphoreIF;
class MutexIF;
class ScexUartReader : public SystemObject,
public ExecutableObjectIF,
public DeviceCommunicationIF {
friend class UartTestClass;
public:
enum class States { NOT_READY, IDLE, RUNNING, FINISH };
ScexUartReader(object_id_t objectId);
void reset();
ReturnValue_t finish();
void setDebugMode(bool enable);
private:
SemaphoreIF *semaphore;
bool debugMode = false;
MutexIF *lock;
int serialPort = 0;
States state = States::IDLE;
struct termios tty = {};
bool doFinish = false;
DleEncoder dleEncoder = DleEncoder();
SimpleRingBuffer decodeRingBuf;
std::array<uint8_t, 256> cmdbuf = {};
std::array<uint8_t, 4096> recBuf = {};
std::array<uint8_t, 4096> encodedBuf = {};
std::array<uint8_t, 4096> decodedBuf = {};
std::array<uint8_t, 4096> ipcBuffer = {};
SimpleRingBuffer ipcRingBuf;
DynamicFIFO<size_t> ipcQueue;
ScexDleParser dleParser;
static void foundDlePacketHandler(const DleParser::Context &ctx);
void handleFoundDlePacket(uint8_t *packet, size_t len);
ReturnValue_t tryDleParsing();
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
// DeviceCommunicationIF implementation
ReturnValue_t initializeInterface(CookieIF *cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
};
linux/payload/SerialCommunicationHelper.cpp
+126
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@@ -0,0 +1,126 @@
#include "SerialCommunicationHelper.h"
#include <errno.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
#include <cstring>
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw_hal/linux/serial/helper.h"
SerialCommunicationHelper::SerialCommunicationHelper(SerialConfig cfg) : cfg(cfg) {}
ReturnValue_t SerialCommunicationHelper::initialize() {
fd = configureUartPort();
if (fd < 0) {
return returnvalue::FAILED;
}
return returnvalue::OK;
}
int SerialCommunicationHelper::rawFd() const { return fd; }
ReturnValue_t SerialCommunicationHelper::send(const uint8_t* data, size_t dataLen) {
if (write(fd, data, dataLen) != static_cast<int>(dataLen)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
<< ": Error description: " << strerror(errno) << std::endl;
#endif
return returnvalue::FAILED;
}
return returnvalue::OK;
}
int SerialCommunicationHelper::configureUartPort() {
struct termios options = {};
int flags = O_RDWR;
if (cfg.getUartMode() == UartModes::CANONICAL) {
// In non-canonical mode, don't specify O_NONBLOCK because these properties will be
// controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
flags |= O_NONBLOCK;
}
int fd = open(cfg.getDeviceFile().c_str(), flags);
if (fd < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Failed to open uart "
<< cfg.getDeviceFile().c_str()
<< "with error code " << errno << strerror(errno) << std::endl;
#endif
return fd;
}
/* Read in existing settings */
if (tcgetattr(fd, &options) != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Error " << errno
<< "from tcgetattr: " << strerror(errno) << std::endl;
#endif
return fd;
}
serial::setParity(options, cfg.getParity());
serial::setStopbits(options, cfg.getStopBits());
serial::setBitsPerWord(options, cfg.getBitsPerWord());
setFixedOptions(&options);
serial::setMode(options, cfg.getUartMode());
tcflush(fd, TCIFLUSH);
/* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
options.c_cc[VTIME] = 0;
options.c_cc[VMIN] = 0;
serial::setBaudrate(options, cfg.getBaudrate());
/* Save option settings */
if (tcsetattr(fd, TCSANOW, &options) != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
<< ": " << strerror(errno);
#endif
return fd;
}
return fd;
}
void SerialCommunicationHelper::setFixedOptions(struct termios* options) {
/* Disable RTS/CTS hardware flow control */
options->c_cflag &= ~CRTSCTS;
/* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
options->c_cflag |= CREAD | CLOCAL;
/* Disable echo */
options->c_lflag &= ~ECHO;
/* Disable erasure */
options->c_lflag &= ~ECHOE;
/* Disable new-line echo */
options->c_lflag &= ~ECHONL;
/* Disable interpretation of INTR, QUIT and SUSP */
options->c_lflag &= ~ISIG;
/* Turn off s/w flow ctrl */
options->c_iflag &= ~(IXON | IXOFF | IXANY);
/* Disable any special handling of received bytes */
options->c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
/* Prevent special interpretation of output bytes (e.g. newline chars) */
options->c_oflag &= ~OPOST;
/* Prevent conversion of newline to carriage return/line feed */
options->c_oflag &= ~ONLCR;
}
ReturnValue_t SerialCommunicationHelper::flushUartRxBuffer() {
serial::flushRxBuf(fd);
return returnvalue::OK;
}
ReturnValue_t SerialCommunicationHelper::flushUartTxBuffer() {
serial::flushTxBuf(fd);
return returnvalue::OK;
}
ReturnValue_t SerialCommunicationHelper::flushUartTxAndRxBuf() {
serial::flushTxRxBuf(fd);
return returnvalue::OK;
}
linux/payload/SerialCommunicationHelper.h
+69
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#pragma once
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw_hal/linux/serial/SerialCookie.h>
#include <fsfw_hal/linux/serial/helper.h>
#include "SerialConfig.h"
#include "fsfw/returnvalues/returnvalue.h"
/**
* @brief This is the communication interface to access serial ports on linux based operating
* systems.
*
* @details The implementation follows the instructions from https://blog.mbedded.ninja/programming/
* operating-systems/linux/linux-serial-ports-using-c-cpp/#disabling-canonical-mode
*
* @author J. Meier
*/
class SerialCommunicationHelper {
public:
SerialCommunicationHelper(SerialConfig serialCfg);
ReturnValue_t send(const uint8_t* data, size_t dataLen);
int rawFd() const;
ReturnValue_t initialize();
/**
* @brief This function discards all data received but not read in the UART buffer.
*/
ReturnValue_t flushUartRxBuffer();
/**
* @brief This function discards all data in the transmit buffer of the UART driver.
*/
ReturnValue_t flushUartTxBuffer();
/**
* @brief This function discards both data in the transmit and receive buffer of the UART.
*/
ReturnValue_t flushUartTxAndRxBuf();
private:
SerialConfig cfg;
int fd = 0;
/**
* @brief This function opens and configures a uart device by using the information stored
* in the uart cookie.
* @param uartCookie Pointer to uart cookie with information about the uart. Contains the
* uart device file, baudrate, parity, stopbits etc.
* @return The file descriptor of the configured uart.
*/
int configureUartPort();
void setStopBitOptions(struct termios* options);
/**
* @brief This function sets options which are not configurable by the uartCookie.
*/
void setFixedOptions(struct termios* options);
/**
* @brief With this function the datasize settings are added to the termios options struct.
*/
void setDatasizeOptions(struct termios* options);
};
linux/payload/SerialConfig.h
+70
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@@ -0,0 +1,70 @@
#pragma once
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <fsfw_hal/linux/serial/helper.h>
#include <string>
/**
* @brief Cookie for the UartComIF. There are many options available to configure the UART driver.
* The constructor only requests for common options like the baudrate. Other options can
* be set by member functions.
*
* @author J. Meier
*/
class SerialConfig : public CookieIF {
public:
/**
* @brief Constructor for the uart cookie.
* @param deviceFile The device file specifying the uart to use, e.g. "/dev/ttyPS1"
* @param uartMode Specify the UART mode. The canonical mode should be used if the
* messages are separated by a delimited character like '\n'. See the
* termios documentation for more information
* @param baudrate The baudrate to use for input and output.
* @param maxReplyLen The maximum size an object using this cookie expects
* @details
* Default configuration: No parity
* 8 databits (number of bits transfered with one uart frame)
* One stop bit
*/
SerialConfig(std::string deviceFile, UartBaudRate baudrate, size_t maxReplyLen,
UartModes uartMode = UartModes::NON_CANONICAL)
: deviceFile(deviceFile), baudrate(baudrate), maxReplyLen(maxReplyLen), uartMode(uartMode) {}
virtual ~SerialConfig() = default;
UartBaudRate getBaudrate() const { return baudrate; }
size_t getMaxReplyLen() const { return maxReplyLen; }
std::string getDeviceFile() const { return deviceFile; }
Parity getParity() const { return parity; }
BitsPerWord getBitsPerWord() const { return bitsPerWord; }
StopBits getStopBits() const { return stopBits; }
UartModes getUartMode() const { return uartMode; }
/**
* Functions two enable parity checking.
*/
void setParityOdd() { parity = Parity::ODD; }
void setParityEven() { parity = Parity::EVEN; }
/**
* Function two set number of bits per UART frame.
*/
void setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
/**
* Function to specify the number of stopbits.
*/
void setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
void setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
private:
std::string deviceFile;
UartBaudRate baudrate;
size_t maxReplyLen = 0;
const UartModes uartMode;
Parity parity = Parity::NONE;
BitsPerWord bitsPerWord = BitsPerWord::BITS_8;
StopBits stopBits = StopBits::ONE_STOP_BIT;
};
linux/payload/plocMemDumpDefs.h
+28
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@@ -0,0 +1,28 @@
#ifndef BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_
#define BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_
#include <fsfw/src/fsfw/serialize/SerialLinkedListAdapter.h>
class MemoryParams : public SerialLinkedListAdapter<SerializeIF> {
public:
/**
* @brief Constructor
* @param startAddress Start of address range to dump
* @param endAddress End of address range to dump
*/
MemoryParams(uint32_t startAddress, uint32_t endAddress)
: startAddress(startAddress), endAddress(endAddress) {
setLinks();
}
private:
void setLinks() {
setStart(&startAddress);
startAddress.setNext(&endAddress);
}
SerializeElement<uint32_t> startAddress;
SerializeElement<uint32_t> endAddress;
};
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_ */
linux/payload/plocMpsocHelpers.cpp
+118
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@@ -0,0 +1,118 @@
#include "plocMpsocHelpers.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
#include "mission/payload/plocSpBase.h"
uint16_t mpsoc::getStatusFromRawData(const uint8_t* data) {
return (*(data + STATUS_OFFSET) << 8) | *(data + STATUS_OFFSET + 1);
}
std::string mpsoc::getStatusString(uint16_t status) {
switch (status) {
case (mpsoc::statusCode::UNKNOWN_APID): {
return "Unknown APID";
break;
}
case (mpsoc::statusCode::INCORRECT_LENGTH): {
return "Incorrect length";
break;
}
case (mpsoc::statusCode::FLASH_DRIVE_ERROR): {
return "flash drive error";
break;
}
case (mpsoc::statusCode::INCORRECT_CRC): {
return "Incorrect crc";
break;
}
case (mpsoc::statusCode::INCORRECT_PKT_SEQ_CNT): {
return "Incorrect packet sequence count";
break;
}
case (mpsoc::statusCode::TC_NOT_ALLOWED_IN_MODE): {
return "TC not allowed in this mode";
break;
}
case (mpsoc::statusCode::TC_EXEUTION_DISABLED): {
return "TC execution disabled";
break;
}
case (mpsoc::statusCode::FLASH_MOUNT_FAILED): {
return "Flash mount failed";
break;
}
case (mpsoc::statusCode::FLASH_FILE_ALREADY_OPEN): {
return "Flash file already open";
break;
}
case (mpsoc::statusCode::FLASH_FILE_ALREADY_CLOSED): {
return "Flash file already closed";
break;
}
case (mpsoc::statusCode::FLASH_FILE_OPEN_FAILED): {
return "Flash file open failed";
break;
}
case (mpsoc::statusCode::FLASH_FILE_NOT_OPEN): {
return "Flash file not open";
break;
}
case (mpsoc::statusCode::FLASH_UNMOUNT_FAILED): {
return "Flash unmount failed";
break;
}
case (mpsoc::statusCode::HEAP_ALLOCATION_FAILED): {
return "Heap allocation failed";
break;
}
case (mpsoc::statusCode::INVALID_PARAMETER): {
return "Invalid parameter";
break;
}
case (mpsoc::statusCode::NOT_INITIALIZED): {
return "Not initialized";
break;
}
case (mpsoc::statusCode::REBOOT_IMMINENT): {
return "Reboot imminent";
break;
}
case (mpsoc::statusCode::CORRUPT_DATA): {
return "Corrupt data";
break;
}
case (mpsoc::statusCode::FLASH_CORRECTABLE_MISMATCH): {
return "Flash correctable mismatch";
break;
}
case (mpsoc::statusCode::FLASH_UNCORRECTABLE_MISMATCH): {
return "Flash uncorrectable mismatch";
break;
}
case (mpsoc::statusCode::DEFAULT_ERROR_CODE): {
return "Default error code";
break;
}
default:
std::stringstream ss;
ss << "0x" << std::hex << status;
return ss.str().c_str();
break;
}
return "";
}
void mpsoc::printRxPacket(const SpacePacketReader& spReader) {
if (mpsoc::MPSOC_RX_WIRETAPPING) {
sif::debug << "RECV MPSOC packet. APID 0x" << std::hex << std::setw(3) << spReader.getApid()
<< std::dec << " Size " << spReader.getFullPacketLen() << " SSC "
<< spReader.getSequenceCount() << std::endl;
}
}
void mpsoc::printTxPacket(const ploc::SpTcBase& tcBase) {
if (mpsoc::MPSOC_TX_WIRETAPPING) {
sif::debug << "SEND MPSOC packet. APID 0x" << std::hex << std::setw(3) << tcBase.getApid()
<< " Size " << std::dec << tcBase.getFullPacketLen() << " SSC "
<< tcBase.getSeqCount() << std::endl;
}
}
linux/payload/plocMpsocHelpers.h
+1220
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File diff suppressed because it is too large Load Diff
linux/payload/plocSupvDefs.h
+2089
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File diff suppressed because it is too large Load Diff
linux/power/CMakeLists.txt
+1
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@@ -0,0 +1 @@
target_sources(${OBSW_NAME} PUBLIC CspComIF.cpp)
linux/power/CspComIF.cpp
+396
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@@ -0,0 +1,396 @@
#include <csp/drivers/can_socketcan.h>
#include <fsfw/serialize/SerializeAdapter.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <linux/power/CspComIF.h>
#include <mission/power/CspCookie.h>
#include <mission/power/gsDefs.h>
#include <p60acu.h>
#include <p60dock.h>
#include <p60pdu.h>
#include <param/param_string.h>
#include <param/rparam_client.h>
using namespace GOMSPACE;
CspComIF::CspComIF(object_id_t objectId, const char* routeTaskName, uint32_t routerRealTimePriority)
: SystemObject(objectId),
routerRealTimePriority(routerRealTimePriority),
routerTaskName(routeTaskName) {}
CspComIF::~CspComIF() {}
ReturnValue_t CspComIF::initializeInterface(CookieIF* cookie) {
if (cookie == nullptr) {
return NULLPOINTER;
}
CspCookie* cspCookie = dynamic_cast<CspCookie*>(cookie);
if (cspCookie == nullptr) {
return NULLPOINTER;
}
/* Perform CAN and CSP initialization only once */
if (cspDeviceMap.empty()) {
sif::info << "Performing " << canInterface << " initialization.." << std::endl;
/* Define the memory to allocate for the CSP stack */
int buf_count = 10;
int buf_size = 300;
/* Init CSP and CSP buffer system */
if (csp_init(cspOwnAddress) != CSP_ERR_NONE ||
csp_buffer_init(buf_count, buf_size) != CSP_ERR_NONE) {
sif::error << "Failed to init CSP\r\n" << std::endl;
return returnvalue::FAILED;
}
int promisc = 0; // Set filter mode on
csp_iface_t* csp_if_ptr = &csp_if;
csp_if_ptr = csp_can_socketcan_init(canInterface, bitrate, promisc);
/* Set default route and start router */
uint8_t address = CSP_DEFAULT_ROUTE;
uint8_t netmask = 0;
uint8_t mac = CSP_NODE_MAC;
int result = csp_rtable_set(address, netmask, csp_if_ptr, mac);
if (result != CSP_ERR_NONE) {
sif::error << "Failed to add can interface to router table" << std::endl;
return returnvalue::FAILED;
}
/* Start the route task */
result = startRouterTask();
if (result != returnvalue::OK) {
sif::error << "Failed to start csp route task" << std::endl;
return returnvalue::FAILED;
}
sif::info << canInterface << " initialized successfully" << std::endl;
}
uint8_t cspAddress = cspCookie->getCspAddress();
uint16_t maxReplyLength = cspCookie->getMaxReplyLength();
if (cspDeviceMap.find(cspAddress) == cspDeviceMap.end()) {
/* Insert device information in CSP map */
cspDeviceMap.emplace(cspAddress, ReplyInfo(maxReplyLength));
}
return returnvalue::OK;
}
ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
int result;
if (cookie == nullptr) {
return returnvalue::FAILED;
}
CspCookie* cspCookie = dynamic_cast<CspCookie*>(cookie);
if (cspCookie == nullptr) {
return returnvalue::FAILED;
}
uint8_t cspPort;
uint16_t querySize = 0;
if (cspCookie->getRequest() == GOMSPACE::SpecialRequestTypes::DEFAULT_COM_IF) {
/* Extract csp port and bytes to query from command buffer */
result = getPortAndQuerySize(&sendData, &sendLen, &cspPort, &querySize);
if (result != returnvalue::OK) {
return result;
}
} else {
cspPort = cspCookie->getCspPort();
querySize = cspCookie->getReplyLen();
}
if (querySize > cspCookie->getMaxReplyLength()) {
sif::error << "Query size " << querySize << " is larger than maximum allowed "
<< cspCookie->getMaxReplyLength() << std::endl;
return returnvalue::FAILED;
}
uint8_t cspAddress = cspCookie->getCspAddress();
auto iter = cspDeviceMap.find(cspAddress);
if (iter == cspDeviceMap.end()) {
return returnvalue::FAILED;
}
switch (cspPort) {
case (CspPorts::CSP_PING): {
initiatePingRequest(cspAddress, querySize);
break;
}
case (CspPorts::CSP_REBOOT): {
csp_reboot(cspAddress);
break;
}
case (CspPorts::P60_PORT_GNDWDT_RESET_ENUM):
case (CspPorts::P60_PORT_RPARAM_ENUM): {
if (cspCookie->getRequest() != SpecialRequestTypes::DEFAULT_COM_IF) {
param_index_t requestStruct{};
requestStruct.physaddr = iter->second.replyBuf.data();
auto req = cspCookie->getRequest();
if (req == GOMSPACE::SpecialRequestTypes::GET_PDU_HK) {
if (!p60pdu_get_hk(&requestStruct, cspAddress, cspCookie->getTimeout())) {
return returnvalue::FAILED;
}
} else if (req == GOMSPACE::SpecialRequestTypes::GET_ACU_HK) {
if (!p60acu_get_hk(&requestStruct, cspAddress, cspCookie->getTimeout())) {
return returnvalue::FAILED;
}
} else if (req == GOMSPACE::SpecialRequestTypes::GET_P60DOCK_HK) {
if (!p60dock_get_hk(&requestStruct, cspAddress, cspCookie->getTimeout())) {
return returnvalue::FAILED;
}
} else if (req == GOMSPACE::SpecialRequestTypes::GET_PDU_CONFIG) {
requestStruct.table = p60pdu_config;
requestStruct.mem_id = P60PDU_PARAM;
requestStruct.count = p60pdu_config_count;
requestStruct.size = P60PDU_PARAM_SIZE;
result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
requestStruct.mem_id, cspCookie->getTimeout());
if (result != 0) {
return returnvalue::FAILED;
}
} else if (req == GOMSPACE::SpecialRequestTypes::GET_ACU_CONFIG) {
requestStruct.table = p60acu_config;
requestStruct.mem_id = P60ACU_PARAM;
requestStruct.count = p60acu_config_count;
requestStruct.size = P60ACU_PARAM_SIZE;
result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
requestStruct.mem_id, cspCookie->getTimeout());
if (result != 0) {
return returnvalue::FAILED;
}
} else if (req == GOMSPACE::SpecialRequestTypes::GET_P60DOCK_CONFIG) {
requestStruct.table = p60dock_config;
requestStruct.mem_id = P60DOCK_PARAM;
requestStruct.count = p60dock_config_count;
requestStruct.size = P60DOCK_PARAM_SIZE;
result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
requestStruct.mem_id, cspCookie->getTimeout());
if (result != 0) {
return returnvalue::FAILED;
}
} else if (req == GOMSPACE::SpecialRequestTypes::SAVE_TABLE) {
if (sendLen < 2) {
return returnvalue::FAILED;
}
const TableInfo* tableInfo = reinterpret_cast<const TableInfo*>(sendData);
result = gs_rparam_save(cspAddress, cspCookie->getTimeout(), tableInfo->sourceTable,
tableInfo->targetTable);
if (result != 0) {
return returnvalue::FAILED;
}
} else if (req == GOMSPACE::SpecialRequestTypes::LOAD_TABLE) {
if (sendLen < 2) {
return returnvalue::FAILED;
}
const TableInfo* tableInfo = reinterpret_cast<const TableInfo*>(sendData);
result = gs_rparam_load(cspAddress, cspCookie->getTimeout(), tableInfo->sourceTable,
tableInfo->targetTable);
if (result != 0) {
return returnvalue::FAILED;
}
}
} else {
/* No CSP fixed port was selected. Send data to the specified port and
* wait for querySize number of bytes */
result = cspTransfer(cspAddress, cspPort, sendData, sendLen, querySize);
if (result != returnvalue::OK) {
return returnvalue::FAILED;
}
}
iter->second.replyLen = querySize;
break;
}
default:
sif::error << "CspComIF: Invalid port specified" << std::endl;
break;
}
return returnvalue::OK;
}
ReturnValue_t CspComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
ReturnValue_t CspComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
return returnvalue::OK;
}
ReturnValue_t CspComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
if (cookie == NULL) {
return returnvalue::FAILED;
}
CspCookie* cspCookie = dynamic_cast<CspCookie*>(cookie);
if (cspCookie == NULL) {
return returnvalue::FAILED;
}
uint8_t cspAddress = cspCookie->getCspAddress();
auto iter = cspDeviceMap.find(cspAddress);
if (iter == cspDeviceMap.end()) {
return returnvalue::FAILED;
}
*buffer = iter->second.replyBuf.data();
*size = iter->second.replyLen;
return returnvalue::OK;
}
ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort, const uint8_t* cmdBuffer,
int cmdLen, uint16_t querySize) {
uint32_t timeout_ms = 1000;
uint16_t bytesRead = 0;
int32_t expectedSize = static_cast<int32_t>(querySize);
auto iter = cspDeviceMap.find(cspAddress);
if (iter == cspDeviceMap.end()) {
sif::error << "CSP device with address " << cspAddress << " no found in"
<< " device map" << std::endl;
return returnvalue::FAILED;
}
uint8_t* replyBuffer = iter->second.replyBuf.data();
csp_conn_t* conn = csp_connect(CSP_PRIO_HIGH, cspAddress, cspPort, 0, CSP_O_NONE);
csp_packet_t* commandPacket = (csp_packet_t*)csp_buffer_get(cmdLen);
if (commandPacket == NULL) {
sif::error << "CspComIF::cspTransfer: Failed to get memory for a csp packet from the csp "
<< "stack" << std::endl;
csp_close(conn);
return returnvalue::FAILED;
}
memcpy(commandPacket->data, cmdBuffer, cmdLen);
commandPacket->length = cmdLen;
if (!csp_send(conn, commandPacket, timeout_ms)) {
csp_buffer_free(commandPacket);
sif::error << "CspComIF::cspTransfer: Failed to send csp packet" << std::endl;
csp_close(conn);
return returnvalue::FAILED;
}
/* Return when no reply is expected */
if (expectedSize == 0) {
return returnvalue::OK;
}
csp_packet_t* reply;
reply = csp_read(conn, timeout_ms);
if (reply == NULL) {
sif::error << "CspComIF::cspTransfer: Failed to read csp packet" << std::endl;
csp_close(conn);
return returnvalue::FAILED;
}
memcpy(replyBuffer, reply->data, reply->length);
expectedSize = expectedSize - reply->length;
bytesRead += reply->length;
csp_buffer_free(reply);
while (expectedSize > 0) {
reply = csp_read(conn, timeout_ms);
if (reply == NULL) {
sif::error << "CspComIF::cspTransfer: Failed to read csp packet" << std::endl;
csp_close(conn);
return returnvalue::FAILED;
}
if ((reply->length + bytesRead) > iter->second.replyBuf.size()) {
sif::error << "CspComIF::cspTransfer: Reply buffer to short" << std::endl;
csp_buffer_free(reply);
csp_close(conn);
return returnvalue::FAILED;
}
memcpy(replyBuffer + bytesRead, reply->data, reply->length);
expectedSize = expectedSize - reply->length;
bytesRead += reply->length;
csp_buffer_free(reply);
}
if (expectedSize != 0) {
sif::error << "CspComIF::cspTransfer: Received more bytes than requested" << std::endl;
sif::debug << "CspComIF::cspTransfer: Received bytes: " << bytesRead << std::endl;
csp_close(conn);
return returnvalue::FAILED;
}
csp_close(conn);
return returnvalue::OK;
}
ReturnValue_t CspComIF::getPortAndQuerySize(const uint8_t** sendData, size_t* sendLen,
uint8_t* cspPort, uint16_t* querySize) {
ReturnValue_t result =
SerializeAdapter::deSerialize(cspPort, sendData, sendLen, SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
sif::error << "CspComIF: Failed to deserialize CSP port from command "
<< "buffer" << std::endl;
return returnvalue::FAILED;
}
SerializeAdapter::deSerialize(querySize, sendData, sendLen, SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
sif::error << "CspComIF: Failed to deserialize querySize from command "
<< "buffer" << std::endl;
return returnvalue::FAILED;
}
return returnvalue::OK;
}
void CspComIF::initiatePingRequest(uint8_t cspAddress, uint16_t querySize) {
uint32_t timeout_ms = 500;
uint32_t replyTime = csp_ping(cspAddress, timeout_ms, querySize, CSP_O_NONE);
sif::info << "Ping address: " << cspAddress << ", reply after " << replyTime << " ms"
<< std::endl;
auto iter = cspDeviceMap.find(cspAddress);
if (iter == cspDeviceMap.end()) {
return;
}
/* Store reply time in reply buffer * */
uint8_t* replyBuffer = iter->second.replyBuf.data();
memcpy(replyBuffer, &replyTime, sizeof(replyTime));
iter->second.replyLen = sizeof(replyTime);
}
ReturnValue_t CspComIF::startRouterTask() {
pthread_attr_t attr;
int res = pthread_attr_init(&attr);
if (res) {
return returnvalue::FAILED;
}
pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
res = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
if (res != 0) {
return returnvalue::FAILED;
}
// Set scheduling policy to SCHED_RR
res = pthread_attr_setschedpolicy(&attr, SCHED_RR);
if (res) {
pthread_attr_destroy(&attr);
return returnvalue::FAILED;
}
struct sched_param sched_param;
sched_param.sched_priority = routerRealTimePriority;
res = pthread_attr_setschedparam(&attr, &sched_param);
if (res) {
pthread_attr_destroy(&attr);
return returnvalue::FAILED;
}
res = pthread_create(&routerTaskHandle, &attr, routerWorkWrapper, NULL);
if (res) {
pthread_attr_destroy(&attr);
return returnvalue::FAILED;
}
res = pthread_setname_np(routerTaskHandle, routerTaskName);
if (res) {
pthread_attr_destroy(&attr);
return returnvalue::FAILED;
}
pthread_attr_destroy(&attr);
return returnvalue::OK;
}
void* CspComIF::routerWorkWrapper(void* args) {
/* Here there be routing */
while (1) {
csp_route_work(FIFO_TIMEOUT);
}
return nullptr;
}
linux/power/CspComIF.h
+93
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#ifndef LINUX_POWER_CSPCOMIF_H_
#define LINUX_POWER_CSPCOMIF_H_
#include <csp/csp.h>
#include <csp/csp_autoconfig.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/returnvalues/returnvalue.h>
#include <pthread.h>
#include <unordered_map>
#include <vector>
/**
* @brief This class serves as the communication interface to devices
* supporting the CSP protocol. As physical layer can0 is used
* in this implementation.
* @author J. Meier
*/
class CspComIF : public DeviceCommunicationIF, public SystemObject {
public:
CspComIF(object_id_t objectId, const char *routeTaskName, uint32_t routerRealTimePriority);
virtual ~CspComIF();
ReturnValue_t initializeInterface(CookieIF *cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **readData, size_t *readLen) override;
private:
#ifdef CSP_USE_RDP
//! If RDP is enabled, the router needs to awake some times to check timeouts
static constexpr uint32_t FIFO_TIMEOUT = 100;
#else
//! If no RDP, the router can sleep untill data arrives
static constexpr uint32_t FIFO_TIMEOUT = CSP_MAX_DELAY;
#endif
/**
* @brief This function initiates the CSP transfer.
*
* @param cspAddress The CSP address of the target device.
* @param cspPort The port of the target device.
* @param timeout The timeout to wait for csp_send and csp_read
* functions. Specifies how long the functions wait
* for a successful operation.
* @param cmdBuffer The data to send.
* @param cmdLen The number of bytes to send.
* @param querySize The size of the requested message.
*/
ReturnValue_t cspTransfer(uint8_t cspAddress, uint8_t cspPort, const uint8_t *cmdBuffer,
int cmdLen, uint16_t querySize);
typedef uint8_t node_t;
struct ReplyInfo {
ReplyInfo(size_t maxLen) : replyBuf(maxLen) {};
std::vector<uint8_t> replyBuf;
size_t replyLen = 0;
};
using VectorBufferMap = std::unordered_map<node_t, ReplyInfo>;
/* In this map assigns reply buffers to a CSP device */
VectorBufferMap cspDeviceMap;
/* This is the CSP address of the OBC. */
node_t cspOwnAddress = 1;
pthread_t routerTaskHandle{};
uint32_t routerRealTimePriority = 0;
const char *routerTaskName;
/* Interface struct for csp protocol stack */
csp_iface_t csp_if;
char canInterface[5] = "can0";
int bitrate = 1000;
/**
* @brief Function to extract the csp port and the query size from the
* command buffer.
*/
ReturnValue_t getPortAndQuerySize(const uint8_t **sendData, size_t *sendLen, uint8_t *cspPort,
uint16_t *querySize);
/**
* @brief This function initiates the ping request.
*/
void initiatePingRequest(uint8_t cspAddress, uint16_t querySize);
ReturnValue_t startRouterTask();
static void *routerWorkWrapper(void *args);
};
#endif /* LINUX_POWER_CSPCOMIF_H_ */
linux/scheduling.cpp
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#include "scheduling.h"
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <mission/utility/InitMission.h>
#include "OBSWConfig.h"
#include "ObjectFactory.h"
#include "eive/objects.h"
PosixThreadArgs scheduling::RR_SCHEDULING = {.policy = SchedulingPolicy::RR};
PosixThreadArgs scheduling::NORMAL_SCHEDULING;
void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask) {
using namespace scheduling;
ReturnValue_t result = returnvalue::OK;
#if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else
void (*missedDeadlineFunc)(void) = nullptr;
#endif
result = returnvalue::OK;
scexReaderTask =
factory.createPeriodicTask("SCEX_UART_READER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0,
missedDeadlineFunc, &NORMAL_SCHEDULING);
result = scexReaderTask->addComponent(objects::SCEX_UART_READER);
if (result != returnvalue::OK) {
printAddObjectError("SCEX_UART_READER", objects::SCEX_UART_READER);
}
}
void scheduling::addMpsocSupvHandlers(PeriodicTaskIF* plTask) {
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::PERFORM_OPERATION);
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::SEND_WRITE);
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_WRITE);
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::SEND_READ);
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_READ);
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::SEND_READ);
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_READ);
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::PERFORM_OPERATION);
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_WRITE);
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_WRITE);
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_READ);
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_READ);
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_READ);
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_READ);
}
linux/scheduling.h
+13
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#pragma once
#include <fsfw/osal/linux/PosixThread.h>
#include <fsfw/tasks/TaskFactory.h>
namespace scheduling {
extern PosixThreadArgs RR_SCHEDULING;
extern PosixThreadArgs NORMAL_SCHEDULING;
void scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask);
void addMpsocSupvHandlers(PeriodicTaskIF* task);
} // namespace scheduling
linux/tcs/CMakeLists.txt
+1
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@@ -0,0 +1 @@
target_sources(${OBSW_NAME} PUBLIC Max31865RtdPolling.cpp)
linux/tcs/Max31865RtdPolling.cpp
+473
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#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw_hal/linux/spi/ManualCsLockGuard.h>
#include <linux/tcs/Max31865RtdPolling.h>
#define OBSW_RTD_AUTO_MODE 1
#if OBSW_RTD_AUTO_MODE == 1
static constexpr uint8_t BASE_CFG = (MAX31865::Bias::ON << MAX31865::CfgBitPos::BIAS_SEL) |
(MAX31865::Wires::FOUR_WIRE << MAX31865::CfgBitPos::WIRE_SEL) |
(MAX31865::ConvMode::AUTO << MAX31865::CfgBitPos::CONV_MODE);
#else
static constexpr uint8_t BASE_CFG =
(MAX31865::Bias::OFF << MAX31865::CfgBitPos::BIAS_SEL) |
(MAX31865::Wires::FOUR_WIRE << MAX31865::CfgBitPos::WIRE_SEL) |
(MAX31865::ConvMode::NORM_OFF << MAX31865::CfgBitPos::CONV_MODE);
#endif
Max31865RtdPolling::Max31865RtdPolling(object_id_t objectId, SpiComIF* lowLevelComIF,
GpioIF* gpioIF)
: SystemObject(objectId), rtds(EiveMax31855::NUM_RTDS), comIF(lowLevelComIF), gpioIF(gpioIF) {
readerLock = MutexFactory::instance()->createMutex();
}
ReturnValue_t Max31865RtdPolling::performOperation(uint8_t operationCode) {
using namespace MAX31865;
ReturnValue_t result = returnvalue::OK;
static_cast<void>(result);
// Measured to take 0-1 ms in debug build
// Stopwatch watch;
periodicInitHandling();
#if OBSW_RTD_AUTO_MODE == 0
// 10 ms delay for VBIAS startup
TaskFactory::delayTask(10);
result = periodicReadReqHandling();
if (result != returnvalue::OK) {
return result;
}
// After requesting, 65 milliseconds delay required
TaskFactory::delayTask(65);
#endif
return periodicReadHandling();
}
bool Max31865RtdPolling::rtdIsActive(uint8_t idx) {
if (rtds[idx]->on and rtds[idx]->db.active and rtds[idx]->db.configured) {
return true;
}
return false;
}
ReturnValue_t Max31865RtdPolling::periodicInitHandling() {
using namespace MAX31865;
ReturnValue_t result = returnvalue::OK;
for (auto& rtd : rtds) {
if (rtd == nullptr) {
continue;
}
bool mustPerformInitHandling = false;
bool doWriteLowThreshold = false;
bool doWriteHighThreshold = false;
{
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
continue;
}
mustPerformInitHandling =
(rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut();
doWriteHighThreshold = rtd->writeHighThreshold;
doWriteLowThreshold = rtd->writeLowThreshold;
}
if (mustPerformInitHandling) {
// Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
// or hardware specific issue where the CS needs to be pulled high and then low again
// between transfers
result = writeCfgReg(rtd->spiCookie, BASE_CFG);
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "writeCfgReg");
continue;
}
if (doWriteLowThreshold) {
result = writeLowThreshold(rtd->spiCookie, rtd->lowThreshold);
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "writeLowThreshold");
}
}
if (doWriteHighThreshold) {
result = writeHighThreshold(rtd->spiCookie, rtd->highThreshold);
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "writeHighThreshold");
}
}
result = clearFaultStatus(rtd->spiCookie);
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "clearFaultStatus");
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
rtd->db.configured = true;
rtd->db.active = true;
}
}
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() {
using namespace MAX31865;
updateActiveRtdsArray();
// Now request one shot config for all active RTDs
for (auto& rtd : rtds) {
if (rtd == nullptr) {
continue;
}
if (activeRtdsArray[rtd->idx]) {
ReturnValue_t result = writeCfgReg(rtd->spiCookie, BASE_CFG | (1 << CfgBitPos::ONE_SHOT));
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "writeCfgReg");
// Release mutex ASAP
return returnvalue::FAILED;
}
}
}
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::periodicReadHandling() {
using namespace MAX31865;
auto result = returnvalue::OK;
updateActiveRtdsArray();
// Now read the RTD values
for (auto& rtd : rtds) {
if (rtd == nullptr) {
continue;
}
if (activeRtdsArray[rtd->idx]) {
// Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
// or hardware specific issue where the CS needs to be pulled high and then low again
// between transfers
uint16_t rtdVal = 0;
bool faultBitSet = false;
result = writeCfgReg(rtd->spiCookie, BASE_CFG);
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "writeCfgReg");
continue;
}
result = readRtdVal(rtd->spiCookie, rtdVal, faultBitSet);
// sif::debug << "RTD Val: " << rtdVal << std::endl;
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "readRtdVal");
continue;
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (faultBitSet) {
rtd->db.faultBitSet = faultBitSet;
}
rtd->db.adcCode = rtdVal;
}
}
#if OBSW_RTD_AUTO_MODE == 0
for (auto& rtd : rtds) {
if (rtd == nullptr) {
continue;
}
// Even if a device was made inactive, turn off the bias here. If it was turned off, not
// necessary anymore..
if (rtd->on) {
result = writeBiasSel(Bias::OFF, rtd->spiCookie, BASE_CFG);
}
}
#endif
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::initializeInterface(CookieIF* cookie) {
if (cookie == nullptr) {
throw std::invalid_argument("Invalid MAX31865 Reader Cookie");
}
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
ReturnValue_t result = comIF->initializeInterface(rtdCookie->spiCookie);
if (result != returnvalue::OK) {
return result;
}
if (rtdCookie->idx > EiveMax31855::NUM_RTDS) {
throw std::invalid_argument("Invalid RTD index");
}
rtds[rtdCookie->idx] = rtdCookie;
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (dbLen == 0) {
dbLen = rtdCookie->db.getSerializedSize();
}
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* sendData,
size_t sendLen) {
if (cookie == nullptr) {
return returnvalue::FAILED;
}
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
if (rtdCookie == nullptr) {
return returnvalue::FAILED;
}
// Empty command.. don't fail for now
if (sendLen < 1) {
return returnvalue::OK;
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::sendMessage: Mutex lock failed" << std::endl;
return returnvalue::FAILED;
}
uint8_t cmdRaw = sendData[0];
if (cmdRaw > EiveMax31855::RtdCommands::NUM_CMDS) {
sif::warning << "Max31865RtdReader::sendMessage: Invalid command" << std::endl;
return returnvalue::FAILED;
}
auto thresholdHandler = [&]() {
rtdCookie->lowThreshold = (sendData[1] << 8) | sendData[2];
rtdCookie->highThreshold = (sendData[3] << 8) | sendData[4];
rtdCookie->writeLowThreshold = true;
rtdCookie->writeHighThreshold = true;
};
auto cmd = static_cast<EiveMax31855::RtdCommands>(sendData[0]);
switch (cmd) {
case (EiveMax31855::RtdCommands::ON): {
if (not rtdCookie->on) {
rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
rtdCookie->on = true;
rtdCookie->db.active = false;
rtdCookie->db.configured = false;
if (sendLen == 5) {
thresholdHandler();
}
}
break;
}
case (EiveMax31855::RtdCommands::ACTIVE): {
if (not rtdCookie->on) {
rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
rtdCookie->on = true;
rtdCookie->db.active = true;
rtdCookie->db.configured = false;
} else {
rtdCookie->db.active = true;
}
if (sendLen == 5) {
thresholdHandler();
}
break;
}
case (EiveMax31855::RtdCommands::OFF): {
rtdCookie->on = false;
rtdCookie->db.active = false;
rtdCookie->db.configured = false;
break;
}
case (EiveMax31855::RtdCommands::HIGH_TRESHOLD): {
if (sendLen == 3) {
rtdCookie->highThreshold = (sendData[1] << 8) | sendData[2];
rtdCookie->writeHighThreshold = true;
} else {
return returnvalue::FAILED;
}
break;
}
case (EiveMax31855::RtdCommands::LOW_THRESHOLD): {
if (sendLen == 3) {
rtdCookie->lowThreshold = (sendData[1] << 8) | sendData[2];
rtdCookie->writeLowThreshold = true;
} else {
return returnvalue::FAILED;
}
break;
}
case (EiveMax31855::RtdCommands::CFG): {
ReturnValue_t result = writeCfgReg(rtdCookie->spiCookie, BASE_CFG);
if (result != returnvalue::OK) {
handleSpiError(rtdCookie, result, "writeCfgReg");
}
break;
}
default: {
// TODO: Only implement if needed
break;
}
}
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
ReturnValue_t Max31865RtdPolling::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
size_t* size) {
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
if (rtdCookie == nullptr) {
return returnvalue::FAILED;
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
// TODO: Emit warning
return returnvalue::FAILED;
}
uint8_t* exchangePtr = rtdCookie->exchangeBuf.data();
size_t serLen = 0;
auto result = rtdCookie->db.serialize(&exchangePtr, &serLen, rtdCookie->exchangeBuf.size(),
SerializeIF::Endianness::MACHINE);
if (result != returnvalue::OK) {
// TODO: Emit warning
return returnvalue::FAILED;
}
*buffer = reinterpret_cast<uint8_t*>(rtdCookie->exchangeBuf.data());
*size = serLen;
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::writeCfgReg(SpiCookie* cookie, uint8_t cfg) {
using namespace MAX31865;
return writeNToReg(cookie, CONFIG, 1, &cfg, nullptr);
}
ReturnValue_t Max31865RtdPolling::writeBiasSel(MAX31865::Bias bias, SpiCookie* cookie,
uint8_t baseCfg) {
using namespace MAX31865;
if (bias == MAX31865::Bias::OFF) {
baseCfg &= ~(1 << CfgBitPos::BIAS_SEL);
} else {
baseCfg |= (1 << CfgBitPos::BIAS_SEL);
}
return writeCfgReg(cookie, baseCfg);
}
ReturnValue_t Max31865RtdPolling::clearFaultStatus(SpiCookie* cookie) {
using namespace MAX31865;
// Read back the current configuration to avoid overwriting it when clearing te fault status
uint8_t currentCfg = 0;
auto result = readCfgReg(cookie, currentCfg);
if (result != returnvalue::OK) {
return result;
}
// Clear bytes 5, 3 and 2 which need to be 0
currentCfg &= ~0x2C;
currentCfg |= (1 << CfgBitPos::FAULT_STATUS_CLEAR);
return writeCfgReg(cookie, currentCfg);
}
ReturnValue_t Max31865RtdPolling::readCfgReg(SpiCookie* cookie, uint8_t& cfg) {
using namespace MAX31865;
uint8_t* replyPtr = nullptr;
auto result = readNFromReg(cookie, CONFIG, 1, &replyPtr);
if (result == returnvalue::OK) {
cfg = replyPtr[0];
}
return result;
}
ReturnValue_t Max31865RtdPolling::writeLowThreshold(SpiCookie* cookie, uint16_t val) {
using namespace MAX31865;
uint8_t cmd[2] = {static_cast<uint8_t>((val >> 8) & 0xff), static_cast<uint8_t>(val & 0xff)};
return writeNToReg(cookie, LOW_THRESHOLD, 2, cmd, nullptr);
}
ReturnValue_t Max31865RtdPolling::writeHighThreshold(SpiCookie* cookie, uint16_t val) {
using namespace MAX31865;
uint8_t cmd[2] = {static_cast<uint8_t>((val >> 8) & 0xff), static_cast<uint8_t>(val & 0xff)};
return writeNToReg(cookie, HIGH_THRESHOLD, 2, cmd, nullptr);
}
ReturnValue_t Max31865RtdPolling::readLowThreshold(SpiCookie* cookie, uint16_t& lowThreshold) {
using namespace MAX31865;
uint8_t* replyPtr = nullptr;
auto result = readNFromReg(cookie, LOW_THRESHOLD, 2, &replyPtr);
if (result == returnvalue::OK) {
lowThreshold = (replyPtr[0] << 8) | replyPtr[1];
}
return result;
}
ReturnValue_t Max31865RtdPolling::readHighThreshold(SpiCookie* cookie, uint16_t& highThreshold) {
using namespace MAX31865;
uint8_t* replyPtr = nullptr;
auto result = readNFromReg(cookie, HIGH_THRESHOLD, 2, &replyPtr);
if (result == returnvalue::OK) {
highThreshold = (replyPtr[0] << 8) | replyPtr[1];
}
return result;
}
ReturnValue_t Max31865RtdPolling::writeNToReg(SpiCookie* cookie, uint8_t reg, size_t n,
uint8_t* cmd, uint8_t** reply) {
using namespace MAX31865;
if (n > cmdBuf.size() - 1) {
return returnvalue::FAILED;
}
cmdBuf[0] = reg | WRITE_BIT;
for (size_t idx = 0; idx < n; idx++) {
cmdBuf[idx + 1] = cmd[idx];
}
return comIF->sendMessage(cookie, cmdBuf.data(), n + 1);
}
ReturnValue_t Max31865RtdPolling::readRtdVal(SpiCookie* cookie, uint16_t& val, bool& faultBitSet) {
using namespace MAX31865;
uint8_t* replyPtr = nullptr;
auto result = readNFromReg(cookie, RTD, 2, &replyPtr);
if (result != returnvalue::OK) {
return result;
}
if (replyPtr[1] & 0b0000'0001) {
faultBitSet = true;
}
// Shift 1 to the right to remove fault bit
val = ((replyPtr[0] << 8) | replyPtr[1]) >> 1;
return result;
}
ReturnValue_t Max31865RtdPolling::readNFromReg(SpiCookie* cookie, uint8_t reg, size_t n,
uint8_t** reply) {
using namespace MAX31865;
if (n > 4) {
return returnvalue::FAILED;
}
// Clear write bit in any case
reg &= ~WRITE_BIT;
cmdBuf[0] = reg;
std::memset(cmdBuf.data() + 1, 0, n);
ReturnValue_t result = comIF->sendMessage(cookie, cmdBuf.data(), n + 1);
if (result != returnvalue::OK) {
return returnvalue::FAILED;
}
size_t dummyLen = 0;
uint8_t* replyPtr = nullptr;
result = comIF->readReceivedMessage(cookie, &replyPtr, &dummyLen);
if (result != returnvalue::OK) {
return result;
}
if (reply != nullptr) {
*reply = replyPtr + 1;
}
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::updateActiveRtdsArray() {
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
return returnvalue::FAILED;
}
for (const auto& rtd : rtds) {
activeRtdsArray[rtd->idx] = rtdIsActive(rtd->idx);
}
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result,
const char* ctx) {
cookie->db.spiErrorCount.value += 1;
sif::warning << "Max31865RtdReader::handleSpiError: " << ctx << " | Failed with result " << result
<< std::endl;
return result;
}
ReturnValue_t Max31865RtdPolling::initialize() {
csLock = comIF->getCsMutex();
return SystemObject::initialize();
}
linux/tcs/Max31865RtdPolling.h
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#ifndef LINUX_DEVICES_MAX31865RTDREADER_H_
#define LINUX_DEVICES_MAX31865RTDREADER_H_
#include <fsfw/ipc/MutexIF.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/timemanager/clockDefinitions.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <mission/tcs/Max31865Definitions.h>
#include "devConf.h"
#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
struct Max31865ReaderCookie : public CookieIF {
Max31865ReaderCookie() {};
Max31865ReaderCookie(object_id_t handlerId_, uint8_t idx_, const std::string& locString_,
SpiCookie* spiCookie_)
: idx(idx_), handlerId(handlerId_), locString(locString_), spiCookie(spiCookie_) {}
uint8_t idx = 0;
object_id_t handlerId = objects::NO_OBJECT;
std::string locString = "";
std::array<uint8_t, 12> exchangeBuf{};
Countdown cd = Countdown(MAX31865::WARMUP_MS);
bool on = false;
bool writeLowThreshold = false;
bool writeHighThreshold = false;
uint16_t lowThreshold = 0;
uint16_t highThreshold = 0;
SpiCookie* spiCookie = nullptr;
// Exchange data buffer struct
EiveMax31855::ReadOutStruct db;
};
class Max31865RtdPolling : public SystemObject,
public ExecutableObjectIF,
public DeviceCommunicationIF {
public:
Max31865RtdPolling(object_id_t objectId, SpiComIF* lowLevelComIF, GpioIF* gpioIF);
ReturnValue_t performOperation(uint8_t operationCode) override;
ReturnValue_t initialize() override;
private:
std::vector<Max31865ReaderCookie*> rtds;
std::array<uint8_t, 4> cmdBuf = {};
std::array<bool, 12> activeRtdsArray{};
size_t dbLen = 0;
MutexIF* readerLock;
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t LOCK_TIMEOUT = 20;
static constexpr char LOCK_CTX[] = "Max31865RtdPolling";
SpiComIF* comIF;
GpioIF* gpioIF;
MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::WAITING;
uint32_t csTimeoutMs = spi::RTD_CS_TIMEOUT;
MutexIF* csLock = nullptr;
ReturnValue_t periodicInitHandling();
ReturnValue_t periodicReadReqHandling();
ReturnValue_t periodicReadHandling();
bool rtdIsActive(uint8_t idx);
ReturnValue_t writeCfgReg(SpiCookie* cookie, uint8_t cfg);
ReturnValue_t writeBiasSel(MAX31865::Bias bias, SpiCookie* cookie, uint8_t baseCfg);
ReturnValue_t readCfgReg(SpiCookie* cookie, uint8_t& cfg);
ReturnValue_t readRtdVal(SpiCookie* cookie, uint16_t& val, bool& faultBitSet);
ReturnValue_t writeLowThreshold(SpiCookie* cookie, uint16_t val);
ReturnValue_t writeHighThreshold(SpiCookie* cookie, uint16_t val);
ReturnValue_t readLowThreshold(SpiCookie* cookie, uint16_t& val);
ReturnValue_t readHighThreshold(SpiCookie* cookie, uint16_t& val);
ReturnValue_t clearFaultStatus(SpiCookie* cookie);
ReturnValue_t readNFromReg(SpiCookie* cookie, uint8_t reg, size_t n, uint8_t** reply);
ReturnValue_t writeNToReg(SpiCookie* cookie, uint8_t reg, size_t n, uint8_t* cmd,
uint8_t** reply);
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
ReturnValue_t updateActiveRtdsArray();
ReturnValue_t handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result, const char* ctx);
};
#endif /* LINUX_DEVICES_MAX31865RTDREADER_H_ */
linux/utility/CMakeLists.txt
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target_sources(${OBSW_NAME} PUBLIC utility.cpp)
linux/utility/utility.cpp
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#include "utility.h"
#include <cstring>
#include "FSFWConfig.h"
#include "OBSWConfig.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/timemanager/Clock.h"
void utility::handleSystemError(int retcode, std::string context) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << context << ": System call failed with code " << retcode << ": "
<< strerror(retcode) << std::endl;
#endif
}
bool utility::timeSanityCheck() {
timeval currentTime = {};
Clock::getUptime(&currentTime);
Clock::TimeOfDay_t currTimeOfDay = {};
Clock::convertTimevalToTimeOfDay(&currentTime, &currTimeOfDay);
if (currTimeOfDay.year == 2000) {
return false;
}
return true;
}
linux/utility/utility.h
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#ifndef LINUX_UTILITY_UTILITY_H_
#define LINUX_UTILITY_UTILITY_H_
#include <string>
#include "fsfw/returnvalues/returnvalue.h"
namespace utility {
void handleSystemError(int retcode, std::string function);
bool timeSanityCheck();
} // namespace utility
#endif /* LINUX_UTILITY_UTILITY_H_ */