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Merge branch 'v4.0.0-dev' into extend-cp-helper
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This commit is contained in:
Robin Müller
2023-06-22 16:24:24 +02:00
parent 5058b8905d 1c74d39faf
commit a0d559a5fd
62 changed files with 943 additions and 671 deletions
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4
bsp_q7s/OBSWConfig.h.in
View File

@ -67,8 +67,8 @@
// because UDP packets are not allowed in the VPN
// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
// CCSDS IP Cores.
#define OBSW_ADD_TMTC_TCP_SERVER 1
#define OBSW_ADD_TMTC_UDP_SERVER 1
#define OBSW_ADD_TMTC_TCP_SERVER @OBSW_ADD_TMTC_TCP_SERVER@
#define OBSW_ADD_TMTC_UDP_SERVER @OBSW_ADD_TMTC_UDP_SERVER@
// Can be used to switch device to NORMAL mode immediately
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 0

2
bsp_q7s/boardconfig/busConf.h
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@ -23,6 +23,7 @@ static constexpr char UART_SCEX_DEV[] = "/dev/scex";
static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio_pdec_regs";
static constexpr char UIO_PTME[] = "/dev/uio_ptme";
static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio_pdec_cfg_mem";
static constexpr char UIO_SYS_ROM[] = "/dev/uio_sys_rom";
static constexpr char UIO_PDEC_RAM[] = "/dev/uio_pdec_ram";
static constexpr char UIO_PDEC_IRQ[] = "/dev/uio_pdec_irq";
static constexpr int MAP_ID_PTME_CONFIG = 3;
@ -57,6 +58,7 @@ static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0";
static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2";
static constexpr char GNSS_SELECT[] = "gnss_mux_select";
static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select";
static constexpr char PL_I2C_ARESETN[] = "pl_i2c_aresetn";
static constexpr char HEATER_0[] = "heater0";
static constexpr char HEATER_1[] = "heater1";

112
bsp_q7s/core/CoreController.cpp
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@ -4,6 +4,7 @@
#include <fsfw/filesystem/HasFileSystemIF.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/linux/uio/UioMapper.h>
#include "commonConfig.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
@ -22,6 +23,7 @@
#include <algorithm>
#include <filesystem>
#include "bsp_q7s/boardconfig/busConf.h"
#include "bsp_q7s/fs/SdCardManager.h"
#include "bsp_q7s/memory/scratchApi.h"
#include "bsp_q7s/xadc/Xadc.h"
@ -112,6 +114,9 @@ void CoreController::performControlOperation() {
sdStateMachine();
performMountedSdCardOperations();
readHkData();
if (dumpContext.active) {
dirListingDumpHandler();
}
if (shellCmdIsExecuting) {
bool replyReceived = false;
@ -182,6 +187,14 @@ ReturnValue_t CoreController::initialize() {
if (result != returnvalue::OK) {
sif::warning << "Subscribing for GPS GPS_FIX_CHANGE event failed" << std::endl;
}
UioMapper sysRomMapper(q7s::UIO_SYS_ROM);
result = sysRomMapper.getMappedAdress(&mappedSysRomAddr, UioMapper::Permissions::READ_ONLY);
if (result != returnvalue::OK) {
// TODO: This might be a reason to switch to another image..
sif::error << "Getting mapped SYS ROM UIO address failed" << std::endl;
return ObjectManager::CHILD_INIT_FAILED;
}
return returnvalue::OK;
}
@ -220,6 +233,11 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
}
triggerEvent(VERSION_INFO, p1, p2);
if (mappedSysRomAddr != nullptr) {
uint32_t p1Firmware = *(reinterpret_cast<uint32_t *>(mappedSysRomAddr));
uint32_t p2Firmware = *(reinterpret_cast<uint32_t *>(mappedSysRomAddr) + 1);
triggerEvent(FIRMWARE_INFO, p1Firmware, p2Firmware);
}
return HasActionsIF::EXECUTION_FINISHED;
}
case (ANNOUNCE_BOOT_COUNTS): {
@ -1041,7 +1059,6 @@ ReturnValue_t CoreController::actionListDirectoryDumpDirectly(ActionId_t actionI
return returnvalue::FAILED;
}
}
std::array<uint8_t, 1024> dirListingBuf{};
dirListingBuf[8] = parser.compressionOptionSet();
// First four bytes reserved for segment index. One byte for compression option information
std::strcpy(reinterpret_cast<char *>(dirListingBuf.data() + 2 * sizeof(uint32_t) + 1), repoName);
@ -1050,38 +1067,47 @@ ReturnValue_t CoreController::actionListDirectoryDumpDirectly(ActionId_t actionI
return returnvalue::FAILED;
}
std::error_code e;
size_t totalFileSize = std::filesystem::file_size(LIST_DIR_DUMP_WORK_FILE, e);
uint32_t segmentIdx = 0;
size_t dumpedBytes = 0;
dumpContext.totalFileSize = std::filesystem::file_size(LIST_DIR_DUMP_WORK_FILE, e);
dumpContext.segmentIdx = 0;
dumpContext.dumpedBytes = 0;
size_t nextDumpLen = 0;
size_t dummy = 0;
size_t maxDumpLen = dirListingBuf.size() - 2 * sizeof(uint32_t) - 1 - repoNameLen - 1;
size_t listingDataOffset = 2 * sizeof(uint32_t) + 1 + repoNameLen + 1;
uint32_t chunks = totalFileSize / maxDumpLen;
if (totalFileSize % maxDumpLen != 0) {
dumpContext.maxDumpLen = dirListingBuf.size() - 2 * sizeof(uint32_t) - 1 - repoNameLen - 1;
dumpContext.listingDataOffset = 2 * sizeof(uint32_t) + 1 + repoNameLen + 1;
uint32_t chunks = dumpContext.totalFileSize / dumpContext.maxDumpLen;
if (dumpContext.totalFileSize % dumpContext.maxDumpLen != 0) {
chunks++;
}
SerializeAdapter::serialize(&chunks, dirListingBuf.data() + sizeof(uint32_t), &dummy,
dirListingBuf.size() - sizeof(uint32_t),
SerializeIF::Endianness::NETWORK);
while (dumpedBytes < totalFileSize) {
ifile.seekg(dumpedBytes, std::ios::beg);
nextDumpLen = maxDumpLen;
if (totalFileSize - dumpedBytes < maxDumpLen) {
nextDumpLen = totalFileSize - dumpedBytes;
while (dumpContext.dumpedBytes < dumpContext.totalFileSize) {
ifile.seekg(dumpContext.dumpedBytes, std::ios::beg);
nextDumpLen = dumpContext.maxDumpLen;
if (dumpContext.totalFileSize - dumpContext.dumpedBytes < dumpContext.maxDumpLen) {
nextDumpLen = dumpContext.totalFileSize - dumpContext.dumpedBytes;
}
SerializeAdapter::serialize(&segmentIdx, dirListingBuf.data(), &dummy, dirListingBuf.size(),
SerializeIF::Endianness::NETWORK);
ifile.read(reinterpret_cast<char *>(dirListingBuf.data() + listingDataOffset), nextDumpLen);
SerializeAdapter::serialize(&dumpContext.segmentIdx, dirListingBuf.data(), &dummy,
dirListingBuf.size(), SerializeIF::Endianness::NETWORK);
ifile.read(reinterpret_cast<char *>(dirListingBuf.data() + dumpContext.listingDataOffset),
nextDumpLen);
result = actionHelper.reportData(commandedBy, actionId, dirListingBuf.data(),
listingDataOffset + nextDumpLen);
dumpContext.listingDataOffset + nextDumpLen);
if (result != returnvalue::OK) {
// Remove work file when we are done
std::filesystem::remove(LIST_DIR_DUMP_WORK_FILE, e);
return result;
}
segmentIdx++;
dumpedBytes += nextDumpLen;
dumpContext.segmentIdx++;
dumpContext.dumpedBytes += nextDumpLen;
// Dump takes multiple task cycles, so cache the dump state and continue dump the next cycles.
if (dumpContext.segmentIdx == 10) {
dumpContext.active = true;
dumpContext.firstDump = true;
dumpContext.commander = commandedBy;
dumpContext.actionId = actionId;
return returnvalue::OK;
}
}
// Remove work file when we are done
std::filesystem::remove(LIST_DIR_DUMP_WORK_FILE, e);
@ -2349,6 +2375,54 @@ MessageQueueId_t CoreController::getCommandQueue() const {
return ExtendedControllerBase::getCommandQueue();
}
void CoreController::dirListingDumpHandler() {
if (dumpContext.firstDump) {
dumpContext.firstDump = false;
return;
}
size_t nextDumpLen = 0;
size_t dummy = 0;
ReturnValue_t result;
std::error_code e;
std::ifstream ifile(LIST_DIR_DUMP_WORK_FILE, std::ios::binary);
if (ifile.bad()) {
return;
}
while (dumpContext.dumpedBytes < dumpContext.totalFileSize) {
ifile.seekg(dumpContext.dumpedBytes, std::ios::beg);
nextDumpLen = dumpContext.maxDumpLen;
if (dumpContext.totalFileSize - dumpContext.dumpedBytes < dumpContext.maxDumpLen) {
nextDumpLen = dumpContext.totalFileSize - dumpContext.dumpedBytes;
}
SerializeAdapter::serialize(&dumpContext.segmentIdx, dirListingBuf.data(), &dummy,
dirListingBuf.size(), SerializeIF::Endianness::NETWORK);
ifile.read(reinterpret_cast<char *>(dirListingBuf.data() + dumpContext.listingDataOffset),
nextDumpLen);
result =
actionHelper.reportData(dumpContext.commander, dumpContext.actionId, dirListingBuf.data(),
dumpContext.listingDataOffset + nextDumpLen);
if (result != returnvalue::OK) {
// Remove work file when we are done
std::filesystem::remove(LIST_DIR_DUMP_WORK_FILE, e);
dumpContext.active = false;
actionHelper.finish(false, dumpContext.commander, dumpContext.actionId, result);
return;
}
dumpContext.segmentIdx++;
dumpContext.dumpedBytes += nextDumpLen;
// Dump takes multiple task cycles, so cache the dump state and continue dump the next cycles.
if (dumpContext.segmentIdx == 10) {
break;
}
}
if (dumpContext.dumpedBytes >= dumpContext.totalFileSize) {
actionHelper.finish(true, dumpContext.commander, dumpContext.actionId, result);
dumpContext.active = false;
// Remove work file when we are done
std::filesystem::remove(LIST_DIR_DUMP_WORK_FILE, e);
}
}
bool CoreController::isNumber(const std::string &s) {
return !s.empty() && std::find_if(s.begin(), s.end(),
[](unsigned char c) { return !std::isdigit(c); }) == s.end();

17
bsp_q7s/core/CoreController.h
View File

@ -6,6 +6,7 @@
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <fsfw/parameters/ParameterHelper.h>
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include <fsfw_hal/linux/uio/UioMapper.h>
#include <libxiphos.h>
#include <mission/acs/archive/GPSDefinitions.h>
#include <mission/utility/trace.h>
@ -142,6 +143,7 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
static constexpr bool BLOCKING_SD_INIT = false;
uint32_t* mappedSysRomAddr = nullptr;
SdCardManager* sdcMan = nullptr;
MessageQueueIF* eventQueue = nullptr;
@ -177,6 +179,20 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
DeviceCommandId_t actionId;
} sdCommandingInfo;
struct DirListingDumpContext {
bool active;
bool firstDump;
size_t dumpedBytes;
size_t totalFileSize;
size_t listingDataOffset;
size_t maxDumpLen;
uint32_t segmentIdx;
MessageQueueId_t commander = MessageQueueIF::NO_QUEUE;
DeviceCommandId_t actionId;
};
std::array<uint8_t, 1024> dirListingBuf{};
DirListingDumpContext dumpContext{};
RebootFile rebootFile = {};
CommandExecutor cmdExecutor;
@ -274,6 +290,7 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
void rewriteRebootFile(RebootFile file);
void announceBootCounts();
void readHkData();
void dirListingDumpHandler();
bool isNumber(const std::string& s);
};

17
bsp_q7s/core/ObjectFactory.cpp
View File

@ -2,6 +2,7 @@
#include <fsfw/devicehandlers/HealthDevice.h>
#include <fsfw/subsystem/Subsystem.h>
#include <fsfw/tasks/TaskFactory.h>
#include <linux/acs/AcsBoardPolling.h>
#include <linux/acs/GpsHyperionLinuxController.h>
#include <linux/acs/ImtqPollingTask.h>
@ -1013,3 +1014,19 @@ void ObjectFactory::createRadSensorChipSelect(LinuxLibgpioIF* gpioIF) {
gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
gpioChecker(gpioIF->addGpios(gpioCookieRadSensor), "RAD sensor");
}
void ObjectFactory::createPlI2cResetGpio(LinuxLibgpioIF* gpioIF) {
using namespace gpio;
if (gpioIF == nullptr) {
return;
}
GpioCookie* gpioI2cResetnCookie = new GpioCookie;
GpiodRegularByLineName* gpioI2cResetn = new GpiodRegularByLineName(
q7s::gpioNames::PL_I2C_ARESETN, "PL_I2C_ARESETN", Direction::OUT, Levels::HIGH);
gpioI2cResetnCookie->addGpio(gpioIds::PL_I2C_ARESETN, gpioI2cResetn);
gpioChecker(gpioIF->addGpios(gpioI2cResetnCookie), "PL I2C ARESETN");
// Reset I2C explicitely again.
gpioIF->pullLow(gpioIds::PL_I2C_ARESETN);
TaskFactory::delayTask(1);
gpioIF->pullHigh(gpioIds::PL_I2C_ARESETN);
}

1
bsp_q7s/core/ObjectFactory.h
View File

@ -78,6 +78,7 @@ ReturnValue_t createCcsdsComponents(CcsdsComponentArgs& args);
void createMiscComponents();
void createTestComponents(LinuxLibgpioIF* gpioComIF);
void createPlI2cResetGpio(LinuxLibgpioIF* gpioComIF);
void testAcsBrdAss(AcsBoardAssembly* assAss);

2
bsp_q7s/em/emObjectFactory.cpp
View File

@ -47,6 +47,7 @@ void ObjectFactory::produce(void* args) {
/* Adding gpios for chip select decoding to the gpioComIf */
q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
gpioCallbacks::disableAllDecoder(gpioComIF);
createPlI2cResetGpio(gpioComIF);
// Hardware is usually not connected to EM, so we need to create dummies which replace lower
// level components.
@ -140,6 +141,7 @@ void ObjectFactory::produce(void* args) {
#if OBSW_TM_TO_PTME == 1
if (ccsdsArgs.liveDestination != nullptr) {
pusFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
cfdpFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
}
#endif
#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */

2
bsp_q7s/fmObjectFactory.cpp
View File

@ -45,6 +45,7 @@ void ObjectFactory::produce(void* args) {
/* Adding gpios for chip select decoding to the gpioComIf */
q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
gpioCallbacks::disableAllDecoder(gpioComIF);
createPlI2cResetGpio(gpioComIF);
new CoreController(objects::CORE_CONTROLLER, enableHkSets);
createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
@ -97,6 +98,7 @@ void ObjectFactory::produce(void* args) {
#if OBSW_TM_TO_PTME == 1
if (ccsdsArgs.liveDestination != nullptr) {
pusFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
cfdpFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
}
#endif
#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */