fixed merge conflicts
This commit is contained in:
Jakob.Meier
commit
a2e62b28c3
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@ -13,12 +13,12 @@
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[submodule "thirdparty/lwgps"]
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path = thirdparty/lwgps
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url = https://github.com/rmspacefish/lwgps.git
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[submodule "fsfw_hal"]
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path = fsfw_hal
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url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-hal.git
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[submodule "generators/fsfwgen"]
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path = generators/fsfwgen
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url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-generators.git
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[submodule "thirdparty/arcsec_star_tracker"]
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path = thirdparty/arcsec_star_tracker
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url = https://egit.irs.uni-stuttgart.de/eive/arcsec_star_tracker.git
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[submodule "thirdparty/json"]
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path = thirdparty/json
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url = https://github.com/nlohmann/json.git
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@ -1,8 +1,6 @@
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################################################################################
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# CMake support for the EIVE OBSW
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#
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# Developed in an effort to replace Make with a modern build system.
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#
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# Author: R. Mueller
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################################################################################
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@ -20,8 +18,10 @@ if(TGT_BSP MATCHES "arm/q7s")
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endif()
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option(ADD_ETL_LIB "Add ETL library" ON)
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if(NOT OS_FSFW)
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set(OS_FSFW host CACHE STRING "OS for the FSFW.")
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option(ADD_JSON_LIB "Add JSON librara" ON)
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if(NOT FSFW_OSAL)
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set(FSFW_OSAL host CACHE STRING "OS for the FSFW.")
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endif()
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if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
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@ -48,11 +48,11 @@ set(TARGET_NAME ${CMAKE_PROJECT_NAME})
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set(LIB_FSFW_NAME fsfw)
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set(LIB_ETL_NAME etl)
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set(LIB_CSP_NAME libcsp)
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set(LIB_FSFW_HAL_NAME fsfw_hal)
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set(LIB_LWGPS_NAME lwgps)
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set(LIB_ARCSEC wire)
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set(THIRD_PARTY_FOLDER thirdparty)
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set(LIB_CXX_FS -lstdc++fs)
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set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
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# Set path names
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set(FSFW_PATH fsfw)
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@ -67,6 +67,7 @@ set(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp)
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set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl)
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set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps)
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set(ARCSEC_LIB_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
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set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)
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set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
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set(ADD_LINUX_FILES False)
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@ -77,8 +78,8 @@ include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
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pre_source_hw_os_config()
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if(TGT_BSP)
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if(${TGT_BSP} MATCHES "arm/q7s" OR ${TGT_BSP} MATCHES "arm/raspberrypi"
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OR ${TGT_BSP} MATCHES "arm/beagleboneblack"
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if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
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OR TGT_BSP MATCHES "arm/beagleboneblack"
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)
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set(FSFW_CONFIG_PATH "linux/fsfwconfig")
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if(NOT Q7S_SIMPLE_MODE)
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@ -142,6 +143,10 @@ if(ADD_LINUX_FILES)
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add_subdirectory(${LINUX_PATH})
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endif()
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if(ADD_JSON_LIB)
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add_subdirectory(${LIB_JSON_PATH})
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endif()
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add_subdirectory(${BSP_PATH})
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add_subdirectory(${COMMON_PATH})
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@ -150,7 +155,6 @@ if(NOT Q7S_SIMPLE_MODE)
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add_subdirectory(${FSFW_PATH})
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add_subdirectory(${MISSION_PATH})
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add_subdirectory(${TEST_PATH})
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add_subdirectory(${FSFW_HAL_LIB_PATH})
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add_subdirectory(${ARCSEC_LIB_PATH})
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endif()
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@ -159,7 +163,7 @@ endif()
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# Post-Sources preparation
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################################################################################
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set_property(CACHE OS_FSFW PROPERTY STRINGS host linux)
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set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux)
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if(NOT Q7S_SIMPLE_MODE)
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# Add libraries for all sources.
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@ -167,7 +171,6 @@ if(NOT Q7S_SIMPLE_MODE)
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${LIB_FSFW_NAME}
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${LIB_OS_NAME}
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${LIB_LWGPS_NAME}
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${LIB_FSFW_HAL_NAME}
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${LIB_ARCSEC}
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${LIB_CXX_FS}
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)
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@ -185,6 +188,12 @@ if(ADD_CSP_LIB)
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)
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endif()
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if(ADD_JSON_LIB)
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target_link_libraries(${TARGET_NAME} PRIVATE
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${LIB_JSON_NAME}
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)
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endif()
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# Add include paths for all sources.
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target_include_directories(${TARGET_NAME} PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}
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@ -248,7 +257,7 @@ endif()
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string(CONCAT POST_BUILD_COMMENT
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"Build directory: ${CMAKE_BINARY_DIR}\n"
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"Target OSAL: ${OS_FSFW}\n"
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"Target OSAL: ${FSFW_OSAL}\n"
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"Target Build Type: ${CMAKE_BUILD_TYPE}\n"
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"${TARGET_STRING}"
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)
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67
README.md
67
README.md
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@ -14,7 +14,8 @@ Target systems:
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* Datasheet at https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Arbeitsdaten/08_Used%20Components/Q7S&fileid=340648
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* Also a lot of information about the Q7S can be found on
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the [Xiphos Traq Platform](https://trac2.xiphos.ca/eive-q7). Press on index to find all
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relevant pages.
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relevant pages. The most recent datasheet can be found
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[here](https://trac2.xiphos.ca/manual/wiki/Q7RevB/UserManual).
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* Linux OS built with Yocto 2.5
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* Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git . EIVE version can be found
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[here](https://github.com/spacefisch/linux-xlnx) . Pre-compiled files can be
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@ -591,6 +592,20 @@ Eclipse indexer.
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# Q7S Utilities and Troubleshooting
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## Core commands
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Display currently running image:
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```sh
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xsc_boot_copy
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```
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Rebooting currently running image:
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```sh
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xsc_boot_copy -r
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```
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## pa3tool Host Tool
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The `pa3tool` is a host tool to interface with the ProASIC3 on the Q7S board. It was
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@ -612,6 +627,40 @@ cat /tmp/test.txt
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For more useful combinations, see this [link](https://www.freecodecamp.org/news/the-cat-command-in-linux-how-to-create-a-text-file-with-cat-or-touch/).
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## Using the scratch buffer of the ProASIC3
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The ProASIC3 has a 1024 byte scratch buffer. The values in this scratch buffer will survive
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a reboot, so this buffer can be used as an alternative to the SD cards to exchange information
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between images or to store mission critical information.
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You can use `xsc_scratch --help` for more information.
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Write to scratch buffer:
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```sh
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xsc_scratch write TEST "1"
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```
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Read from scratch buffer:
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```sh
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xsc_scratch read TEST
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```
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Read all keys:
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```sh
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xsc_scratch read
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```
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Get fill count:
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```sh
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xsc_scratch read | wc -c
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```
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## Using `system` when debugging
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Please note that when using a `system` call in C++/C code and debugging, a new thread will be
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@ -695,20 +744,6 @@ Reading data from CAN:
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candump can0
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````
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## Useful Q7S Linux Commands
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Display currently running image:
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```sh
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xsc_boot_copy
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```
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Rebooting currently running image:
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```sh
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xsc_boot_copy -r
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```
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## Preparation of a fresh rootfs and SD card
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This section summarizes important changes between a fresh rootfs and the current
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@ -724,7 +759,7 @@ EIVE implementation
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### SD Cards
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- Folder `bin` for binaries, for example the OBSW
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- Folder `misc` for miscellaneous files
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- Folder `misc` for miscellaneous files. Contains `ls` for directory listings
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- Folder `tc` for telecommands
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- Folder `tm` for telemetry
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- Folder `xdi` for XDI components (e.g. for firmware or device tree updates)
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|
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@ -33,7 +33,7 @@ namespace pcduSwitches {
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static const uint8_t INIT_STATE_Q7S = ON;
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static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
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static const uint8_t INIT_STATE_RW = OFF;
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#if TE0720 == 1
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#if BOARD_TE0720 == 1
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/* Because the TE0720 is not connected to the PCDU, this switch is always on */
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static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
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#else
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|
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@ -1,5 +1,5 @@
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#include <fsfw_hal/linux/uart/UartComIF.h>
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#include <fsfw_hal/linux/uart/UartCookie.h>
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#include <fsfw/hal/linux/uart/UartComIF.h>
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#include <fsfw/hal/linux/uart/UartCookie.h>
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#include <mission/devices/GPSHyperionHandler.h>
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#include "ObjectFactory.h"
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@ -31,12 +31,12 @@
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#include "fsfw/osal/common/UdpTmTcBridge.h"
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#include "fsfw/osal/common/UdpTcPollingTask.h"
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#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
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#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
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#include "fsfw_hal/linux/rpi/GpioRPi.h"
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#include "fsfw_hal/common/gpio/GpioCookie.h"
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#include "fsfw_hal/linux/spi/SpiCookie.h"
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#include "fsfw_hal/linux/spi/SpiComIF.h"
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#include "fsfw/hal/devicehandlers/GyroL3GD20Handler.h"
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#include "fsfw/hal/linux/gpio/LinuxLibgpioIF.h"
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#include "fsfw/hal/linux/rpi/GpioRPi.h"
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#include "fsfw/hal/common/gpio/GpioCookie.h"
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#include "fsfw/hal/linux/spi/SpiCookie.h"
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#include "fsfw/hal/linux/spi/SpiComIF.h"
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void Factory::setStaticFrameworkObjectIds() {
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PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
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|
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@ -24,6 +24,8 @@
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#define Q7S_ADD_SPI_TEST 0
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#endif
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#define Q7S_ADD_SYRLINKS_HANDLER 1
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|
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#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0
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namespace config {
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|
|
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@ -1,9 +1,16 @@
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#include <bsp_q7s/memory/FileSystemHandler.h>
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#include <fsfw/objectmanager/ObjectManager.h>
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#include "Q7STestTask.h"
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#include "bsp_q7s/memory/SdCardManager.h"
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#include "bsp_q7s/memory/scratchApi.h"
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|
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#include "fsfw/timemanager/Stopwatch.h"
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#include "fsfw/tasks/TaskFactory.h"
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|
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#include "bsp_q7s/memory/scratchApi.h"
|
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#include "test/DummyParameter.h"
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|
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#include <nlohmann/json.hpp>
|
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|
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#include <iostream>
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#include <fstream>
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|
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@ -13,12 +20,16 @@ Q7STestTask::Q7STestTask(object_id_t objectId): TestTask(objectId) {
|
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}
|
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|
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ReturnValue_t Q7STestTask::performOneShotAction() {
|
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//sdCardTests();
|
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testScratchApi();
|
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//testSdCard();
|
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//testScratchApi();
|
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//testJsonLibDirect();
|
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//testDummyParams();
|
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FsOpCodes opCode = FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY;
|
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testFileSystemHandlerDirect(opCode);
|
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return TestTask::performOneShotAction();
|
||||
}
|
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|
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void Q7STestTask::sdCardTests() {
|
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void Q7STestTask::testSdCard() {
|
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using namespace std;
|
||||
Stopwatch stopwatch;
|
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int result = std::system("q7hw sd info all > /tmp/sd_status.txt");
|
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|
|
@ -61,7 +72,183 @@ void Q7STestTask::testScratchApi() {
|
|||
}
|
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int number = 0;
|
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result = scratch::readNumber("TEST", number);
|
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sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST\": " << number << std::endl;
|
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if(result != HasReturnvaluesIF::RETURN_OK) {
|
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sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
|
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}
|
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|
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result = scratch::writeString("TEST2", "halloWelt");
|
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if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::debug << "Q7STestTask::scratchApiTest: Writing string failed" << std::endl;
|
||||
}
|
||||
std::string string;
|
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result = scratch::readString("TEST2", string);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
|
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}
|
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sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST2\": " << string << std::endl;
|
||||
|
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result = scratch::clearValue("TEST");
|
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result = scratch::clearValue("TEST2");
|
||||
}
|
||||
|
||||
void Q7STestTask::testJsonLibDirect() {
|
||||
Stopwatch stopwatch;
|
||||
// for convenience
|
||||
using json = nlohmann::json;
|
||||
json helloTest;
|
||||
// add a number that is stored as double (note the implicit conversion of j to an object)
|
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helloTest["pi"] = 3.141;
|
||||
std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
|
||||
std::string fileName = mntPrefix + "/pretty.json";
|
||||
std::ofstream o(fileName);
|
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o << std::setw(4) << helloTest << std::endl;
|
||||
}
|
||||
|
||||
void Q7STestTask::testDummyParams() {
|
||||
std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
|
||||
DummyParameter param(mntPrefix, "dummy_json.txt");
|
||||
param.printKeys();
|
||||
param.print();
|
||||
if(not param.getJsonFileExists()) {
|
||||
param.writeJsonFile();
|
||||
}
|
||||
|
||||
ReturnValue_t result = param.readJsonFile();
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
|
||||
}
|
||||
|
||||
param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
|
||||
param.setValue(DummyParameter::DUMMY_KEY_PARAM_2, "blirb");
|
||||
|
||||
param.writeJsonFile();
|
||||
param.print();
|
||||
|
||||
int test = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1);
|
||||
std::string test2 = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2);
|
||||
sif::info << "Test value (3 expected): " << test << std::endl;
|
||||
sif::info << "Test value 2 (\"blirb\" expected): " << test2 << std::endl;
|
||||
}
|
||||
|
||||
void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
|
||||
auto fsHandler = ObjectManager::instance()->
|
||||
get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
|
||||
if(fsHandler == nullptr) {
|
||||
sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
|
||||
<< std::endl;
|
||||
}
|
||||
FileSystemHandler::FsCommandCfg cfg = {};
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
|
||||
// Lambda for common code
|
||||
auto createNonEmptyTmpDir = [&]() {
|
||||
if(not std::filesystem::exists("/tmp/test")) {
|
||||
result = fsHandler->createDirectory("/tmp/test", &cfg);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
}
|
||||
// Creating sample files
|
||||
sif::info << "Creating sample files in directory" << std::endl;
|
||||
result = fsHandler->createFile("/tmp/test", "test1.txt", nullptr, 0, &cfg);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
result = fsHandler->createFile("/tmp/test", "test2.txt", nullptr, 0, &cfg);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
return result;
|
||||
};
|
||||
|
||||
|
||||
switch(opCode) {
|
||||
case(FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
|
||||
// No mount prefix, cause file is created in tmp
|
||||
cfg.useMountPrefix = false;
|
||||
sif::info << "Creating empty file in /tmp folder" << std::endl;
|
||||
// Do not delete file, user can check existence in shell
|
||||
fsHandler->createFile("/tmp", "test.txt", nullptr, 0, &cfg);
|
||||
break;
|
||||
}
|
||||
case(FsOpCodes::REMOVE_TMP_FILE): {
|
||||
sif::info << "Deleting /tmp/test.txt sample file" << std::endl;
|
||||
// No mount prefix, cause file is created in tmp
|
||||
cfg.useMountPrefix = false;
|
||||
if(not std::filesystem::exists("/tmp/test.txt")) {
|
||||
// Creating sample file
|
||||
sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl;
|
||||
fsHandler->createFile("/tmp", "test.txt", nullptr, 0, &cfg);
|
||||
}
|
||||
result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::info << "File removed successfully" << std::endl;
|
||||
}
|
||||
else {
|
||||
sif::warning << "File removal failed!" << std::endl;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(FsOpCodes::CREATE_DIR_IN_TMP): {
|
||||
// No mount prefix, cause file is created in tmp
|
||||
cfg.useMountPrefix = false;
|
||||
sif::info << "Creating empty file in /tmp folder" << std::endl;
|
||||
// Do not delete file, user can check existence in shell
|
||||
ReturnValue_t result = fsHandler->createDirectory("/tmp/test", &cfg);
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::info << "Directory created successfully" << std::endl;
|
||||
}
|
||||
else {
|
||||
sif::warning << "Directory creation failed!" << std::endl;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): {
|
||||
// No mount prefix, cause file is created in tmp
|
||||
cfg.useMountPrefix = false;
|
||||
if(not std::filesystem::exists("/tmp/test")) {
|
||||
result = fsHandler->createDirectory("/tmp/test", &cfg);
|
||||
}
|
||||
else {
|
||||
// Delete any leftover files to regular dir removal works
|
||||
std::remove("/tmp/test/*");
|
||||
}
|
||||
result = fsHandler->removeDirectory("/tmp/test", false, &cfg);
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::info << "Directory removed successfully" << std::endl;
|
||||
}
|
||||
else {
|
||||
sif::warning << "Directory removal failed!" << std::endl;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
|
||||
result = createNonEmptyTmpDir();
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return;
|
||||
}
|
||||
result = fsHandler->removeDirectory("/tmp/test", true, &cfg);
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::info << "Directory removed recursively successfully" << std::endl;
|
||||
}
|
||||
else {
|
||||
sif::warning << "Recursive directory removal failed!" << std::endl;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): {
|
||||
result = createNonEmptyTmpDir();
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return;
|
||||
}
|
||||
result = fsHandler->removeDirectory("/tmp/test", false, &cfg);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::info << "Directory removal attempt failed as expected" << std::endl;
|
||||
}
|
||||
else {
|
||||
sif::warning << "Directory removal worked when it should not have!" << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -9,11 +9,22 @@ public:
|
|||
private:
|
||||
ReturnValue_t performOneShotAction() override;
|
||||
|
||||
void sdCardTests();
|
||||
void testSdCard();
|
||||
void fileTests();
|
||||
|
||||
void testScratchApi();
|
||||
void testJsonLibDirect();
|
||||
void testDummyParams();
|
||||
|
||||
enum FsOpCodes {
|
||||
CREATE_EMPTY_FILE_IN_TMP,
|
||||
REMOVE_TMP_FILE,
|
||||
CREATE_DIR_IN_TMP,
|
||||
REMOVE_EMPTY_DIR_IN_TMP,
|
||||
ATTEMPT_DIR_REMOVAL_NON_EMPTY,
|
||||
REMOVE_FILLED_DIR_IN_TMP,
|
||||
};
|
||||
void testFileSystemHandlerDirect(FsOpCodes opCode);
|
||||
};
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,9 @@
|
|||
#include "CoreController.h"
|
||||
#include "q7sConfig.h"
|
||||
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
|
||||
#include "../memory/scratchApi.h"
|
||||
#include "../memory/SdCardManager.h"
|
||||
|
||||
CoreController::CoreController(object_id_t objectId):
|
||||
|
|
@ -24,7 +27,16 @@ LocalPoolDataSetBase* CoreController::getDataSetHandle(sid_t sid) {
|
|||
}
|
||||
|
||||
ReturnValue_t CoreController::initialize() {
|
||||
return sdCardInit();
|
||||
ReturnValue_t result = sdCardInit();
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "CoreController::initialize: SD card init failed" << std::endl;
|
||||
}
|
||||
result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "CoreController::initialize: Setting up alloc failure "
|
||||
"count failed" << std::endl;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
|
|
@ -38,7 +50,9 @@ ReturnValue_t CoreController::sdCardInit() {
|
|||
return HasReturnvaluesIF::RETURN_OK;
|
||||
#else
|
||||
SdCardManager* sdcMan = SdCardManager::instance();
|
||||
|
||||
if(sdcMan == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
// Create update status file
|
||||
ReturnValue_t result = sdcMan->updateSdCardStateFile();
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
|
|
@ -46,93 +60,14 @@ ReturnValue_t CoreController::sdCardInit() {
|
|||
<< std::endl;
|
||||
}
|
||||
|
||||
auto sdStatus = std::pair<sd::SdStatus, sd::SdStatus>(sd::SdStatus::OFF, sd::SdStatus::OFF);
|
||||
result = sdcMan->getSdCardActiveStatus(sdStatus);
|
||||
auto statusPair = SdCardManager::SdStatusPair(sd::SdStatus::OFF, sd::SdStatus::OFF);
|
||||
result = sdcMan->getSdCardActiveStatus(statusPair);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "Getting SD card activity status failed" << std::endl;
|
||||
}
|
||||
|
||||
// Use a lambda to avoid duplicate code
|
||||
auto setUpSdCard = [&](sd::SdCard sdCard, sd::SdStatus status, std::string sdString) {
|
||||
std::string mountString;
|
||||
if(sdCard == sd::SdCard::SLOT_0) {
|
||||
mountString = SdCardManager::SD_0_MOUNT_POINT;
|
||||
}
|
||||
else {
|
||||
mountString = SdCardManager::SD_1_MOUNT_POINT;
|
||||
}
|
||||
|
||||
if(status == sd::SdStatus::OFF) {
|
||||
sif::info << "Switching on and mounting SD card " << sdString << " at " <<
|
||||
mountString << std::endl;
|
||||
return sdcMan->switchOnSdCard(sdCard, true, &sdStatus);
|
||||
}
|
||||
else if(status == sd::SdStatus::ON) {
|
||||
sif::info << "Mounting SD card " << sdString << " at " << mountString << std::endl;
|
||||
return sdcMan->mountSdCard(sdCard);
|
||||
}
|
||||
else {
|
||||
sif::info << "SD card " << sdString << " already on and mounted at " <<
|
||||
mountString << std::endl;
|
||||
return SdCardManager::ALREADY_MOUNTED;
|
||||
}
|
||||
};
|
||||
|
||||
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
|
||||
sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
|
||||
result = sdcMan->getPreferredSdCard(preferredSdCard);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "Could not get preferred SD card information from the scratch buffer"
|
||||
<< std::endl;
|
||||
}
|
||||
std::string preferredString;
|
||||
sd::SdStatus preferredStatus = sd::SdStatus::OFF;
|
||||
|
||||
sd::SdStatus otherStatus = sd::SdStatus::OFF;
|
||||
std::string otherString;
|
||||
sd::SdCard otherSdc = sd::SdCard::SLOT_0;
|
||||
|
||||
if(preferredSdCard == sd::SdCard::SLOT_0) {
|
||||
preferredStatus = sdStatus.first;
|
||||
preferredString = "0";
|
||||
otherSdc = sd::SdCard::SLOT_1;
|
||||
otherStatus = sdStatus.second;
|
||||
otherString = "1";
|
||||
}
|
||||
else {
|
||||
preferredString = "1";
|
||||
preferredStatus = sdStatus.second;
|
||||
otherStatus = sdStatus.first;
|
||||
otherSdc = sd::SdCard::SLOT_0;
|
||||
otherString = "0";
|
||||
}
|
||||
|
||||
sif::info << "Cold redundant SD card configuration, preferred SD card " <<
|
||||
preferredString << std::endl;
|
||||
|
||||
result = setUpSdCard(preferredSdCard, preferredStatus, preferredString);
|
||||
if(result != SdCardManager::ALREADY_MOUNTED and result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "Setting up preferred card " << otherString <<
|
||||
" in cold redundant mode failed" << std::endl;
|
||||
// Try other SD card and mark set up operation as failed
|
||||
setUpSdCard(otherSdc, otherStatus, otherString);
|
||||
result = HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
if(result != HasReturnvaluesIF::RETURN_FAILED and otherStatus != sd::SdStatus::OFF) {
|
||||
sif::info << "Switching off secondary SD card " << otherString << std::endl;
|
||||
// Switch off other SD card in cold redundant mode if setting up preferred one walked
|
||||
// without issues
|
||||
result = sdcMan->switchOffSdCard(otherSdc, otherStatus, &sdStatus);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_OFF) {
|
||||
sif::warning << "Switching off secondary SD card " << otherString <<
|
||||
" in cold redundant mode failed" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
// Update status file
|
||||
sdcMan->updateSdCardStateFile();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return sdCardColdRedundantInit(sdcMan, statusPair);
|
||||
#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
|
||||
sif::info << "Hot redundant SD card configuration" << std::endl;
|
||||
|
||||
|
|
@ -146,3 +81,161 @@ ReturnValue_t CoreController::sdCardInit() {
|
|||
#endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
|
||||
|
||||
}
|
||||
|
||||
ReturnValue_t CoreController::sdCardSetup(SdCardManager& sdcMan,
|
||||
SdCardManager::SdStatusPair& statusPair,sd::SdCard sdCard, sd::SdStatus status,
|
||||
std::string sdString) {
|
||||
std::string mountString;
|
||||
if(sdCard == sd::SdCard::SLOT_0) {
|
||||
mountString = SdCardManager::SD_0_MOUNT_POINT;
|
||||
}
|
||||
else {
|
||||
mountString = SdCardManager::SD_1_MOUNT_POINT;
|
||||
}
|
||||
|
||||
if(status == sd::SdStatus::OFF) {
|
||||
sif::info << "Switching on and mounting SD card " << sdString << " at " <<
|
||||
mountString << std::endl;
|
||||
return sdcMan.switchOnSdCard(sdCard, true, &statusPair);
|
||||
}
|
||||
else if(status == sd::SdStatus::ON) {
|
||||
sif::info << "Mounting SD card " << sdString << " at " << mountString << std::endl;
|
||||
return sdcMan.mountSdCard(sdCard);
|
||||
}
|
||||
else {
|
||||
sif::info << "SD card " << sdString << " already on and mounted at " <<
|
||||
mountString << std::endl;
|
||||
return SdCardManager::ALREADY_MOUNTED;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
|
||||
const uint8_t *data, size_t size) {
|
||||
switch(actionId) {
|
||||
case(LIST_DIRECTORY_INTO_FILE): {
|
||||
// TODO: Packet definition for clean deserialization
|
||||
// 2 bytes for a and R flag, at least 5 bytes for minimum valid path /tmp with
|
||||
// null termination, at least 7 bytes for minimum target file name /tmp/a with
|
||||
// null termination.
|
||||
if(size < 14) {
|
||||
return HasActionsIF::INVALID_PARAMETERS;
|
||||
}
|
||||
// We could also make -l optional, but I can't think of a reason why to not use -l..
|
||||
|
||||
// This flag specifies to run ls with -a
|
||||
bool aFlag = data[0];
|
||||
data += 1;
|
||||
// This flag specifies to run ls with -R
|
||||
bool RFlag = data[1];
|
||||
data += 1;
|
||||
|
||||
size_t remainingSize = size - 2;
|
||||
// One larger for null termination, which prevents undefined behaviour if the sent
|
||||
// strings are not 0 terminated properly
|
||||
std::vector<uint8_t> repoAndTargetFileBuffer(remainingSize + 1, 0);
|
||||
std::memcpy(repoAndTargetFileBuffer.data(), data, remainingSize);
|
||||
const char* currentCharPtr = reinterpret_cast<const char*>(repoAndTargetFileBuffer.data());
|
||||
// Full target file name
|
||||
std::string repoName(currentCharPtr);
|
||||
size_t repoLength = repoName.length();
|
||||
// The other string needs to be at least one letter plus NULL termination to be valid at all
|
||||
// The first string also needs to be NULL terminated, but the termination is not included
|
||||
// in the string length, so this is subtracted from the remaining size as well
|
||||
if(repoLength > remainingSize - 3) {
|
||||
return HasActionsIF::INVALID_PARAMETERS;
|
||||
}
|
||||
// The file length will not include the NULL termination, so we skip it
|
||||
currentCharPtr += repoLength + 1;
|
||||
std::string targetFileName(currentCharPtr);
|
||||
std::ostringstream oss;
|
||||
oss << "ls -l";
|
||||
if(aFlag) {
|
||||
oss << "a";
|
||||
}
|
||||
if(RFlag) {
|
||||
oss << "R";
|
||||
}
|
||||
oss << " " << repoName << " > " << targetFileName;
|
||||
std::system(oss.str().c_str());
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
default: {
|
||||
return HasActionsIF::INVALID_ACTION_ID;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t CoreController::sdCardColdRedundantInit(SdCardManager* sdcMan,
|
||||
SdCardManager::SdStatusPair& statusPair) {
|
||||
sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
|
||||
ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
if(result == scratch::KEY_NOT_FOUND) {
|
||||
sif::warning << "CoreController::sdCardInit: "
|
||||
"Preferred SD card not set. Setting to 0" << std::endl;
|
||||
sdcMan->setPreferredSdCard(preferredSdCard);
|
||||
}
|
||||
else {
|
||||
sif::warning << "CoreController::sdCardInit: Could not get preferred SD card"
|
||||
"information from the scratch buffer" << std::endl;
|
||||
}
|
||||
}
|
||||
std::string preferredString;
|
||||
sd::SdStatus preferredStatus = sd::SdStatus::OFF;
|
||||
|
||||
sd::SdStatus otherStatus = sd::SdStatus::OFF;
|
||||
std::string otherString;
|
||||
sd::SdCard otherSdc = sd::SdCard::SLOT_0;
|
||||
|
||||
if(preferredSdCard == sd::SdCard::SLOT_0) {
|
||||
preferredStatus = statusPair.first;
|
||||
preferredString = "0";
|
||||
otherSdc = sd::SdCard::SLOT_1;
|
||||
otherStatus = statusPair.second;
|
||||
otherString = "1";
|
||||
}
|
||||
else {
|
||||
preferredString = "1";
|
||||
preferredStatus = statusPair.second;
|
||||
otherStatus = statusPair.first;
|
||||
otherSdc = sd::SdCard::SLOT_0;
|
||||
otherString = "0";
|
||||
}
|
||||
|
||||
sif::info << "Cold redundant SD card configuration, preferred SD card " <<
|
||||
preferredString << std::endl;
|
||||
|
||||
result = sdCardSetup(*sdcMan, statusPair, preferredSdCard, preferredStatus, preferredString);
|
||||
if(result != SdCardManager::ALREADY_MOUNTED and result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "Setting up preferred card " << otherString <<
|
||||
" in cold redundant mode failed" << std::endl;
|
||||
// Try other SD card and mark set up operation as failed
|
||||
sdCardSetup(*sdcMan, statusPair, preferredSdCard, preferredStatus, preferredString);
|
||||
result = HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
if(result != HasReturnvaluesIF::RETURN_FAILED and otherStatus != sd::SdStatus::OFF) {
|
||||
sif::info << "Switching off secondary SD card " << otherString << std::endl;
|
||||
// Switch off other SD card in cold redundant mode if setting up preferred one walked
|
||||
// without issues
|
||||
result = sdcMan->switchOffSdCard(otherSdc, otherStatus, &statusPair);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_OFF) {
|
||||
sif::warning << "Switching off secondary SD card " << otherString <<
|
||||
" in cold redundant mode failed" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
// Update status file
|
||||
sdcMan->updateSdCardStateFile();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t CoreController::incrementAllocationFailureCount() {
|
||||
uint32_t count = 0;
|
||||
ReturnValue_t result = scratch::readNumber(scratch::ALLOC_FAILURE_COUNT, count);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
count++;
|
||||
return scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, count);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,15 +2,29 @@
|
|||
#define BSP_Q7S_CORE_CORECONTROLLER_H_
|
||||
|
||||
#include "fsfw/controller/ExtendedControllerBase.h"
|
||||
#include "bsp_q7s/memory/SdCardManager.h"
|
||||
|
||||
#include "events/subsystemIdRanges.h"
|
||||
|
||||
class CoreController: public ExtendedControllerBase {
|
||||
public:
|
||||
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
|
||||
|
||||
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
|
||||
|
||||
static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
|
||||
|
||||
CoreController(object_id_t objectId);
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
|
||||
ReturnValue_t executeAction(ActionId_t actionId,
|
||||
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) override;
|
||||
|
||||
ReturnValue_t handleCommandMessage(CommandMessage *message) override;
|
||||
void performControlOperation() override;
|
||||
|
||||
static ReturnValue_t incrementAllocationFailureCount();
|
||||
private:
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) override;
|
||||
|
|
@ -19,6 +33,10 @@ private:
|
|||
uint32_t *msToReachTheMode);
|
||||
|
||||
ReturnValue_t sdCardInit();
|
||||
ReturnValue_t sdCardSetup(SdCardManager& sdcMan, SdCardManager::SdStatusPair& statusPair,
|
||||
sd::SdCard sdCard, sd::SdStatus status, std::string sdString);
|
||||
ReturnValue_t sdCardColdRedundantInit(SdCardManager* sdcMan,
|
||||
SdCardManager::SdStatusPair& statusPair);
|
||||
};
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -3,20 +3,22 @@
|
|||
#include "OBSWConfig.h"
|
||||
#include "pollingsequence/pollingSequenceFactory.h"
|
||||
|
||||
#include <mission/utility/InitMission.h>
|
||||
#include "mission/utility/InitMission.h"
|
||||
|
||||
#include <fsfw/objectmanager/ObjectManagerIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <fsfw/objectmanager/ObjectManager.h>
|
||||
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
|
||||
#include <fsfw/tasks/PeriodicTaskIF.h>
|
||||
#include <fsfw/tasks/TaskFactory.h>
|
||||
#include "fsfw/platform.h"
|
||||
#include "fsfw/objectmanager/ObjectManagerIF.h"
|
||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "fsfw/objectmanager/ObjectManager.h"
|
||||
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
|
||||
#include "fsfw/tasks/PeriodicTaskIF.h"
|
||||
#include "fsfw/tasks/TaskFactory.h"
|
||||
|
||||
#include <iostream>
|
||||
#include <vector>
|
||||
|
||||
/* This is configured for linux without CR */
|
||||
#ifdef LINUX
|
||||
#ifdef PLATFORM_UNIX
|
||||
ServiceInterfaceStream sif::debug("DEBUG");
|
||||
ServiceInterfaceStream sif::info("INFO");
|
||||
ServiceInterfaceStream sif::warning("WARNING");
|
||||
|
|
@ -93,6 +95,15 @@ void initmission::initTasks() {
|
|||
initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
|
||||
}
|
||||
|
||||
// FS task, task interval does not matter because it runs in permanent loop, priority low
|
||||
// because it is a non-essential background task
|
||||
PeriodicTaskIF* fsTask = factory->createPeriodicTask(
|
||||
"FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
|
||||
result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
|
||||
}
|
||||
|
||||
#if TEST_CCSDS_BRIDGE == 1
|
||||
PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
|
||||
"PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
|
||||
|
|
@ -102,15 +113,113 @@ void initmission::initTasks() {
|
|||
}
|
||||
#endif
|
||||
|
||||
std::vector<PeriodicTaskIF*> pusTasks;
|
||||
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
|
||||
std::vector<PeriodicTaskIF*> pstTasks;
|
||||
createPstTasks(*factory, missedDeadlineFunc, pstTasks);
|
||||
std::vector<PeriodicTaskIF*> testTasks;
|
||||
createTestTasks(*factory, missedDeadlineFunc, testTasks);
|
||||
|
||||
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
|
||||
for(const auto& task: taskVector) {
|
||||
if(task != nullptr) {
|
||||
task->startTask();
|
||||
}
|
||||
else {
|
||||
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
sif::info << "Starting tasks.." << std::endl;
|
||||
tmTcDistributor->startTask();
|
||||
udpBridgeTask->startTask();
|
||||
udpPollingTask->startTask();
|
||||
coreController->startTask();
|
||||
|
||||
taskStarter(pstTasks, "PST task vector");
|
||||
taskStarter(pusTasks, "PUS task vector");
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
taskStarter(testTasks, "Test task vector");
|
||||
#endif
|
||||
|
||||
#if TEST_CCSDS_BRIDGE == 1
|
||||
ptmeTestTask->startTask();
|
||||
#endif
|
||||
fsTask->startTask();
|
||||
|
||||
sif::info << "Tasks started.." << std::endl;
|
||||
}
|
||||
|
||||
void initmission::createPstTasks(TaskFactory& factory,
|
||||
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
#if BOARD_TE0720 == 0
|
||||
/* Polling Sequence Table Default */
|
||||
#if Q7S_ADD_SPI_TEST == 0
|
||||
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
|
||||
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
|
||||
missedDeadlineFunc);
|
||||
result = pst::pstSpi(spiPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
taskVec.push_back(spiPst);
|
||||
#endif
|
||||
|
||||
FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
|
||||
"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
|
||||
result = pst::pstUart(uartPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
taskVec.push_back(uartPst);
|
||||
FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
|
||||
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
|
||||
result = pst::pstGpio(gpioPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
taskVec.push_back(gpioPst);
|
||||
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
|
||||
"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
|
||||
result = pst::pstI2c(i2cPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
|
||||
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
|
||||
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
|
||||
result = pst::pstGompaceCan(gomSpacePstTask);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
|
||||
}
|
||||
taskVec.push_back(i2cPst);
|
||||
#else /* BOARD_TE7020 == 0 */
|
||||
FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask(
|
||||
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
|
||||
missedDeadlineFunc);
|
||||
result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
|
||||
}
|
||||
taskVec.push_back(pollingSequenceTaskTE0720);
|
||||
#endif /* BOARD_TE7020 == 1 */
|
||||
}
|
||||
|
||||
void initmission::createPusTasks(TaskFactory &factory,
|
||||
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
/* PUS Services */
|
||||
PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
|
||||
PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
|
||||
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
|
||||
}
|
||||
taskVec.push_back(pusVerification);
|
||||
|
||||
PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
|
||||
PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
|
||||
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
|
|
@ -120,8 +229,9 @@ void initmission::initTasks() {
|
|||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
|
||||
}
|
||||
taskVec.push_back(pusEvents);
|
||||
|
||||
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
|
||||
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
|
||||
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
|
|
@ -131,8 +241,9 @@ void initmission::initTasks() {
|
|||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
}
|
||||
taskVec.push_back(pusHighPrio);
|
||||
|
||||
PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
|
||||
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
|
||||
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
|
|
@ -150,8 +261,9 @@ void initmission::initTasks() {
|
|||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
|
||||
}
|
||||
taskVec.push_back(pusMedPrio);
|
||||
|
||||
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
|
||||
PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
|
||||
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
|
||||
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
|
|
@ -161,58 +273,13 @@ void initmission::initTasks() {
|
|||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
|
||||
}
|
||||
taskVec.push_back(pusLowPrio);
|
||||
}
|
||||
|
||||
#if TE0720 == 0
|
||||
//TODO: Add handling of missed deadlines
|
||||
/* Polling Sequence Table Default */
|
||||
#if Q7S_ADD_SPI_TEST == 0
|
||||
FixedTimeslotTaskIF* spiPst = factory->createFixedTimeslotTask(
|
||||
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
|
||||
missedDeadlineFunc);
|
||||
result = pst::pstSpi(spiPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
#endif
|
||||
|
||||
FixedTimeslotTaskIF* uartPst = factory->createFixedTimeslotTask(
|
||||
"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
|
||||
result = pst::pstUart(uartPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
FixedTimeslotTaskIF* gpioPst = factory->createFixedTimeslotTask(
|
||||
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
|
||||
result = pst::pstGpio(gpioPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
FixedTimeslotTaskIF* i2cPst = factory->createFixedTimeslotTask(
|
||||
"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
|
||||
result = pst::pstI2c(i2cPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
|
||||
FixedTimeslotTaskIF* gomSpacePstTask = factory->createFixedTimeslotTask(
|
||||
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
|
||||
result = pst::pstGompaceCan(gomSpacePstTask);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
|
||||
}
|
||||
|
||||
#else /* TE7020 == 0 */
|
||||
FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask(
|
||||
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
|
||||
missedDeadlineFunc);
|
||||
result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
|
||||
}
|
||||
#endif /* TE7020 == 1 */
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
PeriodicTaskIF* testTask = factory->createPeriodicTask(
|
||||
void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
PeriodicTaskIF* testTask = factory.createPeriodicTask(
|
||||
"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
|
||||
result = testTask->addComponent(objects::TEST_TASK);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
|
|
@ -225,45 +292,11 @@ void initmission::initTasks() {
|
|||
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
|
||||
}
|
||||
#endif
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
#if TE0720 == 1 && TEST_LIBGPIOD == 1
|
||||
#if BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1
|
||||
result = testTask->addComponent(objects::LIBGPIOD_TEST);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
|
||||
}
|
||||
#endif /* TE0720 == 1 && TEST_LIBGPIOD == 1 */
|
||||
|
||||
sif::info << "Starting tasks.." << std::endl;
|
||||
tmTcDistributor->startTask();
|
||||
udpBridgeTask->startTask();
|
||||
udpPollingTask->startTask();
|
||||
coreController->startTask();
|
||||
|
||||
#if TE0720 == 0
|
||||
uartPst->startTask();
|
||||
gpioPst->startTask();
|
||||
i2cPst->startTask();
|
||||
#if Q7S_ADD_SPI_TEST == 0
|
||||
gomSpacePstTask->startTask();
|
||||
spiPst->startTask();
|
||||
#endif /* Q7S_ADD_SPI_TEST == 0 */
|
||||
|
||||
#elif TE0720 == 1 && Q7S_ADD_SPI_TEST == 0
|
||||
pollingSequenceTaskTE0720->startTask();
|
||||
#endif
|
||||
|
||||
pusVerification->startTask();
|
||||
pusEvents->startTask();
|
||||
pusHighPrio->startTask();
|
||||
pusMedPrio->startTask();
|
||||
pusLowPrio->startTask();
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
testTask->startTask();
|
||||
#endif
|
||||
|
||||
#if TEST_CCSDS_BRIDGE == 1
|
||||
ptmeTestTask->startTask();
|
||||
#endif
|
||||
sif::info << "Tasks started.." << std::endl;
|
||||
#endif /* BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1 */
|
||||
taskVec.push_back(testTask);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,9 +1,22 @@
|
|||
#ifndef BSP_Q7S_INITMISSION_H_
|
||||
#define BSP_Q7S_INITMISSION_H_
|
||||
|
||||
#include "fsfw/tasks/Typedef.h"
|
||||
#include <vector>
|
||||
|
||||
class PeriodicTaskIF;
|
||||
class TaskFactory;
|
||||
|
||||
namespace initmission {
|
||||
void initMission();
|
||||
void initTasks();
|
||||
|
||||
void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec);
|
||||
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec);
|
||||
void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec);
|
||||
};
|
||||
|
||||
#endif /* BSP_Q7S_INITMISSION_H_ */
|
||||
|
|
|
|||
|
|
@ -1,4 +1,3 @@
|
|||
#include <bsp_q7s/boardtest/Q7STestTask.h>
|
||||
#include "ObjectFactory.h"
|
||||
#include "OBSWConfig.h"
|
||||
#include "tmtc/apid.h"
|
||||
|
|
@ -11,65 +10,72 @@
|
|||
#include "bsp_q7s/gpio/gpioCallbacks.h"
|
||||
#include "bsp_q7s/core/CoreController.h"
|
||||
#include "bsp_q7s/spiCallbacks/rwSpiCallback.h"
|
||||
#include "bsp_q7s/boardtest/Q7STestTask.h"
|
||||
#include "bsp_q7s/memory/FileSystemHandler.h"
|
||||
|
||||
#include <linux/devices/HeaterHandler.h>
|
||||
#include <linux/devices/SolarArrayDeploymentHandler.h>
|
||||
#include <linux/devices/devicedefinitions/SusDefinitions.h>
|
||||
#include <linux/devices/SusHandler.h>
|
||||
#include <linux/csp/CspCookie.h>
|
||||
#include <linux/csp/CspComIF.h>
|
||||
#include "linux/devices/HeaterHandler.h"
|
||||
#include "linux/devices/SolarArrayDeploymentHandler.h"
|
||||
#include "linux/devices/devicedefinitions/SusDefinitions.h"
|
||||
#include "linux/devices/SusHandler.h"
|
||||
#include "linux/csp/CspCookie.h"
|
||||
#include "linux/csp/CspComIF.h"
|
||||
|
||||
#include <mission/core/GenericFactory.h>
|
||||
#include <mission/devices/PDU1Handler.h>
|
||||
#include <mission/devices/PDU2Handler.h>
|
||||
#include <mission/devices/ACUHandler.h>
|
||||
#include <mission/devices/PCDUHandler.h>
|
||||
#include <mission/devices/P60DockHandler.h>
|
||||
#include <mission/devices/Tmp1075Handler.h>
|
||||
#include <mission/devices/Max31865PT1000Handler.h>
|
||||
#include <mission/devices/IMTQHandler.h>
|
||||
#include <mission/devices/SyrlinksHkHandler.h>
|
||||
#include <mission/devices/MGMHandlerLIS3MDL.h>
|
||||
#include <mission/devices/MGMHandlerRM3100.h>
|
||||
#include <mission/devices/PlocMPSoCHandler.h>
|
||||
#include <mission/devices/PlocSupervisorHandler.h>
|
||||
#include <mission/devices/RadiationSensorHandler.h>
|
||||
#include <mission/devices/RwHandler.h>
|
||||
#include <mission/devices/StarTrackerHandler.h>
|
||||
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
|
||||
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
|
||||
#include <mission/devices/devicedefinitions/RadSensorDefinitions.h>
|
||||
#include <mission/devices/devicedefinitions/Max31865Definitions.h>
|
||||
#include <mission/devices/devicedefinitions/RwDefinitions.h>
|
||||
#include "mission/core/GenericFactory.h"
|
||||
#include "mission/devices/PDU1Handler.h"
|
||||
#include "mission/devices/PDU2Handler.h"
|
||||
#include "mission/devices/ACUHandler.h"
|
||||
#include "mission/devices/PCDUHandler.h"
|
||||
#include "mission/devices/P60DockHandler.h"
|
||||
#include "mission/devices/Tmp1075Handler.h"
|
||||
#include "mission/devices/Max31865PT1000Handler.h"
|
||||
#include "mission/devices/IMTQHandler.h"
|
||||
#include "mission/devices/SyrlinksHkHandler.h"
|
||||
#include "mission/devices/MGMHandlerLIS3MDL.h"
|
||||
#include "mission/devices/MGMHandlerRM3100.h"
|
||||
#include "mission/devices/PlocMPSoCHandler.h"
|
||||
#include "mission/devices/PlocSupervisorHandler.h"
|
||||
#include "mission/devices/RadiationSensorHandler.h"
|
||||
#include "mission/devices/RwHandler.h"
|
||||
#include "mission/devices/StarTrackerHandler.h"
|
||||
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/PlocMPSoCDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/PlocSupervisorDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
|
||||
#include "mission/devices/devicedefinitions/RwDefinitions.h"
|
||||
#include <mission/devices/devicedefinitions/StarTrackerDefinitions.h>
|
||||
#include <mission/utility/TmFunnel.h>
|
||||
#include <linux/obc/CCSDSIPCoreBridge.h>
|
||||
#include "mission/utility/TmFunnel.h"
|
||||
#include "linux/obc/CCSDSIPCoreBridge.h"
|
||||
|
||||
#include "fsfw_hal/linux/uart/UartComIF.h"
|
||||
#include "fsfw_hal/linux/uart/UartCookie.h"
|
||||
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
|
||||
#include <fsfw_hal/linux/i2c/I2cCookie.h>
|
||||
#include <fsfw_hal/linux/i2c/I2cComIF.h>
|
||||
#include <fsfw_hal/linux/spi/SpiCookie.h>
|
||||
#include <fsfw_hal/linux/spi/SpiComIF.h>
|
||||
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
|
||||
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||
#include "fsfw/hal/linux/uart/UartComIF.h"
|
||||
#include "fsfw/hal/linux/uart/UartCookie.h"
|
||||
#include "fsfw/hal/devicehandlers/GyroL3GD20Handler.h"
|
||||
#include "fsfw/hal/linux/i2c/I2cCookie.h"
|
||||
#include "fsfw/hal/linux/i2c/I2cComIF.h"
|
||||
#include "fsfw/hal/linux/spi/SpiCookie.h"
|
||||
#include "fsfw/hal/linux/spi/SpiComIF.h"
|
||||
#include "fsfw/hal/linux/gpio/LinuxLibgpioIF.h"
|
||||
#include "fsfw/hal/common/gpio/GpioCookie.h"
|
||||
|
||||
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
|
||||
#include <fsfw/tmtcservices/CommandingServiceBase.h>
|
||||
#include <fsfw/tmtcservices/PusServiceBase.h>
|
||||
#include <fsfw/tmtcpacket/pus/tm.h>
|
||||
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
|
||||
#include "fsfw/tmtcservices/CommandingServiceBase.h"
|
||||
#include "fsfw/tmtcservices/PusServiceBase.h"
|
||||
#include "fsfw/tmtcpacket/pus/tm.h"
|
||||
|
||||
/* UDP server includes */
|
||||
#include <fsfw/osal/common/UdpTmTcBridge.h>
|
||||
#include <fsfw/osal/common/UdpTcPollingTask.h>
|
||||
#include <linux/boardtest/SpiTestClass.h>
|
||||
#include <mission/devices/devicedefinitions/PlocMPSoCDefinitions.h>
|
||||
#include "fsfw/osal/common/UdpTmTcBridge.h"
|
||||
#include "fsfw/osal/common/UdpTcPollingTask.h"
|
||||
#include "linux/boardtest/SpiTestClass.h"
|
||||
|
||||
#if TEST_LIBGPIOD == 1
|
||||
#include <linux/boardtest/LibgpiodTest.h>
|
||||
#include "linux/boardtest/LibgpiodTest.h"
|
||||
#endif
|
||||
|
||||
void ObjectFactory::setStatics() {
|
||||
Factory::setStaticFrameworkObjectIds();
|
||||
}
|
||||
|
||||
void Factory::setStaticFrameworkObjectIds() {
|
||||
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
PusServiceBase::packetDestination = objects::TM_FUNNEL;
|
||||
|
|
@ -87,24 +93,80 @@ void Factory::setStaticFrameworkObjectIds() {
|
|||
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ObjectFactory::produce(void* args){
|
||||
Factory::setStaticFrameworkObjectIds();
|
||||
ObjectFactory::setStatics();
|
||||
ObjectFactory::produceGenericObjects();
|
||||
LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
|
||||
|
||||
/* Communication interfaces */
|
||||
new CspComIF(objects::CSP_COM_IF);
|
||||
new I2cComIF(objects::I2C_COM_IF);
|
||||
new UartComIF(objects::UART_COM_IF);
|
||||
#if Q7S_ADD_SPI_TEST == 0
|
||||
new SpiComIF(objects::SPI_COM_IF, gpioComIF);
|
||||
#endif /* Q7S_ADD_SPI_TEST == 0 */
|
||||
|
||||
new CoreController(objects::CORE_CONTROLLER);
|
||||
LinuxLibgpioIF* gpioComIF = nullptr;
|
||||
createCommunicationInterfaces(&gpioComIF);
|
||||
createTmpComponents();
|
||||
#if BOARD_TE0720 == 0
|
||||
|
||||
#if TE0720 == 1
|
||||
createPcduComponents();
|
||||
createRadSensorComponent(gpioComIF);
|
||||
createSunSensorComponents(gpioComIF);
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
createAcsBoardComponents(gpioComIF);
|
||||
#endif /* OBSW_ADD_ACS_BOARD == 1 */
|
||||
createHeaterComponents();
|
||||
createSolarArrayDeploymentComponents();
|
||||
#if Q7S_ADD_SYRLINKS_HANDLER == 1
|
||||
createSyrlinksComponents();
|
||||
#endif /* Q7S_ADD_SYRLINKS_HANDLER == 1 */
|
||||
|
||||
#if Q7S_ADD_RTD_DEVICES == 1
|
||||
createRtdComponents();
|
||||
#endif /* Q7S_ADD_RTD_DEVICES == 1 */
|
||||
|
||||
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
|
||||
std::string("/dev/i2c-0"));
|
||||
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
|
||||
|
||||
UartCookie* mpsocUartCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
|
||||
UartModes::NON_CANONICAL, 115200, PLOC_MPSOC::MAX_REPLY_SIZE);
|
||||
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie);
|
||||
|
||||
createReactionWheelComponents(gpioComIF);
|
||||
#endif /* TE7020 != 0 */
|
||||
|
||||
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
|
||||
|
||||
/* Test Task */
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
createTestComponents();
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
|
||||
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
|
||||
|
||||
#if ADD_PLOC_MPSOC == 1
|
||||
UartCookie* plocMpsocCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
|
||||
UartModes::NON_CANONICAL, 115200, PLOC_MPSOC::MAX_REPLY_SIZE);
|
||||
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocMpsocCookie);
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_STAR_TRACKER == 1
|
||||
UartCookie* starTrackerCookie = new UartCookie(objects::START_TRACKER, std::string("/dev/ttyUL3"),
|
||||
UartModes::NON_CANONICAL, 115200, StarTracker::MAX_FRAME_SIZE* 2 + 2);
|
||||
starTrackerCookie->setNoFixedSizeReply();
|
||||
new StarTrackerHandler(objects::START_TRACKER, objects::UART_COM_IF, starTrackerCookie);
|
||||
#endif
|
||||
|
||||
#if ADD_PLOC_SUPERVISOR == 1
|
||||
/* Configuration for MIO0 on TE0720-03-1CFA */
|
||||
UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
|
||||
std::string("/dev/ttyUL3"), UartModes::NON_CANONICAL, 115200,
|
||||
PLOC_SPV::MAX_REPLY_SIZE);
|
||||
PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
|
||||
objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
|
||||
plocSupervisor->setStartUpImmediately();
|
||||
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
void ObjectFactory::createTmpComponents() {
|
||||
#if BOARD_TE0720 == 1
|
||||
I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
|
||||
TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
|
||||
I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
|
||||
|
|
@ -125,8 +187,27 @@ void ObjectFactory::produce(void* args){
|
|||
objects::TMP1075_HANDLER_2, objects::I2C_COM_IF,
|
||||
i2cCookieTmp1075tcs2);
|
||||
(void) tmp1075Handler_2;
|
||||
}
|
||||
|
||||
#if TE0720 == 0
|
||||
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF) {
|
||||
if(gpioComIF == nullptr) {
|
||||
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid GPIO ComIF"
|
||||
<< std::endl;
|
||||
}
|
||||
*gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
|
||||
|
||||
/* Communication interfaces */
|
||||
new CspComIF(objects::CSP_COM_IF);
|
||||
new I2cComIF(objects::I2C_COM_IF);
|
||||
new UartComIF(objects::UART_COM_IF);
|
||||
#if Q7S_ADD_SPI_TEST == 0
|
||||
new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
|
||||
#endif /* Q7S_ADD_SPI_TEST == 0 */
|
||||
/* Adding gpios for chip select decoding to the gpioComIf */
|
||||
gpioCallbacks::initSpiCsDecoder(*gpioComIF);
|
||||
}
|
||||
|
||||
void ObjectFactory::createPcduComponents() {
|
||||
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
|
||||
addresses::P60DOCK);
|
||||
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
|
||||
|
|
@ -159,10 +240,9 @@ void ObjectFactory::produce(void* args){
|
|||
(void) pdu1handler;
|
||||
(void) pdu2handler;
|
||||
(void) acuhandler;
|
||||
}
|
||||
|
||||
/* Adding gpios for chip select decoding to the gpioComIf */
|
||||
gpioCallbacks::initSpiCsDecoder(gpioComIF);
|
||||
|
||||
void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
|
||||
GpioCookie* gpioCookieRadSensor = new GpioCookie;
|
||||
GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip5"), 19,
|
||||
std::string("Chip Select Radiation Sensor"), gpio::OUT, 1);
|
||||
|
|
@ -173,7 +253,9 @@ void ObjectFactory::produce(void* args){
|
|||
std::string("/dev/spidev2.0"), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
|
||||
spi::DEFAULT_MAX_1227_SPEED);
|
||||
new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
|
||||
}
|
||||
|
||||
void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF) {
|
||||
GpioCookie* gpioCookieSus = new GpioCookie();
|
||||
|
||||
GpioCallback* susgpio = new GpioCallback(std::string("Chip select SUS 1"), gpio::OUT, 1,
|
||||
|
|
@ -258,21 +340,35 @@ void ObjectFactory::produce(void* args){
|
|||
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
|
||||
SUS::MAX1227_SPI_FREQ);
|
||||
|
||||
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF, gpioIds::CS_SUS_1);
|
||||
new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF, gpioIds::CS_SUS_2);
|
||||
new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF, gpioIds::CS_SUS_3);
|
||||
new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF, gpioIds::CS_SUS_4);
|
||||
new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF, gpioIds::CS_SUS_5);
|
||||
new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF, gpioIds::CS_SUS_6);
|
||||
new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF, gpioIds::CS_SUS_7);
|
||||
new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF, gpioIds::CS_SUS_8);
|
||||
new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF, gpioIds::CS_SUS_9);
|
||||
new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF, gpioIds::CS_SUS_10);
|
||||
new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF, gpioIds::CS_SUS_11);
|
||||
new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12, gpioComIF, gpioIds::CS_SUS_12);
|
||||
new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13, gpioComIF, gpioIds::CS_SUS_13);
|
||||
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF,
|
||||
gpioIds::CS_SUS_1);
|
||||
new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF,
|
||||
gpioIds::CS_SUS_2);
|
||||
new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF,
|
||||
gpioIds::CS_SUS_3);
|
||||
new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF,
|
||||
gpioIds::CS_SUS_4);
|
||||
new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF,
|
||||
gpioIds::CS_SUS_5);
|
||||
new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF,
|
||||
gpioIds::CS_SUS_6);
|
||||
new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF,
|
||||
gpioIds::CS_SUS_7);
|
||||
new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF,
|
||||
gpioIds::CS_SUS_8);
|
||||
new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF,
|
||||
gpioIds::CS_SUS_9);
|
||||
new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF,
|
||||
gpioIds::CS_SUS_10);
|
||||
new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF,
|
||||
gpioIds::CS_SUS_11);
|
||||
new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12, gpioComIF,
|
||||
gpioIds::CS_SUS_12);
|
||||
new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13, gpioComIF,
|
||||
gpioIds::CS_SUS_13);
|
||||
}
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF) {
|
||||
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
|
||||
GpiodRegular* gpio = nullptr;
|
||||
gpio = new GpiodRegular(std::string("gpiochip5"), 1, std::string("CS_GYRO_0_ADIS"),
|
||||
|
|
@ -330,20 +426,23 @@ void ObjectFactory::produce(void* args){
|
|||
|
||||
//TODO: Adis Gyro (Gyro 0 Side A)
|
||||
|
||||
// Commented until ACS board V2 in in clean room again
|
||||
/* Gyro 1 Side A */
|
||||
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
|
||||
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie);
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
// spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
|
||||
// L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
// auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
|
||||
// spiCookie);
|
||||
// gyroL3gHandler->setStartUpImmediately();
|
||||
//
|
||||
// /* Gyro 2 Side B */
|
||||
// spiCookie = new SpiCookie(addresses::GYRO_2_L3G, gpioIds::GYRO_2_L3G_CS, spiDev,
|
||||
// L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
// gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF,
|
||||
// spiCookie);
|
||||
// gyroL3gHandler->setStartUpImmediately();
|
||||
}
|
||||
|
||||
/* Gyro 2 Side B */
|
||||
spiCookie = new SpiCookie(addresses::GYRO_2_L3G, gpioIds::GYRO_2_L3G_CS, spiDev,
|
||||
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie);
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
#endif
|
||||
void ObjectFactory::createHeaterComponents() {
|
||||
|
||||
GpioCookie* heaterGpiosCookie = new GpioCookie;
|
||||
|
||||
|
|
@ -384,7 +483,9 @@ void ObjectFactory::produce(void* args){
|
|||
|
||||
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
|
||||
objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
|
||||
}
|
||||
|
||||
void ObjectFactory::createSolarArrayDeploymentComponents() {
|
||||
GpioCookie* solarArrayDeplCookie = new GpioCookie;
|
||||
|
||||
GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(std::string("gpiochip7"), 4,
|
||||
|
|
@ -398,14 +499,19 @@ void ObjectFactory::produce(void* args){
|
|||
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
|
||||
solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM,
|
||||
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
|
||||
}
|
||||
|
||||
void ObjectFactory::createSyrlinksComponents() {
|
||||
UartCookie* syrlinksUartCookie = new UartCookie(objects::SYRLINKS_HK_HANDLER,
|
||||
std::string("/dev/ttyUL0"), UartModes::NON_CANONICAL, 38400, SYRLINKS::MAX_REPLY_SIZE);
|
||||
syrlinksUartCookie->setParityEven();
|
||||
|
||||
new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie);
|
||||
SyrlinksHkHandler* syrlinksHkHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER,
|
||||
objects::UART_COM_IF, syrlinksUartCookie);
|
||||
}
|
||||
|
||||
#if Q7S_ADD_RTD_DEVICES == 1
|
||||
void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
|
||||
GpioCookie* rtdGpioCookie = new GpioCookie;
|
||||
|
||||
GpioCallback* gpioRtdIc3 = new GpioCallback(std::string("Chip select RTD IC3"), gpio::OUT, 1,
|
||||
|
|
@ -508,22 +614,38 @@ void ObjectFactory::produce(void* args){
|
|||
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
|
||||
spi::SpiModes::MODE_1, 2000000);
|
||||
|
||||
Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3, objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
|
||||
Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4, objects::SPI_COM_IF, spiRtdIc4, 0);
|
||||
Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5, objects::SPI_COM_IF, spiRtdIc5, 0);
|
||||
Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6, objects::SPI_COM_IF, spiRtdIc6, 0);
|
||||
Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7, objects::SPI_COM_IF, spiRtdIc7, 0);
|
||||
Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8, objects::SPI_COM_IF, spiRtdIc8, 0);
|
||||
Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9, objects::SPI_COM_IF, spiRtdIc9, 0);
|
||||
Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10, objects::SPI_COM_IF, spiRtdIc10, 0);
|
||||
Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11, objects::SPI_COM_IF, spiRtdIc11, 0);
|
||||
Max31865PT1000Handler* rtdIc12 = new Max31865PT1000Handler(objects::RTD_IC12, objects::SPI_COM_IF, spiRtdIc12, 0);
|
||||
Max31865PT1000Handler* rtdIc13 = new Max31865PT1000Handler(objects::RTD_IC13, objects::SPI_COM_IF, spiRtdIc13, 0);
|
||||
Max31865PT1000Handler* rtdIc14 = new Max31865PT1000Handler(objects::RTD_IC14, objects::SPI_COM_IF, spiRtdIc14, 0);
|
||||
Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC15, objects::SPI_COM_IF, spiRtdIc15, 0);
|
||||
Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16, objects::SPI_COM_IF, spiRtdIc16, 0);
|
||||
Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17, objects::SPI_COM_IF, spiRtdIc17, 0);
|
||||
Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0);
|
||||
Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3,
|
||||
objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
|
||||
Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4,
|
||||
objects::SPI_COM_IF, spiRtdIc4, 0);
|
||||
Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5,
|
||||
objects::SPI_COM_IF, spiRtdIc5, 0);
|
||||
Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6,
|
||||
objects::SPI_COM_IF, spiRtdIc6, 0);
|
||||
Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7,
|
||||
objects::SPI_COM_IF, spiRtdIc7, 0);
|
||||
Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8,
|
||||
objects::SPI_COM_IF, spiRtdIc8, 0);
|
||||
Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9,
|
||||
objects::SPI_COM_IF, spiRtdIc9, 0);
|
||||
Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10,
|
||||
objects::SPI_COM_IF, spiRtdIc10, 0);
|
||||
Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11,
|
||||
objects::SPI_COM_IF, spiRtdIc11, 0);
|
||||
Max31865PT1000Handler* rtdIc12 = new Max31865PT1000Handler(objects::RTD_IC12,
|
||||
objects::SPI_COM_IF, spiRtdIc12, 0);
|
||||
Max31865PT1000Handler* rtdIc13 = new Max31865PT1000Handler(objects::RTD_IC13,
|
||||
objects::SPI_COM_IF, spiRtdIc13, 0);
|
||||
Max31865PT1000Handler* rtdIc14 = new Max31865PT1000Handler(objects::RTD_IC14,
|
||||
objects::SPI_COM_IF, spiRtdIc14, 0);
|
||||
Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC15,
|
||||
objects::SPI_COM_IF, spiRtdIc15, 0);
|
||||
Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16,
|
||||
objects::SPI_COM_IF, spiRtdIc16, 0);
|
||||
Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17,
|
||||
objects::SPI_COM_IF, spiRtdIc17, 0);
|
||||
Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18,
|
||||
objects::SPI_COM_IF, spiRtdIc18, 0);
|
||||
|
||||
(void) rtdIc3;
|
||||
(void) rtdIc4;
|
||||
|
|
@ -541,19 +663,9 @@ void ObjectFactory::produce(void* args){
|
|||
(void) rtdIc16;
|
||||
(void) rtdIc17;
|
||||
(void) rtdIc18;
|
||||
}
|
||||
|
||||
#endif /* Q7S_ADD_RTD_DEVICES == 1 */
|
||||
|
||||
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
|
||||
std::string("/dev/i2c-0"));
|
||||
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
|
||||
|
||||
#if ADD_PLOC_MPSOC == 1
|
||||
UartCookie* plocMpsocCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
|
||||
UartModes::NON_CANONICAL, 115200, PLOC_MPSOC::MAX_REPLY_SIZE);
|
||||
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocMpsocCookie);
|
||||
#endif
|
||||
|
||||
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
GpioCookie* gpioCookieRw = new GpioCookie;
|
||||
GpioCallback* csRw1 = new GpioCallback(std::string("Chip select reaction wheel 1"), gpio::OUT,
|
||||
1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
|
|
@ -568,29 +680,29 @@ void ObjectFactory::produce(void* args){
|
|||
1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
|
||||
|
||||
GpiodRegular* enRw1 = new GpiodRegular(std::string("gpiochip5"), 7,
|
||||
std::string("Enable reaction wheel 1"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
|
||||
GpiodRegular* enRw2 = new GpiodRegular(std::string("gpiochip5"), 3,
|
||||
std::string("Enable reaction wheel 2"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
|
||||
GpiodRegular* enRw3 = new GpiodRegular(std::string("gpiochip5"), 11,
|
||||
std::string("Enable reaction wheel 3"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
|
||||
GpiodRegular* enRw4 = new GpiodRegular(std::string("gpiochip5"), 6,
|
||||
std::string("Enable reaction wheel 4"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
|
||||
GpiodRegular* enRw1 = new GpiodRegular(std::string("gpiochip5"), 7,
|
||||
std::string("Enable reaction wheel 1"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
|
||||
GpiodRegular* enRw2 = new GpiodRegular(std::string("gpiochip5"), 3,
|
||||
std::string("Enable reaction wheel 2"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
|
||||
GpiodRegular* enRw3 = new GpiodRegular(std::string("gpiochip5"), 11,
|
||||
std::string("Enable reaction wheel 3"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
|
||||
GpiodRegular* enRw4 = new GpiodRegular(std::string("gpiochip5"), 6,
|
||||
std::string("Enable reaction wheel 4"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
|
||||
|
||||
/**
|
||||
* This GPIO is only internally connected to the SPI MUX module and responsible to disconnect
|
||||
* the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core.
|
||||
* Per default the PS SPI is selected (EMIO = 0).
|
||||
*/
|
||||
GpiodRegular* spiMux = new GpiodRegular(std::string("gpiochip11"), 54,
|
||||
/**
|
||||
* This GPIO is only internally connected to the SPI MUX module and responsible to disconnect
|
||||
* the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core.
|
||||
* Per default the PS SPI is selected (EMIO = 0).
|
||||
*/
|
||||
GpiodRegular* spiMux = new GpiodRegular(std::string("gpiochip11"), 54,
|
||||
std::string("EMIO 0 SPI Mux"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux);
|
||||
|
||||
gpioComIF->addGpios(gpioCookieRw);
|
||||
gpioComIF->addGpios(gpioCookieRw);
|
||||
|
||||
auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, "/dev/spidev3.0",
|
||||
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
|
||||
|
|
@ -605,51 +717,27 @@ void ObjectFactory::produce(void* args){
|
|||
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
|
||||
nullptr);
|
||||
|
||||
auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
|
||||
gpioIds::EN_RW1);
|
||||
auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
|
||||
gpioIds::EN_RW1);
|
||||
rw1SpiCookie->setCallbackArgs(rwHandler1);
|
||||
|
||||
auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
|
||||
gpioIds::EN_RW2);
|
||||
gpioIds::EN_RW2);
|
||||
rw2SpiCookie->setCallbackArgs(rwHandler2);
|
||||
|
||||
auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
|
||||
gpioIds::EN_RW3);
|
||||
gpioIds::EN_RW3);
|
||||
rw3SpiCookie->setCallbackArgs(rwHandler3);
|
||||
|
||||
auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
|
||||
gpioIds::EN_RW4);
|
||||
gpioIds::EN_RW4);
|
||||
rw4SpiCookie->setCallbackArgs(rwHandler4);
|
||||
}
|
||||
|
||||
#if OBSW_ADD_STAR_TRACKER == 1
|
||||
UartCookie* starTrackerCookie = new UartCookie(objects::START_TRACKER, std::string("/dev/ttyUL3"),
|
||||
UartModes::NON_CANONICAL, 115200, StarTracker::MAX_FRAME_SIZE* 2 + 2);
|
||||
starTrackerCookie->setNoFixedSizeReply();
|
||||
new StarTrackerHandler(objects::START_TRACKER, objects::UART_COM_IF, starTrackerCookie);
|
||||
#endif
|
||||
|
||||
#if ADD_PLOC_SUPERVISOR == 1
|
||||
/* Configuration for MIO0 on TE0720-03-1CFA */
|
||||
UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
|
||||
std::string("/dev/ttyUL3"), UartModes::NON_CANONICAL, 115200,
|
||||
PLOC_SPV::MAX_REPLY_SIZE);
|
||||
PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
|
||||
objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
|
||||
plocSupervisor->setStartUpImmediately();
|
||||
|
||||
#endif
|
||||
|
||||
#endif /* TE0720 == 0 */
|
||||
|
||||
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
|
||||
|
||||
/* Test Task */
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
void ObjectFactory::createTestComponents() {
|
||||
new Q7STestTask(objects::TEST_TASK);
|
||||
#endif
|
||||
|
||||
#if TE0720 == 1 && TEST_LIBGPIOD == 1
|
||||
#if BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1
|
||||
/* Configure MIO0 as input */
|
||||
GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
|
||||
std::string("MIO0"), gpio::IN, 0);
|
||||
|
|
@ -658,7 +746,7 @@ void ObjectFactory::produce(void* args){
|
|||
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
|
||||
#endif
|
||||
|
||||
#if TE0720 == 1 && TEST_SUS_HANDLER == 1
|
||||
#if BOARD_TE0720 == 1 && TEST_SUS_HANDLER == 1
|
||||
GpioCookie* gpioCookieSus = new GpioCookie;
|
||||
GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip1"), 9,
|
||||
std::string("Chip Select Sus Sensor"), gpio::OUT, 1);
|
||||
|
|
@ -672,7 +760,7 @@ void ObjectFactory::produce(void* args){
|
|||
gpioIds::CS_SUS_1);
|
||||
#endif
|
||||
|
||||
#if TE0720 == 1 && TEST_CCSDS_BRIDGE == 1
|
||||
#if BOARD_TE0720 == 1 && TEST_CCSDS_BRIDGE == 1
|
||||
GpioCookie* gpioCookieCcsdsIp = new GpioCookie;
|
||||
GpiodRegular* papbBusyN = new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_N"));
|
||||
gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
|
||||
|
|
@ -686,7 +774,7 @@ void ObjectFactory::produce(void* args){
|
|||
gpioIds::PAPB_BUSY_N, gpioIds::PAPB_EMPTY);
|
||||
#endif
|
||||
|
||||
#if TE0720 == 1 && TEST_RADIATION_SENSOR_HANDLER == 1
|
||||
#if BOARD_TE0720 == 1 && TEST_RADIATION_SENSOR_HANDLER == 1
|
||||
GpioCookie* gpioCookieRadSensor = new GpioCookie;
|
||||
GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip1"), 0,
|
||||
std::string("Chip select radiation sensor"), gpio::OUT, 1);
|
||||
|
|
@ -702,7 +790,7 @@ void ObjectFactory::produce(void* args){
|
|||
radSensor->setStartUpImmediately();
|
||||
#endif
|
||||
|
||||
#if TE0720 == 1 && TEST_PLOC_HANDLER == 1
|
||||
#if BOARD_TE0720 == 1 && TEST_PLOC_HANDLER == 1
|
||||
UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200,
|
||||
PLOC_MPSOC::MAX_REPLY_SIZE);
|
||||
/* Testing PlocMPSoCHandler on TE0720-03-1CFA */
|
||||
|
|
@ -711,7 +799,7 @@ void ObjectFactory::produce(void* args){
|
|||
mpsocPlocHandler->setStartUpImmediately();
|
||||
#endif
|
||||
|
||||
#if TE0720 == 1 && TE0720_HEATER_TEST == 1
|
||||
#if BOARD_TE0720 == 1 && TE0720_HEATER_TEST == 1
|
||||
/* Configuration for MIO0 on TE0720-03-1CFA */
|
||||
GpiodRegular* heaterGpio = new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
|
||||
GpioCookie* gpioCookie = new GpioCookie;
|
||||
|
|
|
|||
|
|
@ -1,9 +1,26 @@
|
|||
#ifndef BSP_Q7S_OBJECTFACTORY_H_
|
||||
#define BSP_Q7S_OBJECTFACTORY_H_
|
||||
|
||||
class LinuxLibgpioIF;
|
||||
|
||||
namespace ObjectFactory {
|
||||
|
||||
void setStatics();
|
||||
void produce(void* args);
|
||||
|
||||
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF);
|
||||
void createTmpComponents();
|
||||
void createPcduComponents();
|
||||
void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
|
||||
void createSunSensorComponents(LinuxLibgpioIF* gpioComIF);
|
||||
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF);
|
||||
void createHeaterComponents();
|
||||
void createSolarArrayDeploymentComponents();
|
||||
void createSyrlinksComponents();
|
||||
void createRtdComponents(LinuxLibgpioIF* gpioComIF);
|
||||
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
|
||||
void createTestComponents();
|
||||
|
||||
};
|
||||
|
||||
#endif /* BSP_Q7S_OBJECTFACTORY_H_ */
|
||||
|
|
|
|||
|
|
@ -0,0 +1,8 @@
|
|||
#include "ParameterHandler.h"
|
||||
|
||||
ParameterHandler::ParameterHandler(std::string mountPrefix): mountPrefix(mountPrefix) {
|
||||
}
|
||||
|
||||
void ParameterHandler::setMountPrefix(std::string prefix) {
|
||||
mountPrefix = prefix;
|
||||
}
|
||||
|
|
@ -0,0 +1,22 @@
|
|||
#ifndef BSP_Q7S_CORE_PARAMETERHANDLER_H_
|
||||
#define BSP_Q7S_CORE_PARAMETERHANDLER_H_
|
||||
|
||||
#include <nlohmann/json.hpp>
|
||||
#include <string>
|
||||
|
||||
|
||||
|
||||
class ParameterHandler {
|
||||
public:
|
||||
ParameterHandler(std::string mountPrefix);
|
||||
|
||||
void setMountPrefix(std::string prefix);
|
||||
|
||||
void setUpDummyParameter();
|
||||
private:
|
||||
std::string mountPrefix;
|
||||
DummyParameter dummyParam;
|
||||
};
|
||||
|
||||
|
||||
#endif /* BSP_Q7S_CORE_PARAMETERHANDLER_H_ */
|
||||
|
|
@ -7,7 +7,7 @@
|
|||
|
||||
int obsw::obsw() {
|
||||
std::cout << "-- EIVE OBSW --" << std::endl;
|
||||
#if TE0720 == 0
|
||||
#if BOARD_TE0720 == 0
|
||||
std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
|
||||
#else
|
||||
std::cout << "-- Compiled for Linux (TE0720) --" << std::endl;
|
||||
|
|
|
|||
|
|
@ -1,8 +1,8 @@
|
|||
#include "gpioCallbacks.h"
|
||||
#include <devices/gpioIds.h>
|
||||
|
||||
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
|
||||
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||
#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
|
||||
#include <fsfw/hal/common/gpio/GpioCookie.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,8 +1,8 @@
|
|||
#ifndef LINUX_GPIO_GPIOCALLBACKS_H_
|
||||
#define LINUX_GPIO_GPIOCALLBACKS_H_
|
||||
|
||||
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
|
||||
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||
#include <fsfw/hal/common/gpio/gpioDefinitions.h>
|
||||
#include <fsfw/hal/common/gpio/GpioIF.h>
|
||||
|
||||
|
||||
namespace gpioCallbacks {
|
||||
|
|
|
|||
|
|
@ -1,9 +1,13 @@
|
|||
#include "FileSystemHandler.h"
|
||||
|
||||
#include "bsp_q7s/core/CoreController.h"
|
||||
|
||||
#include "fsfw/tasks/TaskFactory.h"
|
||||
#include "fsfw/memory/GenericFileSystemMessage.h"
|
||||
#include "fsfw/ipc/QueueFactory.h"
|
||||
|
||||
#include <cstring>
|
||||
#include <fstream>
|
||||
#include <filesystem>
|
||||
|
||||
FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler):
|
||||
|
|
@ -24,9 +28,9 @@ ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
|
|||
// Restart OBSW, hints at a memory leak
|
||||
sif::error << "Allocation error in FileSystemHandler::performOperation"
|
||||
<< e.what() << std::endl;
|
||||
// TODO: If we trigger an event, it might not get sent because were restarting
|
||||
// Set up an error file or a special flag in the scratch buffer.
|
||||
// TODO: CoreController: Implement function to restart OBC
|
||||
// Set up an error file or a special flag in the scratch buffer for these cases
|
||||
triggerEvent(CoreController::ALLOC_FAILURE, 0 , 0);
|
||||
CoreController::incrementAllocationFailureCount();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -63,6 +67,7 @@ void FileSystemHandler::fileSystemHandlerLoop() {
|
|||
// This task will have a low priority and will run permanently in the background
|
||||
// so we will just run in a permanent loop here and check file system
|
||||
// messages permanently
|
||||
opCounter++;
|
||||
TaskFactory::instance()->delayTask(1000);
|
||||
}
|
||||
|
||||
|
|
@ -75,7 +80,7 @@ void FileSystemHandler::fileSystemCheckup() {
|
|||
(statusPair.first == sd::SdStatus::MOUNTED)) {
|
||||
currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
|
||||
}
|
||||
if((preferredSdCard == sd::SdCard::SLOT_1) and
|
||||
else if((preferredSdCard == sd::SdCard::SLOT_1) and
|
||||
(statusPair.second == sd::SdStatus::MOUNTED)) {
|
||||
currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
|
||||
}
|
||||
|
|
@ -87,15 +92,16 @@ void FileSystemHandler::fileSystemCheckup() {
|
|||
else {
|
||||
sdString = "1";
|
||||
}
|
||||
sif::warning << "FileSystemHandler::performOperation: Inconsistent" <<
|
||||
" state detected. Preferred SD card is " << sdString <<
|
||||
sif::warning << "FileSystemHandler::performOperation: "
|
||||
"Inconsistent state detected" << std::endl;
|
||||
sif::warning << "Preferred SD card is " << sdString <<
|
||||
" but does not appear to be mounted. Attempting fix.." << std::endl;
|
||||
// This function will appear to fix the inconsistent state
|
||||
ReturnValue_t result = sdcMan->sanitizeState(&preferredSdCard, &statusPair);
|
||||
ReturnValue_t result = sdcMan->sanitizeState(&statusPair, preferredSdCard);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
// Oh no.
|
||||
// TODO: Trigger medium severity event
|
||||
sif::error << "Fix failed" << std::endl;
|
||||
triggerEvent(SdCardManager::SANITIZATION_FAILED, 0, 0);
|
||||
sif::error << "FileSystemHandler::fileSystemCheckup: Sanitization failed" << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -125,27 +131,70 @@ ReturnValue_t FileSystemHandler::appendToFile(const char *repositoryPath, const
|
|||
// A double slash between repo and filename should not be an issue, so add it in any case
|
||||
std::string fullPath = currentMountPrefix + std::string(repositoryPath) + "/" +
|
||||
std::string(filename);
|
||||
if(not std::filesystem::exists(fullPath)) {
|
||||
return FILE_DOES_NOT_EXIST;
|
||||
}
|
||||
std::ofstream file(fullPath, std::ios_base::app|std::ios_base::out);
|
||||
file.write(reinterpret_cast<const char*>(data), size);
|
||||
if(not file.good()) {
|
||||
return GENERIC_FILE_ERROR;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t FileSystemHandler::createFile(const char *repositoryPath, const char *filename,
|
||||
const uint8_t *data, size_t size, void *args) {
|
||||
std::string fullPath;
|
||||
bool useMountPrefix = true;
|
||||
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
|
||||
if(useMountPrefix) {
|
||||
fullPath += currentMountPrefix;
|
||||
}
|
||||
|
||||
// A double slash between repo and filename should not be an issue, so add it in any case
|
||||
std::string fullPath = currentMountPrefix + std::string(repositoryPath) + "/" +
|
||||
std::string(filename);
|
||||
fullPath += std::string(repositoryPath) + "/" + std::string(filename);
|
||||
if(std::filesystem::exists(fullPath)) {
|
||||
return FILE_ALREADY_EXISTS;
|
||||
}
|
||||
std::ofstream file(fullPath);
|
||||
file.write(reinterpret_cast<const char*>(data), size);
|
||||
if(not file.good()) {
|
||||
return GENERIC_FILE_ERROR;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t FileSystemHandler::deleteFile(const char *repositoryPath, const char *filename,
|
||||
ReturnValue_t FileSystemHandler::removeFile(const char *repositoryPath, const char *filename,
|
||||
void *args) {
|
||||
std::string fullPath;
|
||||
bool useMountPrefix = true;
|
||||
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
|
||||
if(useMountPrefix) {
|
||||
fullPath += currentMountPrefix;
|
||||
}
|
||||
|
||||
// A double slash between repo and filename should not be an issue, so add it in any case
|
||||
std::string fullPath = currentMountPrefix + std::string(repositoryPath) + "/" +
|
||||
std::string(filename);
|
||||
fullPath += std::string(repositoryPath) + "/" + std::string(filename);
|
||||
if(not std::filesystem::exists(fullPath)) {
|
||||
return FILE_DOES_NOT_EXIST;
|
||||
}
|
||||
int result = std::remove(fullPath.c_str());
|
||||
if(result != 0) {
|
||||
sif::warning << "FileSystemHandler::deleteFile: Failed with code " << result << std::endl;
|
||||
return GENERIC_FILE_ERROR;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t FileSystemHandler::createDirectory(const char *repositoryPath, void *args) {
|
||||
std::string fullPath = currentMountPrefix + std::string(repositoryPath);
|
||||
std::string fullPath;
|
||||
bool useMountPrefix = true;
|
||||
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
|
||||
if(useMountPrefix) {
|
||||
fullPath += currentMountPrefix;
|
||||
}
|
||||
|
||||
fullPath += std::string(repositoryPath);
|
||||
if(std::filesystem::exists(fullPath)) {
|
||||
return DIRECTORY_ALREADY_EXISTS;
|
||||
}
|
||||
|
|
@ -158,7 +207,14 @@ ReturnValue_t FileSystemHandler::createDirectory(const char *repositoryPath, voi
|
|||
|
||||
ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath,
|
||||
bool deleteRecurively, void *args) {
|
||||
std::string fullPath = currentMountPrefix + std::string(repositoryPath);
|
||||
std::string fullPath;
|
||||
bool useMountPrefix = true;
|
||||
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
|
||||
if(useMountPrefix) {
|
||||
fullPath += currentMountPrefix;
|
||||
}
|
||||
|
||||
fullPath += std::string(repositoryPath);
|
||||
if(not std::filesystem::exists(fullPath)) {
|
||||
return DIRECTORY_DOES_NOT_EXIST;
|
||||
}
|
||||
|
|
@ -169,6 +225,15 @@ ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath,
|
|||
}
|
||||
else {
|
||||
// Check error code. Most probably denied permissions because folder is not empty
|
||||
sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
|
||||
"code" << err.value() << ": " << strerror(err.value()) << std::endl;
|
||||
if(err.value() == ENOTEMPTY) {
|
||||
return DIRECTORY_NOT_EMPTY;
|
||||
}
|
||||
else {
|
||||
return GENERIC_FILE_ERROR;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
else {
|
||||
|
|
@ -176,9 +241,23 @@ ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath,
|
|||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
else {
|
||||
sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
|
||||
"code" << err.value() << ": " << strerror(err.value()) << std::endl;
|
||||
// Check error code
|
||||
if(err.value() == ENOTEMPTY) {
|
||||
return DIRECTORY_NOT_EMPTY;
|
||||
}
|
||||
else {
|
||||
return GENERIC_FILE_ERROR;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void FileSystemHandler::parseCfg(FsCommandCfg *cfg, bool& useMountPrefix) {
|
||||
if(cfg != nullptr) {
|
||||
useMountPrefix = cfg->useMountPrefix;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -15,6 +15,12 @@ class FileSystemHandler: public SystemObject,
|
|||
public ExecutableObjectIF,
|
||||
public HasFileSystemIF {
|
||||
public:
|
||||
struct FsCommandCfg {
|
||||
// Can be used to automatically use mount prefix of active SD card.
|
||||
// Otherwise, the operator has to specify the full path to the mounted SD card as well.
|
||||
bool useMountPrefix = false;
|
||||
};
|
||||
|
||||
FileSystemHandler(object_id_t fileSystemHandler);
|
||||
virtual~ FileSystemHandler();
|
||||
|
||||
|
|
@ -28,27 +34,29 @@ public:
|
|||
*/
|
||||
MessageQueueId_t getCommandQueue() const override;
|
||||
|
||||
private:
|
||||
MessageQueueIF* mq = nullptr;
|
||||
std::string currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
|
||||
static constexpr uint32_t FS_MAX_QUEUE_SIZE = config::OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE;
|
||||
SdCardManager* sdcMan = nullptr;
|
||||
uint8_t opCounter = 0;
|
||||
|
||||
void fileSystemHandlerLoop();
|
||||
void fileSystemCheckup();
|
||||
|
||||
ReturnValue_t appendToFile(const char* repositoryPath,
|
||||
const char* filename, const uint8_t* data, size_t size,
|
||||
uint16_t packetNumber, void* args = nullptr) override;
|
||||
ReturnValue_t createFile(const char* repositoryPath,
|
||||
const char* filename, const uint8_t* data = nullptr,
|
||||
size_t size = 0, void* args = nullptr) override;
|
||||
ReturnValue_t deleteFile(const char* repositoryPath,
|
||||
ReturnValue_t removeFile(const char* repositoryPath,
|
||||
const char* filename, void* args = nullptr) override;
|
||||
ReturnValue_t createDirectory(const char* repositoryPath, void* args = nullptr) override;
|
||||
ReturnValue_t removeDirectory(const char* repositoryPath, bool deleteRecurively = false,
|
||||
void* args = nullptr) override;
|
||||
|
||||
private:
|
||||
MessageQueueIF* mq = nullptr;
|
||||
std::string currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
|
||||
static constexpr uint32_t FS_MAX_QUEUE_SIZE = config::OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE;
|
||||
|
||||
SdCardManager* sdcMan = nullptr;
|
||||
uint8_t opCounter = 0;
|
||||
|
||||
void fileSystemHandlerLoop();
|
||||
void fileSystemCheckup();
|
||||
void parseCfg(FsCommandCfg* cfg, bool& useMountPrefix);
|
||||
};
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -32,8 +32,10 @@ SdCardManager* SdCardManager::instance() {
|
|||
ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
|
||||
SdStatusPair* statusPair) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
std::unique_ptr<SdStatusPair> sdStatusPtr;
|
||||
if(statusPair == nullptr) {
|
||||
statusPair = std::make_unique<SdStatusPair>().get();
|
||||
sdStatusPtr = std::make_unique<SdStatusPair>();
|
||||
statusPair = sdStatusPtr.get();
|
||||
result = getSdCardActiveStatus(*statusPair);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
|
|
@ -54,6 +56,10 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
|
|||
else if(sdCard == sd::SdCard::SLOT_1) {
|
||||
targetStatus = statusPair->second;
|
||||
}
|
||||
else {
|
||||
// Should not happen
|
||||
targetStatus = sd::SdStatus::OFF;
|
||||
}
|
||||
|
||||
auto switchCall = [&]() {
|
||||
if(targetStatus == sd::SdStatus::ON) {
|
||||
|
|
@ -226,26 +232,23 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
|
|||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t SdCardManager::sanitizeState(sd::SdCard* prefSdCard, SdStatusPair* statusPair) {
|
||||
if(prefSdCard == nullptr) {
|
||||
prefSdCard = std::make_unique<sd::SdCard>(sd::SdCard::SLOT_0).get();
|
||||
getPreferredSdCard(*prefSdCard);
|
||||
ReturnValue_t SdCardManager::sanitizeState(SdStatusPair* statusPair, sd::SdCard prefSdCard) {
|
||||
std::unique_ptr<SdStatusPair> sdStatusPtr;
|
||||
if(prefSdCard == sd::SdCard::NONE) {
|
||||
ReturnValue_t result = getPreferredSdCard(prefSdCard);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {}
|
||||
}
|
||||
if(statusPair == nullptr) {
|
||||
statusPair = std::make_unique<SdStatusPair>().get();
|
||||
sdStatusPtr = std::make_unique<SdStatusPair>();
|
||||
statusPair = sdStatusPtr.get();
|
||||
getSdCardActiveStatus(*statusPair);
|
||||
}
|
||||
|
||||
auto sanitizerFunc = [&](sd::SdCard prefSdCard) {
|
||||
if(statusPair->first == sd::SdStatus::ON) {
|
||||
return mountSdCard(prefSdCard);
|
||||
}
|
||||
else {
|
||||
return switchOnSdCard(prefSdCard, true, statusPair);
|
||||
}
|
||||
};
|
||||
if(statusPair->first == sd::SdStatus::ON) {
|
||||
return mountSdCard(prefSdCard);
|
||||
}
|
||||
|
||||
return sanitizerFunc(*prefSdCard);
|
||||
return switchOnSdCard(prefSdCard, true, statusPair);
|
||||
}
|
||||
|
||||
void SdCardManager::processSdStatusLine(std::pair<sd::SdStatus, sd::SdStatus> &active,
|
||||
|
|
@ -331,3 +334,18 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
|
|||
result << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
std::string SdCardManager::getCurrentMountPrefix(sd::SdCard prefSdCard) {
|
||||
if(prefSdCard == sd::SdCard::NONE) {
|
||||
ReturnValue_t result = getPreferredSdCard(prefSdCard);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return SD_0_MOUNT_POINT;
|
||||
}
|
||||
}
|
||||
if(prefSdCard == sd::SdCard::SLOT_0) {
|
||||
return SD_0_MOUNT_POINT;
|
||||
}
|
||||
else {
|
||||
return SD_1_MOUNT_POINT;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -3,12 +3,15 @@
|
|||
|
||||
#include "definitions.h"
|
||||
#include "returnvalues/classIds.h"
|
||||
#include "events/subsystemIdRanges.h"
|
||||
|
||||
#include "fsfw/events/Event.h"
|
||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||
|
||||
#include <cstdint>
|
||||
#include <utility>
|
||||
#include <string>
|
||||
#include <optional>
|
||||
|
||||
class MutexIF;
|
||||
|
||||
|
|
@ -40,6 +43,10 @@ public:
|
|||
static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
|
||||
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 14);
|
||||
|
||||
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FILE_SYSTEM;
|
||||
|
||||
static constexpr Event SANITIZATION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
|
||||
|
||||
// C++17 does not support constexpr std::string yet
|
||||
static constexpr char SD_0_DEV_NAME[] = "/dev/mmcblk0p1";
|
||||
static constexpr char SD_1_DEV_NAME[] = "/dev/mmcblk1p1";
|
||||
|
|
@ -137,14 +144,21 @@ public:
|
|||
* mounted one, this function will sanitize the state by attempting to mount the
|
||||
* currently preferred SD card. If the caller already has state information, it can be
|
||||
* passed into the function.
|
||||
* @param prefSdCard Preferred SD card captured with #getPreferredSdCard
|
||||
* @param statusPair Current SD card status capture with #getSdCardActiveStatus
|
||||
* @param prefSdCard Preferred SD card captured with #getPreferredSdCard
|
||||
* @throws std::bad_alloc if one of the two arguments was a nullptr and an allocation failed
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t sanitizeState(sd::SdCard* prefSdCard = nullptr,
|
||||
SdStatusPair* statusPair = nullptr);
|
||||
ReturnValue_t sanitizeState(SdStatusPair* statusPair = nullptr,
|
||||
sd::SdCard prefSdCard = sd::SdCard::NONE);
|
||||
|
||||
/**
|
||||
* If sd::SdCard::NONE is passed as an argument, this funtion will get the currently
|
||||
* preferred SD card from the scratch buffer.
|
||||
* @param prefSdCardPtr
|
||||
* @return
|
||||
*/
|
||||
std::string getCurrentMountPrefix(sd::SdCard prefSdCardPtr = sd::SdCard::NONE);
|
||||
private:
|
||||
SdCardManager();
|
||||
|
||||
|
|
@ -153,6 +167,8 @@ private:
|
|||
void processSdStatusLine(SdStatusPair& active, std::string& line, uint8_t& idx,
|
||||
sd::SdCard& currentSd);
|
||||
|
||||
std::string currentPrefix;
|
||||
|
||||
static SdCardManager* factoryInstance;
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -13,9 +13,10 @@ enum SdStatus: uint8_t {
|
|||
};
|
||||
|
||||
enum SdCard: uint8_t {
|
||||
SLOT_0,
|
||||
SLOT_1,
|
||||
BOTH
|
||||
SLOT_0 = 0,
|
||||
SLOT_1 = 1,
|
||||
BOTH,
|
||||
NONE
|
||||
};
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -5,7 +5,44 @@ ReturnValue_t scratch::writeString(std::string name, std::string string) {
|
|||
oss << "xsc_scratch write " << name << " \"" << string << "\"";
|
||||
int result = std::system(oss.str().c_str());
|
||||
if(result != 0) {
|
||||
utility::handleSystemError(result, "scratch::String");
|
||||
utility::handleSystemError(result, "scratch::writeString");
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t scratch::readString(std::string key, std::string &string) {
|
||||
std::ifstream file;
|
||||
std::string filename;
|
||||
ReturnValue_t result = readToFile(key, file, filename);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
std::string line;
|
||||
if (not std::getline(file, line)) {
|
||||
std::remove(filename.c_str());
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
size_t pos = line.find("=");
|
||||
if(pos == std::string::npos) {
|
||||
sif::warning << "scratch::readNumber: Output file format invalid, "
|
||||
"no \"=\" found" << std::endl;
|
||||
// Could not find value
|
||||
std::remove(filename.c_str());
|
||||
return KEY_NOT_FOUND;
|
||||
}
|
||||
string = line.substr(pos + 1);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t scratch::clearValue(std::string key) {
|
||||
std::ostringstream oss;
|
||||
oss << "xsc_scratch clear " << key;
|
||||
int result = std::system(oss.str().c_str());
|
||||
if(result != 0) {
|
||||
utility::handleSystemError(result, "scratch::clearValue");
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
|
|
|
|||
|
|
@ -4,6 +4,7 @@
|
|||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
#include "linux/utility/utility.h"
|
||||
#include "returnvalues/classIds.h"
|
||||
|
||||
#include <iostream>
|
||||
#include <fstream>
|
||||
|
|
@ -17,15 +18,86 @@
|
|||
namespace scratch {
|
||||
|
||||
static constexpr char PREFERED_SDC_KEY[] = "PREFSD";
|
||||
static constexpr char ALLOC_FAILURE_COUNT[] = "ALLOCERR";
|
||||
|
||||
static constexpr uint8_t INTERFACE_ID = CLASS_ID::SCRATCH_BUFFER;
|
||||
static constexpr ReturnValue_t KEY_NOT_FOUND = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
|
||||
|
||||
ReturnValue_t clearValue(std::string key);
|
||||
|
||||
/**
|
||||
* Write a string to the scratch buffer
|
||||
* @param key
|
||||
* @param string String to write
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t writeString(std::string key, std::string string);
|
||||
/**
|
||||
* Read a string from the scratch buffer
|
||||
* @param key
|
||||
* @param string Will be set to read string
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t readString(std::string key, std::string& string);
|
||||
|
||||
/**
|
||||
* Write a number to the scratch buffer
|
||||
* @tparam T
|
||||
* @tparam
|
||||
* @param key
|
||||
* @param num Number. Template allows to set signed, unsigned and floating point numbers
|
||||
* @return
|
||||
*/
|
||||
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
|
||||
inline ReturnValue_t writeNumber(std::string key, T num) noexcept;
|
||||
|
||||
/**
|
||||
* Read a number from the scratch buffer.
|
||||
* @tparam T
|
||||
* @tparam
|
||||
* @param name
|
||||
* @param num
|
||||
* @return
|
||||
*/
|
||||
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
|
||||
inline ReturnValue_t readNumber(std::string key, T& num) noexcept;
|
||||
|
||||
|
||||
// Anonymous namespace
|
||||
namespace {
|
||||
|
||||
static uint8_t counter = 0;
|
||||
|
||||
ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& filename) {
|
||||
using namespace std;
|
||||
filename = "/tmp/sro" + std::to_string(counter++);
|
||||
ostringstream oss;
|
||||
oss << "xsc_scratch read " << name << " > " << filename;
|
||||
|
||||
int result = std::system(oss.str().c_str());
|
||||
if(result != 0) {
|
||||
if(result == 256) {
|
||||
sif::warning << "scratch::readNumber: Key " << name << " does not exist" << std::endl;
|
||||
// Could not find value
|
||||
std::remove(filename.c_str());
|
||||
return KEY_NOT_FOUND;
|
||||
}
|
||||
else {
|
||||
utility::handleSystemError(result, "scratch::readNumber");
|
||||
std::remove(filename.c_str());
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
file.open(filename);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
} // End of anonymous namespace
|
||||
|
||||
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
|
||||
inline ReturnValue_t writeNumber(std::string name, T num) noexcept {
|
||||
inline ReturnValue_t writeNumber(std::string key, T num) noexcept {
|
||||
std::ostringstream oss;
|
||||
oss << "xsc_scratch write " << name << " " << num;
|
||||
oss << "xsc_scratch write " << key << " " << std::to_string(num);
|
||||
int result = std::system(oss.str().c_str());
|
||||
if(result != 0) {
|
||||
utility::handleSystemError(result, "scratch::writeNumber");
|
||||
|
|
@ -35,24 +107,30 @@ inline ReturnValue_t writeNumber(std::string name, T num) noexcept {
|
|||
}
|
||||
|
||||
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
|
||||
inline ReturnValue_t readNumber(std::string name, T& num) noexcept {
|
||||
inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
|
||||
using namespace std;
|
||||
string filename = "/tmp/sro" + std::to_string(counter++);
|
||||
ostringstream oss;
|
||||
oss << "xsc_scratch read " << name << " > " << filename;
|
||||
|
||||
int result = std::system(oss.str().c_str());
|
||||
if(result != 0) {
|
||||
utility::handleSystemError(result, "scratch::writeNumber");
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
ifstream file;
|
||||
std::string filename;
|
||||
ReturnValue_t result = readToFile(key, file, filename);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
std::remove(filename.c_str());
|
||||
return result;
|
||||
}
|
||||
ifstream file(filename);
|
||||
|
||||
string line;
|
||||
if (not std::getline(file, line)) {
|
||||
std::remove(filename.c_str());
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
size_t pos = line.find("=");
|
||||
if(pos == string::npos) {
|
||||
sif::warning << "scratch::readNumber: Output file format invalid, "
|
||||
"no \"=\" found" << std::endl;
|
||||
// Could not find value
|
||||
std::remove(filename.c_str());
|
||||
return KEY_NOT_FOUND;
|
||||
}
|
||||
std::string valueAsString = line.substr(pos + 1);
|
||||
try {
|
||||
num = std::stoi(valueAsString);
|
||||
|
|
@ -65,8 +143,6 @@ inline ReturnValue_t readNumber(std::string name, T& num) noexcept {
|
|||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t writeString(std::string name, std::string string);
|
||||
|
||||
}
|
||||
|
||||
#endif /* BSP_Q7S_MEMORY_SCRATCHAPI_H_ */
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
#ifndef BSP_Q7S_SPI_Q7SSPICOMIF_H_
|
||||
#define BSP_Q7S_SPI_Q7SSPICOMIF_H_
|
||||
|
||||
#include <fsfw_hal/linux/spi/SpiComIF.h>
|
||||
#include <fsfw/hal/linux/spi/SpiComIF.h>
|
||||
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1,8 +1,8 @@
|
|||
#include <bsp_q7s/spiCallbacks/rwSpiCallback.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
#include <mission/devices/RwHandler.h>
|
||||
#include <fsfw_hal/linux/spi/SpiCookie.h>
|
||||
#include <fsfw_hal/linux/UnixFileGuard.h>
|
||||
#include <fsfw/hal/linux/spi/SpiCookie.h>
|
||||
#include <fsfw/hal/linux/UnixFileGuard.h>
|
||||
#include "devices/gpioIds.h"
|
||||
|
||||
namespace rwSpiCallback {
|
||||
|
|
|
|||
|
|
@ -2,8 +2,8 @@
|
|||
#define BSP_Q7S_RW_SPI_CALLBACK_H_
|
||||
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <fsfw_hal/linux/spi/SpiComIF.h>
|
||||
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||
#include <fsfw/hal/linux/spi/SpiComIF.h>
|
||||
#include <fsfw/hal/common/gpio/GpioCookie.h>
|
||||
|
||||
|
||||
namespace rwSpiCallback {
|
||||
|
|
|
|||
|
|
@ -1,20 +1,22 @@
|
|||
# BBB_ROOTFS should point to the local directory which contains all the
|
||||
# LINUX_ROOTFS should point to the local directory which contains all the
|
||||
# libraries and includes from the target raspi.
|
||||
# The following command can be used to do this, replace <ip-address> and the
|
||||
# local <rootfs-path> accordingly:
|
||||
# rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
|
||||
# RASPBIAN_ROOTFS needs to be passed to the CMake command or defined in the
|
||||
# LINUX_ROOTFS needs to be passed to the CMake command or defined in the
|
||||
# application CMakeLists.txt before loading the toolchain file.
|
||||
|
||||
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
|
||||
|
||||
if(NOT DEFINED ENV{BBB_ROOTFS})
|
||||
message(FATAL_ERROR
|
||||
"Define the BBB_ROOTFS variable to point to the Beagle Bone Black rootfs."
|
||||
)
|
||||
if(NOT DEFINED ENV{LINUX_ROOTFS})
|
||||
# Sysroot has not been cached yet and was not set in environment either
|
||||
if(NOT SYSROOT_PATH)
|
||||
message(FATAL_ERROR
|
||||
"Define the LINUX_ROOTFS variable to point to the Raspberry Pi rootfs."
|
||||
)
|
||||
endif()
|
||||
else()
|
||||
set(SYSROOT_PATH "$ENV{BBB_ROOTFS}" CACHE FILEPATH "BBB root filesystem path")
|
||||
message(STATUS "Beagle Bone Black sysroot: ${SYSROOT_PATH}")
|
||||
set(SYSROOT_PATH "$ENV{LINUX_ROOTFS}" CACHE PATH "Local linux root filesystem path")
|
||||
message(STATUS "Raspberry Pi sysroot: ${SYSROOT_PATH}")
|
||||
endif()
|
||||
|
||||
if(NOT DEFINED ENV{CROSS_COMPILE})
|
||||
|
|
@ -31,6 +33,15 @@ else()
|
|||
)
|
||||
endif()
|
||||
|
||||
# Generally, the debian roots will be a multiarch rootfs where some libraries are put
|
||||
# into a folder named "arm-linux-gnueabihf". The user can override the folder name if this is
|
||||
# not the case
|
||||
if(NOT ENV{MULTIARCH_FOLDER_NAME})
|
||||
set(MULTIARCH_FOLDER_NAME "arm-linux-gnueabihf")
|
||||
else()
|
||||
set(MUTLIARCH_FOLDER_NAME $ENV{MULTIARCH_FOLDER_NAME})
|
||||
endif()
|
||||
|
||||
message(STATUS "Using sysroot path: ${SYSROOT_PATH}")
|
||||
|
||||
set(CROSS_COMPILE_CC "${CROSS_COMPILE}-gcc")
|
||||
|
|
@ -44,8 +55,11 @@ set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
|
|||
set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
|
||||
|
||||
# At the very least, cross compile gcc and g++ have to be set!
|
||||
find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
|
||||
find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
|
||||
find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} REQUIRED)
|
||||
find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} REQUIRED)
|
||||
# Useful utilities, not strictly necessary
|
||||
find_program(CMAKE_SIZE ${CROSS_COMPILE_SIZE})
|
||||
find_program(CMAKE_OBJCOPY ${CROSS_COMPILE_OBJCOPY})
|
||||
|
||||
set(CMAKE_CROSSCOMPILING TRUE)
|
||||
set(CMAKE_SYSROOT "${SYSROOT_PATH}")
|
||||
|
|
@ -54,16 +68,12 @@ set(CMAKE_SYSROOT "${SYSROOT_PATH}")
|
|||
set(CMAKE_SYSTEM_NAME "Linux")
|
||||
set(CMAKE_SYSTEM_PROCESSOR "arm")
|
||||
|
||||
# Define the compiler
|
||||
set(CMAKE_C_COMPILER ${CROSS_COMPILE_CC})
|
||||
set(CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX})
|
||||
|
||||
# List of library dirs where LD has to look. Pass them directly through gcc.
|
||||
# LD_LIBRARY_PATH is not evaluated by arm-*-ld
|
||||
set(LIB_DIRS
|
||||
"${SYSROOT_PATH}/lib/${CROSS_COMPILE}"
|
||||
"${SYSROOT_PATH}/lib/${MUTLIARCH_FOLDER_NAME}"
|
||||
"${SYSROOT_PATH}/usr/local/lib"
|
||||
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
|
||||
"${SYSROOT_PATH}/usr/lib/${MUTLIARCH_FOLDER_NAME}"
|
||||
"${SYSROOT_PATH}/usr/lib"
|
||||
)
|
||||
# You can additionally check the linker paths if you add the
|
||||
|
|
@ -73,11 +83,6 @@ foreach(LIB ${LIB_DIRS})
|
|||
set(COMMON_FLAGS "${COMMON_FLAGS} -L${LIB} -Wl,-rpath-link,${LIB}")
|
||||
endforeach()
|
||||
|
||||
set(CMAKE_PREFIX_PATH
|
||||
"${CMAKE_PREFIX_PATH}"
|
||||
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
|
||||
)
|
||||
|
||||
set(CMAKE_C_FLAGS
|
||||
"-march=armv7-a -mtune=cortex-a8 -mfpu=neon -mfloat-abi=hard ${COMMON_FLAGS}"
|
||||
CACHE STRING "Flags for Beagle Bone Black"
|
||||
|
|
|
|||
|
|
@ -1,13 +1,13 @@
|
|||
function(pre_source_hw_os_config)
|
||||
|
||||
# FreeRTOS
|
||||
if(${OS_FSFW} MATCHES freertos)
|
||||
if(FSFW_OSAL MATCHES freertos)
|
||||
message(FATAL_ERROR "No FreeRTOS support implemented yet.")
|
||||
# RTEMS
|
||||
elseif(${OS_FSFW} STREQUAL rtems)
|
||||
elseif(FSFW_OSAL STREQUAL rtems)
|
||||
add_definitions(-DRTEMS)
|
||||
message(FATAL_ERROR "No RTEMS support implemented yet.")
|
||||
elseif(${OS_FSFW} STREQUAL linux)
|
||||
elseif(FSFW_OSAL STREQUAL linux)
|
||||
add_definitions(-DUNIX -DLINUX)
|
||||
find_package(Threads REQUIRED)
|
||||
# Hosted
|
||||
|
|
|
|||
|
|
@ -2,31 +2,31 @@ function(pre_project_config)
|
|||
|
||||
# Basic input sanitization
|
||||
if(DEFINED TGT_BSP)
|
||||
if(${TGT_BSP} MATCHES "arm/raspberrypi" AND NOT ${OS_FSFW} MATCHES linux)
|
||||
if(${TGT_BSP} MATCHES "arm/raspberrypi" AND NOT FSFW_OSAL MATCHES linux)
|
||||
message(STATUS "FSFW OSAL invalid for specified target BSP ${TGT_BSP}!")
|
||||
message(STATUS "Setting valid OS_FSFW: linux")
|
||||
set(OS_FSFW "linux")
|
||||
message(STATUS "Setting valid FSFW_OSAL: linux")
|
||||
set(FSFW_OSAL "linux")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# Disable compiler checks for cross-compiling.
|
||||
if(${OS_FSFW} STREQUAL linux AND TGT_BSP)
|
||||
if(${TGT_BSP} MATCHES "arm/q7s")
|
||||
if(FSFW_OSAL MATCHES linux AND TGT_BSP)
|
||||
if(TGT_BSP MATCHES "arm/q7s")
|
||||
set(CMAKE_TOOLCHAIN_FILE
|
||||
"${CMAKE_SCRIPT_PATH}/Q7SCrossCompileConfig.cmake"
|
||||
PARENT_SCOPE
|
||||
)
|
||||
elseif (${TGT_BSP} MATCHES "arm/raspberrypi")
|
||||
if(NOT DEFINED ENV{RASPBIAN_ROOTFS})
|
||||
if(NOT DEFINED RASPBIAN_ROOTFS)
|
||||
message(WARNING "No RASPBIAN_ROOTFS environmental or CMake variable set!")
|
||||
set(ENV{RASPBIAN_ROOTFS} "$ENV{HOME}/raspberrypi/rootfs")
|
||||
elseif(TGT_BSP MATCHES "arm/raspberrypi")
|
||||
if(NOT DEFINED ENV{LINUX_ROOTFS})
|
||||
if(NOT DEFINED LINUX_ROOTFS)
|
||||
message(WARNING "No LINUX_ROOTFS environmental or CMake variable set!")
|
||||
set(ENV{LINUX_ROOTFS} "$ENV{HOME}/raspberrypi/rootfs")
|
||||
else()
|
||||
set(ENV{RASPBIAN_ROOTFS} "${RASPBIAN_ROOTFS}")
|
||||
set(ENV{LINUX_ROOTFS} "${LINUX_ROOTFS}")
|
||||
endif()
|
||||
else()
|
||||
message(STATUS
|
||||
"RASPBIAN_ROOTFS from environmental variables used: $ENV{RASPBIAN_ROOTFS}"
|
||||
"LINUX_ROOTFS from environmental variables used: $ENV{LINUX_ROOTFS}"
|
||||
)
|
||||
endif()
|
||||
|
||||
|
|
|
|||
|
|
@ -1,10 +1,11 @@
|
|||
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
|
||||
|
||||
if(NOT DEFINED ENV{Q7S_SYSROOT})
|
||||
# message(FATAL_ERROR
|
||||
# "Define the Q7S_ROOTFS variable to "
|
||||
# "point to the raspbian rootfs."
|
||||
# )
|
||||
# Sysroot has not been cached yet and was not set in environment either
|
||||
if(NOT DEFINED SYSROOT_PATH)
|
||||
message(FATAL_ERROR
|
||||
"Define the Q7S_ROOTFS variable to point to the Q7S rootfs."
|
||||
)
|
||||
endif()
|
||||
else()
|
||||
set(SYSROOT_PATH "$ENV{Q7S_SYSROOT}" CACHE PATH "Q7S root filesystem path")
|
||||
endif()
|
||||
|
|
@ -36,8 +37,11 @@ set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
|
|||
set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
|
||||
|
||||
# At the very least, cross compile gcc and g++ have to be set!
|
||||
find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
|
||||
find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
|
||||
find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} REQUIRED)
|
||||
find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} REQUIRED)
|
||||
# Useful utilities, not strictly necessary
|
||||
find_program(CMAKE_SIZE ${CROSS_COMPILE_SIZE})
|
||||
find_program(CMAKE_OBJCOPY ${CROSS_COMPILE_OBJCOPY})
|
||||
|
||||
set(CMAKE_CROSSCOMPILING TRUE)
|
||||
set(CMAKE_SYSROOT "${SYSROOT_PATH}")
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
# Based on https://github.com/Pro/raspi-toolchain but rewritten completely.
|
||||
|
||||
# Adapted for the FSFW Example
|
||||
if(NOT $ENV{RASPBERRY_VERSION})
|
||||
if(NOT DEFINED ENV{RASPBERRY_VERSION})
|
||||
message(STATUS "Raspberry Pi version not specified, setting version 4!")
|
||||
set(RASPBERRY_VERSION 4)
|
||||
else()
|
||||
|
|
@ -9,23 +9,25 @@ else()
|
|||
endif()
|
||||
|
||||
|
||||
# RASPBIAN_ROOTFS should point to the local directory which contains all the
|
||||
# LINUX_ROOTFS should point to the local directory which contains all the
|
||||
# libraries and includes from the target raspi.
|
||||
# The following command can be used to do this, replace <ip-address> and the
|
||||
# local <rootfs-path> accordingly:
|
||||
# rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
|
||||
# RASPBIAN_ROOTFS needs to be passed to the CMake command or defined in the
|
||||
# LINUX_ROOTFS needs to be passed to the CMake command or defined in the
|
||||
# application CMakeLists.txt before loading the toolchain file.
|
||||
|
||||
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
|
||||
|
||||
if(NOT DEFINED ENV{RASPBIAN_ROOTFS})
|
||||
message(FATAL_ERROR
|
||||
"Define the RASPBIAN_ROOTFS variable to "
|
||||
"point to the raspbian rootfs."
|
||||
)
|
||||
if(NOT DEFINED ENV{LINUX_ROOTFS})
|
||||
# Sysroot has not been cached yet and was not set in environment either
|
||||
if(NOT SYSROOT_PATH)
|
||||
message(FATAL_ERROR
|
||||
"Define the LINUX_ROOTFS variable to point to the Raspberry Pi rootfs."
|
||||
)
|
||||
endif()
|
||||
else()
|
||||
set(SYSROOT_PATH "$ENV{RASPBIAN_ROOTFS}" CACHE FILEPATH "RPi root filesystem path")
|
||||
set(SYSROOT_PATH "$ENV{LINUX_ROOTFS}" CACHE PATH "Local linux root filesystem path")
|
||||
message(STATUS "Raspberry Pi sysroot: ${SYSROOT_PATH}")
|
||||
endif()
|
||||
|
||||
if(NOT DEFINED ENV{CROSS_COMPILE})
|
||||
|
|
@ -42,6 +44,15 @@ else()
|
|||
)
|
||||
endif()
|
||||
|
||||
# Generally, the debian roots will be a multiarch rootfs where some libraries are put
|
||||
# into a folder named "arm-linux-gnueabihf". The user can override the folder name if this is
|
||||
# not the case
|
||||
if(NOT ENV{MULTIARCH_FOLDER_NAME})
|
||||
set(MULTIARCH_FOLDER_NAME "arm-linux-gnueabihf")
|
||||
else()
|
||||
set(MUTLIARCH_FOLDER_NAME $ENV{MULTIARCH_FOLDER_NAME})
|
||||
endif()
|
||||
|
||||
message(STATUS "Using sysroot path: ${SYSROOT_PATH}")
|
||||
|
||||
set(CROSS_COMPILE_CC "${CROSS_COMPILE}-gcc")
|
||||
|
|
@ -55,8 +66,11 @@ set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
|
|||
set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
|
||||
|
||||
# At the very least, cross compile gcc and g++ have to be set!
|
||||
find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
|
||||
find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
|
||||
find_program (CMAKE_C_COMPILER ${CROSS_COMPILE_CC} REQUIRED)
|
||||
find_program (CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX} REQUIRED)
|
||||
# Useful utilities, not strictly necessary
|
||||
find_program(CMAKE_SIZE ${CROSS_COMPILE_SIZE})
|
||||
find_program(CMAKE_OBJCOPY ${CROSS_COMPILE_OBJCOPY})
|
||||
|
||||
set(CMAKE_CROSSCOMPILING TRUE)
|
||||
set(CMAKE_SYSROOT "${SYSROOT_PATH}")
|
||||
|
|
@ -69,22 +83,16 @@ else()
|
|||
set(CMAKE_SYSTEM_PROCESSOR "arm")
|
||||
endif()
|
||||
|
||||
# Define the compiler
|
||||
set(CMAKE_C_COMPILER ${CROSS_COMPILE_CC})
|
||||
set(CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX})
|
||||
|
||||
# List of library dirs where LD has to look. Pass them directly through gcc.
|
||||
# LD_LIBRARY_PATH is not evaluated by arm-*-ld
|
||||
set(LIB_DIRS
|
||||
"/opt/cross-pi-gcc/arm-linux-gnueabihf/lib"
|
||||
"/opt/cross-pi-gcc/lib"
|
||||
"${SYSROOT_PATH}/opt/vc/lib"
|
||||
"${SYSROOT_PATH}/lib/${CROSS_COMPILE}"
|
||||
"${SYSROOT_PATH}/lib/${MULTIARCH_FOLDER_NAME}"
|
||||
"${SYSROOT_PATH}/usr/local/lib"
|
||||
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
|
||||
"${SYSROOT_PATH}/usr/lib/${MULTIARCH_FOLDER_NAME}"
|
||||
"${SYSROOT_PATH}/usr/lib"
|
||||
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}/blas"
|
||||
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}/lapack"
|
||||
"${SYSROOT_PATH}/usr/lib/${MULTIARCH_FOLDER_NAME}/blas"
|
||||
"${SYSROOT_PATH}/usr/lib/${MULTIARCH_FOLDER_NAME}/lapack"
|
||||
)
|
||||
# You can additionally check the linker paths if you add the
|
||||
# flags ' -Xlinker --verbose'
|
||||
|
|
@ -93,43 +101,38 @@ foreach(LIB ${LIB_DIRS})
|
|||
set(COMMON_FLAGS "${COMMON_FLAGS} -L${LIB} -Wl,-rpath-link,${LIB}")
|
||||
endforeach()
|
||||
|
||||
set(CMAKE_PREFIX_PATH
|
||||
"${CMAKE_PREFIX_PATH}"
|
||||
"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
|
||||
)
|
||||
|
||||
if(RASPBERRY_VERSION VERSION_GREATER 3)
|
||||
set(CMAKE_C_FLAGS
|
||||
"-mcpu=cortex-a72 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}"
|
||||
CACHE STRING "CPP flags for Raspberry PI 4"
|
||||
CACHE STRING "Flags for Raspberry Pi 4"
|
||||
)
|
||||
set(CMAKE_CXX_FLAGS
|
||||
"${CMAKE_C_FLAGS}"
|
||||
CACHE STRING "C flags for Raspberry PI 4"
|
||||
CACHE STRING "Flags for Raspberry Pi 4"
|
||||
)
|
||||
elseif(RASPBERRY_VERSION VERSION_GREATER 2)
|
||||
set(CMAKE_C_FLAGS
|
||||
"-mcpu=cortex-a53 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}"
|
||||
CACHE STRING "C flags for Raspberry PI 3"
|
||||
CACHE STRING "Flags for Raspberry Pi 3"
|
||||
)
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}"
|
||||
CACHE STRING "CPP flags for Raspberry PI 3"
|
||||
CACHE STRING "Flags for Raspberry Pi 3"
|
||||
)
|
||||
elseif(RASPBERRY_VERSION VERSION_GREATER 1)
|
||||
set(CMAKE_C_FLAGS
|
||||
"-mcpu=cortex-a7 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}"
|
||||
CACHE STRING "C flags for Raspberry PI 2"
|
||||
CACHE STRING "Flags for Raspberry Pi 2"
|
||||
)
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}"
|
||||
CACHE STRING "CPP flags for Raspberry PI 2"
|
||||
CACHE STRING "Flags for Raspberry Pi 2"
|
||||
)
|
||||
else()
|
||||
set(CMAKE_C_FLAGS
|
||||
"-mcpu=arm1176jzf-s -mfpu=vfp -mfloat-abi=hard ${COMMON_FLAGS}"
|
||||
CACHE STRING "C flags for Raspberry PI 1 B+ Zero"
|
||||
CACHE STRING "Flags for Raspberry Pi 1 B+ Zero"
|
||||
)
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}"
|
||||
CACHE STRING "CPP flags for Raspberry PI 1 B+ Zero"
|
||||
CACHE STRING "Flags for Raspberry PI 1 B+ Zero"
|
||||
)
|
||||
endif()
|
||||
|
||||
|
|
@ -137,7 +140,6 @@ set(CMAKE_FIND_ROOT_PATH
|
|||
"${CMAKE_INSTALL_PREFIX};${CMAKE_PREFIX_PATH};${CMAKE_SYSROOT}"
|
||||
)
|
||||
|
||||
|
||||
# search for programs in the build host directories
|
||||
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
|
||||
# for libraries and headers in the target directories
|
||||
|
|
|
|||
|
|
@ -28,6 +28,6 @@ fi
|
|||
echo "Running command (without the leading +):"
|
||||
set -x # Print command
|
||||
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
|
||||
-l"${build_dir}"
|
||||
-l "${build_dir}"
|
||||
# set +x
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,33 @@
|
|||
#!/bin/sh
|
||||
counter=0
|
||||
while [ ${counter} -lt 5 ]
|
||||
do
|
||||
cd ..
|
||||
if [ -f "cmake_build_config.py" ];then
|
||||
break
|
||||
fi
|
||||
counter=$((counter=counter + 1))
|
||||
done
|
||||
|
||||
if [ "${counter}" -ge 5 ];then
|
||||
echo "cmake_build_config.py not found in upper directories!"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
os_fsfw="linux"
|
||||
tgt_bsp="arm/q7s"
|
||||
build_dir="build-Release-Q7S"
|
||||
build_generator="Ninja"
|
||||
if [ "${OS}" = "Windows_NT" ]; then
|
||||
python="py"
|
||||
# Could be other OS but this works for now.
|
||||
else
|
||||
python="python3"
|
||||
fi
|
||||
|
||||
echo "Running command (without the leading +):"
|
||||
set -x # Print command
|
||||
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
|
||||
-l"${build_dir}"
|
||||
# set +x
|
||||
|
||||
|
|
@ -98,7 +98,7 @@ def main():
|
|||
print(f"Navigating into build directory: {build_path}")
|
||||
os.chdir(build_folder)
|
||||
|
||||
cmake_command = f"cmake {generator_cmake_arg} -DOS_FSFW=\"{osal}\" " \
|
||||
cmake_command = f"cmake {generator_cmake_arg} -DFSFW_OSAL=\"{osal}\" " \
|
||||
f"-DCMAKE_BUILD_TYPE=\"{cmake_build_type}\" {cmake_target_cfg_cmd} " \
|
||||
f"{define_string} {source_location}"
|
||||
# Remove redundant spaces
|
||||
|
|
|
|||
|
|
@ -10,6 +10,7 @@ enum commonObjects: uint32_t {
|
|||
PUS_PACKET_DISTRIBUTOR = 0x50000200,
|
||||
UDP_BRIDGE = 0x50000300,
|
||||
UDP_POLLING_TASK = 0x50000400,
|
||||
FILE_SYSTEM_HANDLER = 0x50000500,
|
||||
|
||||
/* 0x43 ('C') for Controllers */
|
||||
THERMAL_CONTROLLER = 0x43400001,
|
||||
|
|
|
|||
|
|
@ -16,6 +16,7 @@ enum: uint8_t {
|
|||
RW_HANDLER = 113,
|
||||
STR_HANDLER = 114,
|
||||
PLOC_SUPERVISOR_HANDLER = 115,
|
||||
FILE_SYSTEM = 116,
|
||||
COMMON_SUBSYSTEM_ID_END
|
||||
};
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,7 +2,7 @@
|
|||
#define COMMON_CONFIG_SPICONF_H_
|
||||
|
||||
#include <cstdint>
|
||||
#include <fsfw_hal/linux/spi/spiDefinitions.h>
|
||||
#include <fsfw/hal/linux/spi/spiDefinitions.h>
|
||||
|
||||
/**
|
||||
* SPI configuration will be contained here to let the device handlers remain independent
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -2,8 +2,8 @@
|
|||
#define TEST_TESTTASKS_LIBGPIODTEST_H_
|
||||
|
||||
#include "TestTask.h"
|
||||
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||
#include <fsfw/hal/common/gpio/GpioIF.h>
|
||||
#include <fsfw/hal/common/gpio/GpioCookie.h>
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -7,10 +7,10 @@
|
|||
#include <fsfw/tasks/TaskFactory.h>
|
||||
#include <fsfw/timemanager/Stopwatch.h>
|
||||
|
||||
#include <fsfw_hal/linux/utility.h>
|
||||
#include <fsfw_hal/linux/UnixFileGuard.h>
|
||||
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
|
||||
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||
#include <fsfw/hal/linux/utility.h>
|
||||
#include <fsfw/hal/linux/UnixFileGuard.h>
|
||||
#include <fsfw/hal/common/gpio/gpioDefinitions.h>
|
||||
#include <fsfw/hal/common/gpio/GpioCookie.h>
|
||||
|
||||
#include <linux/spi/spidev.h>
|
||||
#include <fcntl.h>
|
||||
|
|
|
|||
|
|
@ -1,8 +1,8 @@
|
|||
#ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
|
||||
#define LINUX_BOARDTEST_SPITESTCLASS_H_
|
||||
|
||||
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||
#include <fsfw_hal/linux/spi/SpiCookie.h>
|
||||
#include <fsfw/hal/common/gpio/GpioIF.h>
|
||||
#include <fsfw/hal/linux/spi/SpiCookie.h>
|
||||
#include <test/testtasks/TestTask.h>
|
||||
|
||||
#include <vector>
|
||||
|
|
|
|||
|
|
@ -4,7 +4,7 @@
|
|||
|
||||
#include <fsfw/objectmanager/ObjectManager.h>
|
||||
#include <fsfw/ipc/QueueFactory.h>
|
||||
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||
#include <fsfw/hal/common/gpio/GpioCookie.h>
|
||||
|
||||
HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
|
||||
CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, uint8_t mainLineSwitch_) :
|
||||
|
|
|
|||
|
|
@ -11,7 +11,7 @@
|
|||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/timemanager/Countdown.h>
|
||||
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||
#include <fsfw/hal/common/gpio/GpioIF.h>
|
||||
#include <unordered_map>
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@
|
|||
#include <devices/powerSwitcherList.h>
|
||||
#include <devices/gpioIds.h>
|
||||
|
||||
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||
#include <fsfw/hal/common/gpio/GpioCookie.h>
|
||||
#include <fsfw/ipc/QueueFactory.h>
|
||||
#include <fsfw/objectmanager/ObjectManager.h>
|
||||
|
||||
|
|
|
|||
|
|
@ -9,7 +9,7 @@
|
|||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <fsfw/timemanager/Countdown.h>
|
||||
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||
#include <fsfw/hal/common/gpio/GpioIF.h>
|
||||
#include <unordered_map>
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -2,7 +2,7 @@
|
|||
#include "OBSWConfig.h"
|
||||
|
||||
#include <fsfw/datapool/PoolReadGuard.h>
|
||||
#include <fsfw_hal/linux/spi/SpiComIF.h>
|
||||
#include <fsfw/hal/linux/spi/SpiComIF.h>
|
||||
|
||||
SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
|
||||
LinuxLibgpioIF* gpioComIF, gpioId_t chipSelectId) :
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@
|
|||
|
||||
#include "devicedefinitions/SusDefinitions.h"
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
|
||||
#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
|
||||
|
||||
/**
|
||||
* @brief This is the device handler class for the SUS sensor. The sensor is
|
||||
|
|
|
|||
|
|
@ -32,7 +32,7 @@ debugging. */
|
|||
#define ADD_PLOC_SUPERVISOR 1
|
||||
#define ADD_PLOC_MPSOC 0
|
||||
|
||||
#define TE0720 0
|
||||
#define BOARD_TE0720 0
|
||||
#define TE0720_HEATER_TEST 0
|
||||
|
||||
#define P60DOCK_DEBUG 0
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
#ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_
|
||||
#define FSFWCONFIG_DEVICES_GPIOIDS_H_
|
||||
|
||||
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||
#include <fsfw/hal/common/gpio/GpioIF.h>
|
||||
|
||||
namespace gpioIds {
|
||||
enum gpioId_t {
|
||||
|
|
|
|||
|
|
@ -33,7 +33,7 @@ namespace pcduSwitches {
|
|||
static const uint8_t INIT_STATE_Q7S = ON;
|
||||
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
|
||||
static const uint8_t INIT_STATE_RW = OFF;
|
||||
#if TE0720 == 1
|
||||
#if BOARD_TE0720 == 1
|
||||
/* Because the TE0720 is not connected to the PCDU, this switch is always on */
|
||||
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
|
||||
#else
|
||||
|
|
|
|||
|
|
@ -12,7 +12,8 @@
|
|||
*/
|
||||
namespace SUBSYSTEM_ID {
|
||||
enum: uint8_t {
|
||||
SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END
|
||||
SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END,
|
||||
CORE = 116,
|
||||
};
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -475,8 +475,10 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
|
|||
DeviceHandlerIF::GET_READ);
|
||||
#endif
|
||||
|
||||
#if Q7S_ADD_SYRLINKS_HANDLER == 1
|
||||
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
#endif
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
|
|
@ -486,6 +488,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
|
|||
|
||||
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2,
|
||||
DeviceHandlerIF::SEND_WRITE);
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
|
||||
DeviceHandlerIF::SEND_WRITE);
|
||||
|
|
@ -493,8 +496,10 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
|
|||
DeviceHandlerIF::SEND_WRITE);
|
||||
#endif
|
||||
|
||||
#if Q7S_ADD_SYRLINKS_HANDLER == 1
|
||||
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4,
|
||||
DeviceHandlerIF::GET_WRITE);
|
||||
#endif
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
|
||||
DeviceHandlerIF::GET_WRITE);
|
||||
|
|
@ -502,8 +507,10 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
|
|||
DeviceHandlerIF::GET_WRITE);
|
||||
#endif
|
||||
|
||||
#if Q7S_ADD_SYRLINKS_HANDLER == 1
|
||||
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6,
|
||||
DeviceHandlerIF::SEND_READ);
|
||||
#endif
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
|
||||
DeviceHandlerIF::SEND_READ);
|
||||
|
|
@ -511,8 +518,10 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
|
|||
DeviceHandlerIF::SEND_READ);
|
||||
#endif
|
||||
|
||||
#if Q7S_ADD_SYRLINKS_HANDLER == 1
|
||||
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8,
|
||||
DeviceHandlerIF::GET_READ);
|
||||
#endif
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8,
|
||||
DeviceHandlerIF::GET_READ);
|
||||
|
|
@ -694,7 +703,7 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
|
|||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
#if TE0720 == 1
|
||||
#if BOARD_TE7020 == 1
|
||||
ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
|
||||
uint32_t length = thisSequence->getPeriodMs();
|
||||
|
||||
|
|
@ -751,4 +760,4 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
|
|||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
#endif /* TE7020 == 1 */
|
||||
#endif /* BOARD_TE7020 == 1 */
|
||||
|
|
|
|||
|
|
@ -14,6 +14,7 @@ enum {
|
|||
CLASS_ID_START = COMMON_CLASS_ID_END,
|
||||
SA_DEPL_HANDLER, //SADPL
|
||||
SD_CARD_MANAGER, //SDMA
|
||||
SCRATCH_BUFFER, //SCBU
|
||||
CLASS_ID_END // [EXPORT] : [END]
|
||||
};
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,11 +1,12 @@
|
|||
#ifndef MISSION_OBC_CCSDSIPCOREBRIDGE_H_
|
||||
#define MISSION_OBC_CCSDSIPCOREBRIDGE_H_
|
||||
|
||||
#include <fsfw/tmtcservices/TmTcBridge.h>
|
||||
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
|
||||
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
|
||||
#include <string.h>
|
||||
#include "OBSWConfig.h"
|
||||
#include <fsfw/tmtcservices/TmTcBridge.h>
|
||||
#include <fsfw/hal/common/gpio/gpioDefinitions.h>
|
||||
#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
|
||||
|
||||
#include <cstring>
|
||||
|
||||
/**
|
||||
* @brief This class handles the interfacing to the telemetry (PTME) and telecommand (PDEC) IP
|
||||
|
|
|
|||
|
|
@ -254,7 +254,7 @@
|
|||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851." name="/" resourcePath="">
|
||||
<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1971474557" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1813444167" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
|
||||
|
|
@ -566,7 +566,7 @@
|
|||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689." name="/" resourcePath="">
|
||||
<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1439714522" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1064018737" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
|
||||
|
|
@ -648,6 +648,7 @@
|
|||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.1527860624" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths.1772224733" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths" valueType="includePath">
|
||||
<listOptionValue builtIn="false" value=""${Q7S_SYSROOT_UNIX}/usr/include""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/inc}""/>
|
||||
</option>
|
||||
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.1331264991" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
|
||||
</tool>
|
||||
|
|
@ -657,6 +658,7 @@
|
|||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/common/config}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/linux/fsfwconfig}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/inc}""/>
|
||||
</option>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1143219558" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
|
||||
<listOptionValue builtIn="false" value="LINUX=1"/>
|
||||
|
|
@ -671,6 +673,7 @@
|
|||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/common/config}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/build-Debug-Q7S}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/inc}""/>
|
||||
</option>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1199844227" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
|
||||
<listOptionValue builtIn="false" value="LINUX=1"/>
|
||||
|
|
@ -802,11 +805,13 @@
|
|||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.1492082603" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.1972256057" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
|
||||
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.200467200" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
|
||||
<builder arguments="--build . -j" buildPath="${workspace_loc:/eive_obsw/build-Release-Q7S}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1351628857" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
|
||||
<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/build-Release-Q7S}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1351628857" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.978063851" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.92793277" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths.1389893710" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths" valueType="includePath">
|
||||
<listOptionValue builtIn="false" value=""${Q7S_SYSROOT_UNIX}/usr/include""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/inc}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/linux/fsfwconfig}""/>
|
||||
</option>
|
||||
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.2127363958" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
|
||||
</tool>
|
||||
|
|
@ -814,6 +819,8 @@
|
|||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.include.paths.1810457326" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.include.paths" useByScannerDiscovery="true" valueType="includePath">
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive_obsw}""/>
|
||||
<listOptionValue builtIn="false" value=""${Q7S_SYSROOT_UNIX}/usr/include""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/inc}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/linux/fsfwconfig}""/>
|
||||
</option>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1774225921" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
|
||||
<listOptionValue builtIn="false" value="LINUX=1"/>
|
||||
|
|
@ -823,8 +830,9 @@
|
|||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.281959373" name="GNU Arm Cross C++ Compiler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler">
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.include.paths.1282228801" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.include.paths" useByScannerDiscovery="true" valueType="includePath">
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive_obsw}""/>
|
||||
<listOptionValue builtIn="false" value=""${Q7S_SYSROOT}/usr/include""/>
|
||||
<listOptionValue builtIn="false" value=""${Q7S_SYSROOT_UNIX}/usr/include""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/inc}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/linux/fsfwconfig}""/>
|
||||
</option>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.41651526" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
|
||||
<listOptionValue builtIn="false" value="LINUX=1"/>
|
||||
|
|
@ -1032,12 +1040,19 @@
|
|||
<configuration configurationName="eive-q7s-simple">
|
||||
<resource resourceType="PROJECT" workspacePath="/eive-obsw"/>
|
||||
</configuration>
|
||||
<configuration configurationName="eive-linux-host-debug"/>
|
||||
<configuration configurationName="eive-q7s-release-win">
|
||||
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
|
||||
</configuration>
|
||||
<configuration configurationName="eive-mingw-release"/>
|
||||
<configuration configurationName="eive-rpi-release-win"/>
|
||||
<configuration configurationName="Default">
|
||||
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
|
||||
</configuration>
|
||||
<configuration configurationName="eive-rpi-debug-win"/>
|
||||
<configuration configurationName="eive-q7s-debug-win"/>
|
||||
<configuration configurationName="eive-linux-host-debug"/>
|
||||
<configuration configurationName="eive-q7s-release"/>
|
||||
<configuration configurationName="eive-rpi-release"/>
|
||||
<configuration configurationName="eive-q7s-debug">
|
||||
<resource resourceType="PROJECT" workspacePath="/eive-obsw"/>
|
||||
</configuration>
|
||||
|
|
@ -1045,11 +1060,6 @@
|
|||
<configuration configurationName="eive-mingw-debug">
|
||||
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
|
||||
</configuration>
|
||||
<configuration configurationName="Default">
|
||||
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
|
||||
</configuration>
|
||||
<configuration configurationName="eive-rpi-debug-win"/>
|
||||
<configuration configurationName="eive-q7s-debug-win"/>
|
||||
<configuration configurationName="eive-rpi-debug"/>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings">
|
||||
|
|
|
|||
|
|
@ -1,3 +1,4 @@
|
|||
add_subdirectory(core)
|
||||
add_subdirectory(devices)
|
||||
add_subdirectory(utility)
|
||||
add_subdirectory(memory)
|
||||
|
|
|
|||
|
|
@ -7,7 +7,7 @@
|
|||
|
||||
#include <fsfw/events/EventManager.h>
|
||||
#include <fsfw/health/HealthTable.h>
|
||||
#include <fsfw/internalError/InternalErrorReporter.h>
|
||||
#include <fsfw/internalerror/InternalErrorReporter.h>
|
||||
#include <fsfw/pus/CService200ModeCommanding.h>
|
||||
#include <fsfw/pus/Service17Test.h>
|
||||
#include <fsfw/pus/Service1TelecommandVerification.h>
|
||||
|
|
|
|||
|
|
@ -4,10 +4,10 @@
|
|||
#include "GyroADIS16507Handler.h"
|
||||
|
||||
#if OBSW_ADIS16507_LINUX_COM_IF == 1
|
||||
#include "fsfw_hal/linux/utility.h"
|
||||
#include "fsfw_hal/linux/spi/SpiCookie.h"
|
||||
#include "fsfw_hal/linux/spi/SpiComIF.h"
|
||||
#include "fsfw_hal/linux/UnixFileGuard.h"
|
||||
#include "fsfw/hal/linux/utility.h"
|
||||
#include "fsfw/hal/linux/spi/SpiCookie.h"
|
||||
#include "fsfw/hal/linux/spi/SpiComIF.h"
|
||||
#include "fsfw/hal/linux/UnixFileGuard.h"
|
||||
#include <sys/ioctl.h>
|
||||
#include <unistd.h>
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -329,7 +329,7 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool &localDat
|
|||
pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH1 }));
|
||||
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_RW, new PoolEntry<uint8_t>( {
|
||||
pcduSwitches::INIT_STATE_RW }));
|
||||
#if TE0720 == 1
|
||||
#if BOARD_TE0720 == 1
|
||||
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( { 1 }));
|
||||
#else
|
||||
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( {pcduSwitches::INIT_STATE_TCS_BOARD_8V_HEATER_IN}));
|
||||
|
|
|
|||
|
|
@ -265,7 +265,7 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool(
|
|||
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_Q7S, new PoolEntry<uint8_t>( { 0 }));
|
||||
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH1, new PoolEntry<uint8_t>( { 0 }));
|
||||
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_RW, new PoolEntry<uint8_t>( { 0 }));
|
||||
#if TE0720 == 1
|
||||
#if BOARD_TE0720 == 1
|
||||
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( { 1 }));
|
||||
#else
|
||||
localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( { 0 }));
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@
|
|||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <mission/devices/devicedefinitions/RwDefinitions.h>
|
||||
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
|
||||
#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
|
||||
#include <string.h>
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -0,0 +1,5 @@
|
|||
target_sources(${TARGET_NAME} PUBLIC
|
||||
NVMParameterBase.cpp
|
||||
)
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,50 @@
|
|||
#include "NVMParameterBase.h"
|
||||
#include "fsfw/memory/HasFileSystemIF.h"
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
|
||||
#include <fstream>
|
||||
|
||||
NVMParameterBase::NVMParameterBase(std::string fullName): fullName(fullName) {
|
||||
}
|
||||
|
||||
ReturnValue_t NVMParameterBase::readJsonFile() {
|
||||
if(std::filesystem::exists(fullName)) {
|
||||
// Read JSON file content into object
|
||||
std::ifstream i(fullName);
|
||||
i >> json;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
return HasFileSystemIF::FILE_DOES_NOT_EXIST;
|
||||
}
|
||||
|
||||
ReturnValue_t NVMParameterBase::writeJsonFile() {
|
||||
std::ofstream o(fullName);
|
||||
o << std::setw(4) << json;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void NVMParameterBase::setFullName(std::string fullName) {
|
||||
this->fullName = fullName;
|
||||
}
|
||||
|
||||
std::string NVMParameterBase::getFullName() const {
|
||||
return fullName;
|
||||
}
|
||||
|
||||
bool NVMParameterBase::getJsonFileExists() {
|
||||
return std::filesystem::exists(fullName);
|
||||
}
|
||||
|
||||
void NVMParameterBase::printKeys() const {
|
||||
sif::info << "Printing keys for JSON file " << fullName << std::endl;
|
||||
for(const auto& key: keys) {
|
||||
sif::info << key << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
void NVMParameterBase::print() const {
|
||||
sif::info << "Printing JSON file " << fullName << std::endl;
|
||||
for(const auto& key: keys) {
|
||||
sif::info << key << ": " << json[key] << std::endl;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,69 @@
|
|||
#ifndef BSP_Q7S_CORE_NVMPARAMS_NVMPARAMIF_H_
|
||||
#define BSP_Q7S_CORE_NVMPARAMS_NVMPARAMIF_H_
|
||||
|
||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||
|
||||
#include <nlohmann/json.hpp>
|
||||
#include <string>
|
||||
#include <filesystem>
|
||||
|
||||
class NVMParameterBase {
|
||||
public:
|
||||
virtual~ NVMParameterBase() {}
|
||||
|
||||
NVMParameterBase(std::string fullName);
|
||||
|
||||
bool getJsonFileExists();
|
||||
|
||||
/**
|
||||
* Returns RETURN_OK on successfull read and HasFileSystemIF::FILE_DOES_NOT_EXIST if
|
||||
* file does not exist yet.
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t readJsonFile();
|
||||
|
||||
virtual ReturnValue_t writeJsonFile();
|
||||
|
||||
void setFullName(std::string fullName);
|
||||
std::string getFullName() const;
|
||||
|
||||
template<typename T>
|
||||
ReturnValue_t insertValue(std::string key, T value);
|
||||
|
||||
template<typename T>
|
||||
ReturnValue_t setValue(std::string key, T value);
|
||||
|
||||
template<typename T>
|
||||
T getValue(std::string key) const;
|
||||
|
||||
void printKeys() const;
|
||||
void print() const;
|
||||
|
||||
private:
|
||||
nlohmann::json json;
|
||||
std::vector<std::string> keys;
|
||||
std::string fullName;
|
||||
};
|
||||
|
||||
template<typename T>
|
||||
inline ReturnValue_t NVMParameterBase::insertValue(std::string key, T value) {
|
||||
// Check whether key already exists. If it does not, insert it
|
||||
if (std::find(keys.begin(), keys.end(), key) == keys.end()) {
|
||||
keys.push_back(key);
|
||||
}
|
||||
json[key] = value;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
inline ReturnValue_t NVMParameterBase::setValue(std::string key, T value) {
|
||||
json[key] = value;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
inline T NVMParameterBase::getValue(std::string key) const {
|
||||
return json[key];
|
||||
}
|
||||
|
||||
#endif /* BSP_Q7S_CORE_NVMPARAMS_NVMPARAMIF_H_ */
|
||||
|
|
@ -0,0 +1 @@
|
|||
add_subdirectory(testtasks)
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
#ifndef BSP_Q7S_CORE_NVMPARAMS_PARAMETERDEFINITIONS_H_
|
||||
#define BSP_Q7S_CORE_NVMPARAMS_PARAMETERDEFINITIONS_H_
|
||||
|
||||
#include "mission/memory/NVMParameterBase.h"
|
||||
#include <nlohmann/json.hpp>
|
||||
|
||||
#include <filesystem>
|
||||
|
||||
class DummyParameter: public NVMParameterBase {
|
||||
public:
|
||||
static constexpr char DUMMY_KEY_PARAM_1[] = "dummy1";
|
||||
static constexpr char DUMMY_KEY_PARAM_2[] = "dummy2";
|
||||
|
||||
DummyParameter(std::string mountPrefix, std::string jsonFileName):
|
||||
NVMParameterBase(mountPrefix + "/conf/" + jsonFileName),
|
||||
mountPrefix(mountPrefix) {
|
||||
insertValue(DUMMY_KEY_PARAM_1, 1);
|
||||
insertValue(DUMMY_KEY_PARAM_2, "blablub");
|
||||
}
|
||||
|
||||
private:
|
||||
std::string mountPrefix;
|
||||
};
|
||||
|
||||
|
||||
#endif /* BSP_Q7S_CORE_NVMPARAMS_PARAMETERDEFINITIONS_H_ */
|
||||
Loading…
Reference in New Issue