eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

fixed object id merge conflicts

Browse Source
This commit is contained in:
Jakob Meier 2021-06-25 12:15:59 +02:00
commit a53ff3c4d6
23 changed files with 383 additions and 249 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
README.md
View File

@ -79,7 +79,7 @@ wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/2Fp2ag6NGnbtAsK/downloa
3. Run the following commands in MinGW64
```sh
pacman -Syuuu
pacman -Syu
```
It is recommended to install the full base development toolchain

4
bsp_linux_board/ObjectFactory.cpp
View File

@ -1,6 +1,6 @@
#include <fsfw_hal/linux/uart/UartComIF.h>
#include <fsfw_hal/linux/uart/UartCookie.h>
#include <mission/devices/GPSHandler.h>
#include <mission/devices/GPSHyperionHandler.h>
#include "ObjectFactory.h"
#include "objects/systemObjectList.h"
@ -157,7 +157,7 @@ void ObjectFactory::produce(void* args){
UartModes::CANONICAL, 9600, 1024);
uartCookie->setToFlushInput(true);
uartCookie->setReadCycles(6);
GPSHandler* gpsHandler = new GPSHandler(objects::GPS0_HANDLER,
GPSHyperionHandler* gpsHandler = new GPSHyperionHandler(objects::GPS0_HANDLER,
objects::UART_COM_IF, uartCookie);
gpsHandler->setStartUpImmediately();
#endif

0
cmake/scripts/Q7S/create_cmake_debug_cfg.sh → cmake/scripts/Q7S/make_debug_cfg.sh
View File

0
cmake/scripts/Q7S/create_cmake_relwithdeb_cfg.sh → cmake/scripts/Q7S/make_reldeb_cfg.sh
View File

0
cmake/scripts/Q7S/create_cmake_release_cfg.sh → cmake/scripts/Q7S/make_release_cfg.sh
View File

23
cmake/scripts/Q7S/ninja_debug_cfg.sh Executable file
View File

@ -0,0 +1,23 @@
#!/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 [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/q7s"
build_dir="build-Debug-Q7S"
build_generator="Ninja"
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
-l"${build_dir}"

0
cmake/scripts/RPi/create_cmake_debug_cfg.sh → cmake/scripts/RPi/make_debug_cfg.sh
View File

0
cmake/scripts/RPi/create_cmake_relwithdeb_cfg.sh → cmake/scripts/RPi/make_reldeb_cfg.sh
View File

0
cmake/scripts/RPi/create_cmake_release_cfg.sh → cmake/scripts/RPi/make_release_cfg.sh
View File

12
cmake/scripts/RPi/create_cmake_size_cfg.sh → cmake/scripts/RPi/ninja_debug_cfg.sh
View File

@ -16,12 +16,8 @@ fi
os_fsfw="linux"
tgt_bsp="arm/raspberrypi"
build_generator=""
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
fi
build_generator="Ninja"
build_dir="build-Debug-RPi"
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "size" -t "${tgt_bsp}"
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
-l"${build_dir}"

104
common/config/commonObjects.h
View File

@ -6,51 +6,77 @@
namespace objects {
enum commonObjects: uint32_t {
/* First Byte 0x50-0x52 reserved for PUS Services **/
CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
PUS_PACKET_DISTRIBUTOR = 0x50000200,
UDP_BRIDGE = 0x50000300,
UDP_POLLING_TASK = 0x50000400,
CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
PUS_PACKET_DISTRIBUTOR = 0x50000200,
UDP_BRIDGE = 0x50000300,
UDP_POLLING_TASK = 0x50000400,
/* 0x43 ('C') for Controllers */
THERMAL_CONTROLLER = 0x43001000,
ATTITUDE_CONTROLLER = 0x43002000,
ACS_CONTROLLER = 0x43003000,
CORE_CONTROLLER = 0x43004000,
THERMAL_CONTROLLER = 0x43400001,
ACS_CONTROLLER = 0x43100002,
CORE_CONTROLLER = 0x43000003,
/* 0x44 ('D') for device handlers */
P60DOCK_HANDLER = 0x44000001,
PDU1_HANDLER = 0x44000002,
PDU2_HANDLER = 0x44000003,
ACU_HANDLER = 0x44000004,
TMP1075_HANDLER_1 = 0x44000005,
TMP1075_HANDLER_2 = 0x44000006,
MGM_0_LIS3_HANDLER = 0x44000007,
MGM_1_RM3100_HANDLER = 0x44000008,
MGM_2_LIS3_HANDLER = 0x44000009,
MGM_3_RM3100_HANDLER = 0x44000010,
GYRO_0_ADIS_HANDLER = 0x44000011,
GYRO_1_L3G_HANDLER = 0x44000012,
GYRO_2_L3G_HANDLER = 0x44000013,
/* 0x44 ('D') for device handlers */
P60DOCK_HANDLER = 0x44250000,
PDU1_HANDLER = 0x44250001,
PDU2_HANDLER = 0x44250002,
ACU_HANDLER = 0x44250003,
TMP1075_HANDLER_1 = 0x44420004,
TMP1075_HANDLER_2 = 0x44420005,
MGM_0_LIS3_HANDLER = 0x44120006,
MGM_1_RM3100_HANDLER = 0x44120107,
MGM_2_LIS3_HANDLER = 0x44120208,
MGM_3_RM3100_HANDLER = 0x44120309,
GYRO_0_ADIS_HANDLER = 0x44120010,
GYRO_1_L3G_HANDLER = 0x44120111,
GYRO_2_ADIS_HANDLER = 0x44120212,
GYRO_3_L3G_HANDLER = 0x44120313,
IMTQ_HANDLER = 0x44000014,
PLOC_HANDLER = 0x44000015,
IMTQ_HANDLER = 0x44140014,
PLOC_HANDLER = 0x44330015,
SUS_1 = 0x44000016,
SUS_2 = 0x44000017,
SUS_3 = 0x44000018,
SUS_4 = 0x44000019,
SUS_5 = 0x4400001A,
SUS_6 = 0x4400001B,
SUS_7 = 0x4400001C,
SUS_8 = 0x4400001D,
SUS_9 = 0x4400001E,
SUS_10 = 0x4400001F,
SUS_11 = 0x44000021,
SUS_12 = 0x44000022,
SUS_13 = 0x44000023,
/**
* Not yet specified which pt1000 will measure which device/location in the satellite.
* Therefore object ids are named according to the IC naming of the RTDs in the schematic.
*/
RTD_IC3 = 0x44420016,
RTD_IC4 = 0x44420017,
RTD_IC5 = 0x44420018,
RTD_IC6 = 0x44420019,
RTD_IC7 = 0x44420020,
RTD_IC8 = 0x44420021,
RTD_IC9 = 0x44420022,
RTD_IC10 = 0x44420023,
RTD_IC11 = 0x44420024,
RTD_IC12 = 0x44420025,
RTD_IC13 = 0x44420026,
RTD_IC14 = 0x44420027,
RTD_IC15 = 0x44420028,
RTD_IC16 = 0x44420029,
RTD_IC17 = 0x44420030,
RTD_IC18 = 0x44420031,
GPS0_HANDLER = 0x44001000,
GPS1_HANDLER = 0x44002000
SUS_1 = 0x44120032,
SUS_2 = 0x44120033,
SUS_3 = 0x44120034,
SUS_4 = 0x44120035,
SUS_5 = 0x44120036,
SUS_6 = 0x44120037,
SUS_7 = 0x44120038,
SUS_8 = 0x44120039,
SUS_9 = 0x44120040,
SUS_10 = 0x44120041,
SUS_11 = 0x44120042,
SUS_12 = 0x44120043,
SUS_13 = 0x44120044,
GPS0_HANDLER = 0x44130045,
GPS1_HANDLER = 0x44130146,
RW1 = 0x44210001,
RW2 = 0x44210002,
RW3 = 0x44210003,
RW4 = 0x44210004
};
}

3
linux/fsfwconfig/devices/addresses.h
View File

@ -17,7 +17,8 @@ namespace addresses {
GYRO_0_ADIS = objects::GYRO_0_ADIS_HANDLER,
GYRO_1_L3G = objects::GYRO_1_L3G_HANDLER,
GYRO_2_L3G = objects::GYRO_2_L3G_HANDLER,
GYRO_2_ADIS = objects::GYRO_2_ADIS_HANDLER,
GYRO_3_L3G = objects::GYRO_3_L3G_HANDLER,
RAD_SENSOR = objects::RAD_SENSOR,

114
linux/fsfwconfig/objects/systemObjectList.h
View File

@ -6,72 +6,64 @@
#include <cstdint>
// The objects will be instantiated in the ID order
// For naming scheme see flight manual
/*
https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/EIVE_Project_IDs
Second byte first four bits is the subsystem:
OBDH 0x0
ACS 0x1
EPS 0x2
PL 0x3
TCS 0x4
COM 0x5
Second byte last four bits is the bus:
None 0x0
GPIO 0x1
SPI 0x2
UART 0x3
I2C 0x4
CAN 0x5
Third byte is an assembly counter if there are multiple redundant devices.
Fourth byte is a unique counter.
*/
namespace objects {
enum sourceObjects: uint32_t {
/* 0x53 reserved for FSFW */
FW_ADDRESS_START = PUS_SERVICE_1_VERIFICATION,
FW_ADDRESS_END = TIME_STAMPER,
enum sourceObjects: uint32_t {
/* 0x53 reserved for FSFW */
FW_ADDRESS_START = PUS_SERVICE_1_VERIFICATION,
FW_ADDRESS_END = TIME_STAMPER,
PUS_SERVICE_6 = 0x51000500,
CCSDS_IP_CORE_BRIDGE = 0x50000500,
CCSDS_IP_CORE_BRIDGE = 0x73500000,
TM_FUNNEL = 0x73000100,
PUS_SERVICE_6 = 0x51000500,
/* 0x49 ('I') for Communication Interfaces **/
ARDUINO_COM_IF = 0x49000000,
CSP_COM_IF = 0x49050001,
I2C_COM_IF = 0x49040002,
UART_COM_IF = 0x49030003,
SPI_COM_IF = 0x49020004,
GPIO_IF = 0x49010005,
TM_FUNNEL = 0x52000002,
/* Custom device handler */
PCDU_HANDLER = 0x442000A1,
SOLAR_ARRAY_DEPL_HANDLER = 0x444100A2,
SYRLINKS_HK_HANDLER = 0x445300A3,
HEATER_HANDLER = 0x444100A4,
RAD_SENSOR = 0x443200A5,
/* 0x49 ('I') for Communication Interfaces **/
ARDUINO_COM_IF = 0x49000001,
CSP_COM_IF = 0x49000002,
I2C_COM_IF = 0x49000003,
UART_COM_IF = 0x49000004,
SPI_COM_IF = 0x49000005,
/* 0x47 ('G') for Gpio Interfaces */
GPIO_IF = 0x47000001,
/* Custom device handler */
PCDU_HANDLER = 0x44001000,
SOLAR_ARRAY_DEPL_HANDLER = 0x44001001,
SYRLINKS_HK_HANDLER = 0x44001002,
/* 0x54 ('T') for thermal objects */
HEATER_HANDLER = 0x54000003,
/**
* Not yet specified which pt1000 will measure which device/location in the satellite.
* Therefore object ids are named according to the IC naming of the RTDs in the schematic.
*/
RTD_IC3 = 0x54000004,
RTD_IC4 = 0x54000005,
RTD_IC5 = 0x54000006,
RTD_IC6 = 0x54000007,
RTD_IC7 = 0x54000008,
RTD_IC8 = 0x54000009,
RTD_IC9 = 0x5400000A,
RTD_IC10 = 0x5400000B,
RTD_IC11 = 0x5400000C,
RTD_IC12 = 0x5400000D,
RTD_IC13 = 0x5400000E,
RTD_IC14 = 0x5400000F,
RTD_IC15 = 0x5400001F,
RTD_IC16 = 0x5400002F,
RTD_IC17 = 0x5400003F,
RTD_IC18 = 0x5400004F,
RAD_SENSOR = 0x54000050,
RW1 = 0x54000051,
RW2 = 0x54000052,
RW3 = 0x54000053,
RW4 = 0x54000054,
/* 0x54 ('T') for test handlers */
TEST_TASK = 0x54694269,
LIBGPIOD_TEST = 0x54123456,
SPI_TEST = 0x54000010,
UART_TEST = 0x54000020,
DUMMY_INTERFACE = 0x5400CAFE,
DUMMY_HANDLER = 0x5400AFFE,
P60DOCK_TEST_TASK = 0x00005060
};
/* 0x54 ('T') for test handlers */
TEST_TASK = 0x54694269,
LIBGPIOD_TEST = 0x54123456,
SPI_TEST = 0x54000010,
UART_TEST = 0x54000020,
DUMMY_INTERFACE = 0x5400CAFE,
DUMMY_HANDLER = 0x5400AFFE,
P60DOCK_TEST_TASK = 0x00005060
};
}
#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */

3
mission/devices/CMakeLists.txt
View File

@ -1,6 +1,5 @@
target_sources(${TARGET_NAME} PUBLIC
GPSHandler.cpp
# GyroL3GD20Handler.cpp
GPSHyperionHandler.cpp
MGMHandlerLIS3MDL.cpp
MGMHandlerRM3100.cpp
GomspaceDeviceHandler.cpp

98
mission/devices/GPSHandler.cpp
View File

@ -1,98 +0,0 @@
#include "GPSHandler.h"
#include "devicedefinitions/GPSDefinitions.h"
#include "lwgps/lwgps.h"
GPSHandler::GPSHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
lwgps_init(&gpsData);
}
GPSHandler::~GPSHandler() {}
void GPSHandler::doStartUp() {
if(internalState == InternalStates::NONE) {
commandExecuted = false;
internalState = InternalStates::WAIT_FIRST_MESSAGE;
}
if(internalState == InternalStates::WAIT_FIRST_MESSAGE) {
if(commandExecuted) {
internalState = InternalStates::IDLE;
setMode(MODE_ON);
commandExecuted = false;
}
}
}
void GPSHandler::doShutDown() {
internalState = InternalStates::NONE;
commandExecuted = false;
setMode(MODE_OFF);
}
ReturnValue_t GPSHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// Pass data to GPS library
if(len > 0) {
sif::info << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
// TODO: Check whether data is valid by chcking whether NMEA start string is valid
commandExecuted = true;
}
int result = lwgps_process(&gpsData, start, len);
if(result != 1) {
sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps"
<< std::endl;
}
else {
sif::info << "GPS Data" << std::endl;
// Print messages
printf("Valid status: %d\n", gpsData.is_valid);
printf("Latitude: %f degrees\n", gpsData.latitude);
printf("Longitude: %f degrees\n", gpsData.longitude);
printf("Altitude: %f meters\n", gpsData.altitude);
}
*foundLen = len;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t GPSHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 5000;
}
ReturnValue_t GPSHandler::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}
void GPSHandler::fillCommandAndReplyMap() {
// Reply length does not matter, packets should always arrive periodically
insertInReplyMap(GpsHyperion::GPS_REPLY, 4, nullptr, 0, true);
}
void GPSHandler::modeChanged() {
internalState = InternalStates::NONE;
}

150
mission/devices/GPSHyperionHandler.cpp Normal file
View File

@ -0,0 +1,150 @@
#include "GPSHyperionHandler.h"
#include "devicedefinitions/GPSDefinitions.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/timemanager/Clock.h"
#include "lwgps/lwgps.h"
GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), gpsSet(this) {
lwgps_init(&gpsData);
}
GPSHyperionHandler::~GPSHyperionHandler() {}
void GPSHyperionHandler::doStartUp() {
if(internalState == InternalStates::NONE) {
commandExecuted = false;
internalState = InternalStates::WAIT_FIRST_MESSAGE;
}
if(internalState == InternalStates::WAIT_FIRST_MESSAGE) {
if(commandExecuted) {
internalState = InternalStates::IDLE;
setMode(MODE_ON);
commandExecuted = false;
}
}
}
void GPSHyperionHandler::doShutDown() {
internalState = InternalStates::NONE;
commandExecuted = false;
setMode(MODE_OFF);
}
ReturnValue_t GPSHyperionHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// Pass data to GPS library
if(len > 0) {
sif::info << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
// TODO: Check whether data is valid by chcking whether NMEA start string is valid
commandExecuted = true;
}
int result = lwgps_process(&gpsData, start, len);
if(result != 1) {
sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps"
<< std::endl;
}
else {
// The data from the device will generally be read all at once. Therefore, we
// can set all field here
PoolReadGuard pg(&gpsSet);
if(pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed"
<< std::endl;
#endif
}
// Print messages
if(gpsData.is_valid) {
// Set all entries valid now, set invalid on case basis if values are sanitized
gpsSet.setValidity(true, true);
}
// Negative latitude -> South direction
gpsSet.latitude.value = gpsData.latitude;
// Negative longitude -> West direction
gpsSet.longitude.value = gpsData.latitude;
gpsSet.fixMode.value = gpsData.fix_mode;
gpsSet.satInUse.value = gpsData.sats_in_use;
Clock::TimeOfDay_t timeStruct = {};
timeStruct.day = gpsData.date;
timeStruct.hour = gpsData.hours;
timeStruct.minute = gpsData.minutes;
timeStruct.month = gpsData.month;
timeStruct.second = gpsData.seconds;
// Convert two-digit year to full year (AD)
timeStruct.year = gpsData.year + 2000;
timeval timeval = {};
Clock::convertTimeOfDayToTimeval(&timeStruct, &timeval);
gpsSet.year = timeStruct.year;
gpsSet.month = gpsData.month;
gpsSet.day = gpsData.date;
gpsSet.hours = gpsData.hours;
gpsSet.minutes = gpsData.minutes;
gpsSet.seconds = gpsData.seconds;
#if FSFW_HAL_DEBUG_HYPERION_GPS == 1
sif::info << "GPS Data" << std::endl;
printf("Valid status: %d\n", gpsData.is_valid);
printf("Latitude: %f degrees\n", gpsData.latitude);
printf("Longitude: %f degrees\n", gpsData.longitude);
printf("Altitude: %f meters\n", gpsData.altitude);
#endif
}
*foundLen = len;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t GPSHyperionHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 5000;
}
ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
return HasReturnvaluesIF::RETURN_OK;
}
void GPSHyperionHandler::fillCommandAndReplyMap() {
// Reply length does not matter, packets should always arrive periodically
insertInReplyMap(GpsHyperion::GPS_REPLY, 4, nullptr, 0, true);
}
void GPSHyperionHandler::modeChanged() {
internalState = InternalStates::NONE;
}

20
mission/devices/GPSHandler.h → mission/devices/GPSHyperionHandler.h
View File

@ -1,20 +1,25 @@
#ifndef MISSION_DEVICES_GPSHANDLER_H_
#define MISSION_DEVICES_GPSHANDLER_H_
#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "devicedefinitions/GPSDefinitions.h"
#include "lwgps/lwgps.h"
#ifndef FSFW_HAL_DEBUG_HYPERION_GPS
#define FSFW_HAL_DEBUG_HYPERION_GPS 0
#endif
/**
* @brief Device handler for the Hyperion HT-GPS200 device
* @details
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
*/
class GPSHandler: public DeviceHandlerBase {
class GPSHyperionHandler: public DeviceHandlerBase {
public:
GPSHandler(object_id_t objectId, object_id_t deviceCommunication,
GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie);
virtual ~GPSHandler();
virtual ~GPSHyperionHandler();
protected:
enum class InternalStates {
@ -48,6 +53,7 @@ protected:
private:
lwgps_t gpsData = {};
GpsPrimaryDataset gpsSet;
};
#endif /* MISSION_DEVICES_GPSHANDLER_H_ */
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

13
mission/devices/MGMHandlerLIS3MDL.cpp
View File

@ -1,7 +1,9 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include "MGMHandlerLIS3MDL.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include "fsfw/datapool/PoolReadGuard.h"
#if OBSW_VERBOSE_LEVEL >= 1
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#endif
MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
object_id_t deviceCommunication, CookieIF* comCookie):
@ -300,9 +302,9 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
sif::printInfo("X: %f " "\xC2\xB5" "T\n", mgmX);
sif::printInfo("Y: %f " "\xC2\xB5" "T\n", mgmY);
sif::printInfo("Z: %f " "\xC2\xB5" "T\n", mgmZ);
#endif
#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
}
#endif
#endif /* OBSW_VERBOSE_LEVEL >= 1 */
PoolReadGuard readHelper(&dataset);
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
dataset.fieldStrengthX = mgmX;
@ -482,6 +484,3 @@ ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK;
}
void MGMHandlerLIS3MDL::performOperationHook() {
}

11
mission/devices/MGMHandlerLIS3MDL.h
View File

@ -1,13 +1,13 @@
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#include "OBSWConfig.h"
#include "devicedefinitions/MGMHandlerLIS3Definitions.h"
#include "events/subsystemIdRanges.h"
#include <OBSWConfig.h>
#include <events/subsystemIdRanges.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
class PeriodicOperationDivider;
/**
* @brief Device handler object for the LIS3MDL 3-axis magnetometer
@ -162,9 +162,6 @@ private:
#if OBSW_VERBOSE_LEVEL >= 1
PeriodicOperationDivider* debugDivider;
#endif
void performOperationHook() override;
};
#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */

10
mission/devices/MGMHandlerRM3100.cpp
View File

@ -1,10 +1,10 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include "MGMHandlerRM3100.h"
#include <fsfw/globalfunctions/bitutility.h>
#include <fsfw/devicehandlers/DeviceHandlerMessage.h>
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/globalfunctions/bitutility.h"
#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,

11
mission/devices/MGMHandlerRM3100.h
View File

@ -1,13 +1,12 @@
#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
#define MISSION_DEVICES_MGMRM3100HANDLER_H_
#include "OBSWConfig.h"
#include "devicedefinitions/MGMHandlerRM3100Definitions.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <OBSWConfig.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#if OBSW_VERBOSE_LEVEL >= 1
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#endif
/**
@ -21,11 +20,11 @@ class MGMHandlerRM3100: public DeviceHandlerBase {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
//! P1: TMRC value which was set, P2: 0
//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
0x00, severity::INFO);
//! P1: First two bytes new Cycle Count X
//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
//! P1: Second two bytes new Cycle Count Y
//! P2: New cycle count Z
static constexpr Event cycleCountersSet = event::makeEvent(

50
mission/devices/devicedefinitions/GPSDefinitions.h
View File

@ -1,21 +1,65 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "fsfw/datapoollocal/StaticLocalDataSet.h"
namespace GpsHyperion {
static constexpr DeviceCommandId_t GPS_REPLY = 0;
enum GpsPoolIds: lp_id_t {
static constexpr uint32_t DATASET_ID = 0;
enum GpsPoolIds: lp_id_t {
LATITUDE = 0,
LONGITUDE = 1,
ALTITUDE = 2,
FIX_MODE = 3,
SATS_IN_USE = 4,
UNIX_SECONDS = 5,
YEAR = 6,
MONTH = 7,
DAY = 8,
HOURS = 9,
MINUTES = 10,
SECONDS = 11
};
enum GpsFixModes: uint8_t {
INVALID = 0,
NO_FIX = 1,
FIX_2D = 2,
FIX_3D = 3
};
}
class GpsPrimaryDataset: public StaticLocalDataSet<5> {
class GpsPrimaryDataset: public StaticLocalDataSet<18> {
public:
GpsPrimaryDataset(object_id_t gpsId):
StaticLocalDataSet(sid_t(gpsId, GpsHyperion::DATASET_ID)) {
setAllVariablesReadOnly();
}
lp_var_t<double> latitude = lp_var_t<double>(sid.objectId,
GpsHyperion::LATITUDE, this);
lp_var_t<double> longitude = lp_var_t<double>(sid.objectId,
GpsHyperion::LONGITUDE, this);
lp_var_t<double> altitude = lp_var_t<double>(sid.objectId, GpsHyperion::ALTITUDE, this);
lp_var_t<uint8_t> fixMode = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::FIX_MODE, this);
lp_var_t<uint8_t> satInUse = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::SATS_IN_USE, this);
lp_var_t<uint16_t> year = lp_var_t<uint16_t>(sid.objectId, GpsHyperion::YEAR, this);
lp_var_t<uint8_t> month = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::MONTH, this);
lp_var_t<uint8_t> day = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::DAY, this);
lp_var_t<uint8_t> hours = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::HOURS, this);
lp_var_t<uint8_t> minutes = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::MINUTES, this);
lp_var_t<uint8_t> seconds = lp_var_t<uint8_t>(sid.objectId, GpsHyperion::SECONDS, this);
lp_var_t<uint32_t> unixSeconds = lp_var_t<uint32_t>(sid.objectId,
GpsHyperion::UNIX_SECONDS, this);
private:
friend class GPSHyperionHandler;
GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_ */

4
mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h
View File

@ -20,8 +20,8 @@ static constexpr size_t MAX_BUFFER_SIZE = 16;
static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
static const DeviceCommandId_t SETUP_MGM = 0x00;
static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x01;
static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x00;
static const DeviceCommandId_t SETUP_MGM = 0x01;
static const DeviceCommandId_t READ_TEMPERATURE = 0x02;
static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;