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

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This commit is contained in:
Robin Müller 2022-01-18 10:48:00 +01:00
commit a85800d86c
231 changed files with 30577 additions and 25619 deletions
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8
.clang-format Normal file
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@ -0,0 +1,8 @@
---
BasedOnStyle: Google
IndentWidth: 2
---
Language: Cpp
ColumnLimit: 100
ReflowComments: true
---

2
CMakeLists.txt
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@ -66,6 +66,7 @@ set(LIB_ARCSEC wire)
set(THIRD_PARTY_FOLDER thirdparty)
set(LIB_CXX_FS -lstdc++fs)
set(LIB_CATCH2 Catch2)
set(LIB_GPS gps)
set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
# Set path names
@ -221,6 +222,7 @@ if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG))
if(TGT_BSP MATCHES "arm/q7s")
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_ARCSEC}
${LIB_GPS}
)
endif()
endif()

3
Justfile
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@ -5,5 +5,8 @@ default: q7s-debug-make
q7s-debug-make:
{{python_script}} -o linux -g make -b debug -t "arm/q7s" -l build-Debug-Q7S
q7s-release-make:
{{python_script}} -o linux -g make -b release -t "arm/q7s" -l build-Release-Q7S
q7s-debug-ninja:
{{python_script}} -o linux -g ninja -b debug -t "arm/q7s" -l build-Debug-Q7S

65
README.md
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@ -11,14 +11,15 @@
4. [Useful and Common Host Commands](#host-commands)
5. [Setting up Prerequisites](#set-up-prereq)
6. [Remote Debugging](#remote-debugging)
7. [TMTC testing](#tmtc-testing)
8. [Direct Debugging](#direct-debugging)
9. [Transfering Files to the Q7S](#file-transfer)
10. [Q7S OBC](#q7s)
11. [Static Code Analysis](#static-code-analysis)
12. [Eclipse](#eclipse)
13. [Running the OBSW on a Raspberry Pi](#rpi)
14. [FSFW](#fsfw)
6. [Remote Reset](#remote-reset)
8. [TMTC testing](#tmtc-testing)
9. [Direct Debugging](#direct-debugging)
10. [Transfering Files to the Q7S](#file-transfer)
11. [Q7S OBC](#q7s)
12. [Static Code Analysis](#static-code-analysis)
13. [Eclipse](#eclipse)
14. [Running the OBSW on a Raspberry Pi](#rpi)
15. [FSFW](#fsfw)
# <a id="general"></a> General information
@ -535,10 +536,10 @@ ssh root@192.168.133.10
```
If this has not been done yet, you can access the serial
console of the Q7S like this to set it
console of the Q7S like this
```sh
picocom -b 115200 /dev/ttyUSB0
picocom -b 115200 /dev/q7sSerial
```
The flatsat has the aliases and shell scripts `q7s_ssh` and `q7s_serial` for this task as well.
@ -575,6 +576,29 @@ alias or shell script to do this quickly.
Note: When now setting up a debug session in the Xilinx SDK or Eclipse, the host must be set
to localhost instead of the IP address of the Q7S.
# <a id="remote-reset"></a> Remote Reset
1. Launch xilinx hardware server on flatsat with alias
````
launch-hwserver-xilinx
````
2. On host PC start xsc
3. In xsct console type the follwing command to connect to the hardware server (replace </flatsat-pc-ip-address/> with the IP address of the flatsat PC. Can be found out with ifconfig)
````
connect -url tcp:</flatsat-pc-ip-address/>:3121
````
4. The following command will list all available devices
````
targets
````
5. Connect to the APU of the Q7S
````
target </APU-number/>
````
6. Perform reset
````
rst
````
# <a id="tmtc-testing"></a> TMTC testing
The OBSW supports sending PUS TM packets via TCP or the PDEC IP Core which transmits the data as
@ -1021,26 +1045,7 @@ cat file.bin | hexdump -v -n X
## Preparation of a fresh rootfs and SD card
This section summarizes important changes between a fresh rootfs and the current
EIVE implementation
### rootfs
- Mount point `/mnt/sd0` created for SD card 0. Created with `mkdir`
- Mount point `/mnt/sd1` created for SD card 1. Created with `mkdir`
- Folder `scripts` in `/home/root` folder.
- `scripts` folder currently contains a few shell helper scripts
- Folder `profile.d` in `/etc` folder which contains the `path-set.sh` script
which is sourced at software startup
- Library `libwire.so` in `/usr/lib` folder
### SD Cards
- Folder `bin` for binaries, for example the OBSW
- Folder `misc` for miscellaneous files. Contains `ls` for directory listings
- Folder `tc` for telecommands
- Folder `tm` for telemetry
- Folder `xdi` for XDI components (e.g. for firmware or device tree updates)
See [q7s-package repository README](https://egit.irs.uni-stuttgart.de/eive/q7s-package)
# <a id="static-code-analysis"></a> Running cppcheck on the Software

11
apply-clang-format.sh Executable file
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@ -0,0 +1,11 @@
#!/bin/bash
if [[ ! -f README.md ]]; then
cd ..
fi
find ./mission -iname *.h o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
find ./linux -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
find ./bsp_q7s -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
find ./bsp_linux_board -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
find ./bsp_hosted -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
find ./test -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i

10
bsp_hosted/InitMission.cpp
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@ -1,20 +1,19 @@
#include "InitMission.h"
#include "ObjectFactory.h"
#include <OBSWConfig.h>
#include <fsfw/objectmanager/ObjectManager.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 <mission/utility/InitMission.h>
#include <iostream>
#include "ObjectFactory.h"
#ifdef LINUX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
@ -55,8 +54,7 @@ void initmission::initTasks() {
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
ReturnValue_t result = tmTcDistributor->addComponent(
objects::CCSDS_PACKET_DISTRIBUTOR);
ReturnValue_t result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}

2
bsp_hosted/InitMission.h
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@ -4,6 +4,6 @@
namespace initmission {
void initMission();
void initTasks();
};
}; // namespace initmission
#endif /* BSP_LINUX_INITMISSION_H_ */

13
bsp_hosted/ObjectFactory.cpp
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@ -1,14 +1,14 @@
#include "ObjectFactory.h"
#include "OBSWConfig.h"
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>
#include <objects/systemObjectList.h>
#include <tmtc/apid.h>
#include <tmtc/pusIds.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>
#include "OBSWConfig.h"
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
#include "fsfw/osal/common/UdpTcPollingTask.h"
@ -20,7 +20,6 @@
#include <fsfw/tmtcpacket/pus/tm.h>
#if OBSW_ADD_TEST_CODE == 1
#include <test/testtasks/TestTask.h>
#endif

3
bsp_hosted/ObjectFactory.h
View File

@ -1,10 +1,9 @@
#ifndef BSP_LINUX_OBJECTFACTORY_H_
#define BSP_LINUX_OBJECTFACTORY_H_
namespace ObjectFactory {
void setStatics();
void produce(void* args);
};
}; // namespace ObjectFactory
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */

3
bsp_hosted/boardconfig/gcov.h
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@ -7,7 +7,8 @@ extern "C" void __gcov_flush();
#else
void __gcov_flush() {
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
"coverage information is desired.\n" << std::flush;
"coverage information is desired.\n"
<< std::flush;
}
#endif

4
bsp_hosted/boardconfig/print.c
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@ -9,7 +9,3 @@ void printChar(const char* character, bool errStream) {
}
putc(*character, stdout);
}

101
bsp_hosted/comIF/ArduinoComIF.cpp
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@ -1,26 +1,25 @@
#include "ArduinoComIF.h"
#include "ArduinoCookie.h"
#include <fsfw/globalfunctions/DleEncoder.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/globalfunctions/DleEncoder.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include "ArduinoCookie.h"
// This only works on Linux
#ifdef LINUX
#include <termios.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
#elif WIN32
#include <windows.h>
#include <strsafe.h>
#include <windows.h>
#endif
#include <cstring>
ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF,
const char *serialDevice):
rxBuffer(MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true),
SystemObject(setObjectId) {
ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF, const char *serialDevice)
: rxBuffer(MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES * 10, true), SystemObject(setObjectId) {
#ifdef LINUX
initialized = false;
serialPort = ::open("/dev/ttyUSB0", O_RDWR);
@ -66,7 +65,6 @@ ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF,
sif::info << "Please enter the COM port (c to cancel): " << std::flush;
std::string comPort;
while (hCom == INVALID_HANDLE_VALUE) {
std::getline(std::cin, comPort);
if (comPort[0] == 'c') {
break;
@ -80,37 +78,29 @@ ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF,
0, // Non Overlapped I/O
NULL); // Null for Comm Devices
if (hCom == INVALID_HANDLE_VALUE)
{
if (hCom == INVALID_HANDLE_VALUE) {
if (GetLastError() == 2) {
sif::error << "COM Port does not found!" << std::endl;
}
else {
} else {
TCHAR err[128];
FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL,
GetLastError(),
MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
err, sizeof(err), NULL);
FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, GetLastError(),
MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), err, sizeof(err), NULL);
// Handle the error.
sif::info << "CreateFileA Error code: " << GetLastError()
<< std::endl;
sif::info << "CreateFileA Error code: " << GetLastError() << std::endl;
sif::error << err << std::flush;
}
sif::info << "Please enter a valid COM port: " << std::flush;
}
}
}
serialParams.DCBlength = sizeof(serialParams);
if (baudRate == 9600) {
serialParams.BaudRate = CBR_9600;
}
if (baudRate == 115200) {
serialParams.BaudRate = CBR_115200;
}
else {
} else {
serialParams.BaudRate = baudRate;
}
@ -143,29 +133,22 @@ ReturnValue_t ArduinoComIF::initializeInterface(CookieIF * cookie) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data,
size_t len) {
ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, size_t len) {
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
if (arduinoCookie == nullptr) {
return INVALID_COOKIE_TYPE;
}
return sendMessage(arduinoCookie->command, arduinoCookie->address, data,
len);
return sendMessage(arduinoCookie->command, arduinoCookie->address, data, len);
}
ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) {
ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { return RETURN_OK; }
ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
return RETURN_OK;
}
ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie,
size_t requestLen) {
return RETURN_OK;
}
ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) {
ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
handleSerialPortRx();
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
@ -178,8 +161,8 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
uint8_t address, const uint8_t *data, size_t dataLen) {
ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const uint8_t *data,
size_t dataLen) {
if (dataLen > UINT16_MAX) {
return TOO_MUCH_DATA;
}
@ -193,16 +176,15 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
size_t remainingLen = sizeof(sendBuffer) - 1;
size_t encodedLen = 0;
ReturnValue_t result = DleEncoder::encode(&command, 1, currentPosition,
remainingLen, &encodedLen, false);
ReturnValue_t result =
DleEncoder::encode(&command, 1, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen,
&encodedLen, false);
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
@ -215,8 +197,8 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
temporaryBuffer[0] = dataLen >> 8; // we checked dataLen above
temporaryBuffer[1] = dataLen;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
remainingLen, &encodedLen, false);
result =
DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
@ -224,8 +206,7 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
// encoding the actual data
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen,
&encodedLen, false);
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
@ -241,8 +222,8 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
temporaryBuffer[0] = crc >> 8;
temporaryBuffer[1] = crc;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
remainingLen, &encodedLen, false);
result =
DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
@ -279,8 +260,7 @@ void ArduinoComIF::handleSerialPortRx() {
uint8_t dataFromSerial[availableSpace];
ssize_t bytesRead = read(serialPort, dataFromSerial,
sizeof(dataFromSerial));
ssize_t bytesRead = read(serialPort, dataFromSerial, sizeof(dataFromSerial));
if (bytesRead < 0) {
return;
@ -292,13 +272,12 @@ void ArduinoComIF::handleSerialPortRx() {
uint32_t dataLenReceivedSoFar = 0;
rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true,
&dataLenReceivedSoFar);
rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true, &dataLenReceivedSoFar);
// look for STX
size_t firstSTXinRawData = 0;
while ((firstSTXinRawData < dataLenReceivedSoFar)
&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) {
while ((firstSTXinRawData < dataLenReceivedSoFar) &&
(dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) {
firstSTXinRawData++;
}
@ -313,10 +292,9 @@ void ArduinoComIF::handleSerialPortRx() {
size_t readSize = 0;
ReturnValue_t result = DleEncoder::decode(
dataReceivedSoFar + firstSTXinRawData,
dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet,
sizeof(packet), &packetLen);
ReturnValue_t result = DleEncoder::decode(dataReceivedSoFar + firstSTXinRawData,
dataLenReceivedSoFar - firstSTXinRawData, &readSize,
packet, sizeof(packet), &packetLen);
size_t toDelete = firstSTXinRawData;
if (result == HasReturnvaluesIF::RETURN_OK) {
@ -333,9 +311,7 @@ void ArduinoComIF::handleSerialPortRx() {
#endif
}
void ArduinoComIF::setBaudrate(uint32_t baudRate) {
this->baudRate = baudRate;
}
void ArduinoComIF::setBaudrate(uint32_t baudRate) { this->baudRate = baudRate; }
void ArduinoComIF::handlePacket(uint8_t *packet, size_t packetLen) {
uint16_t crc = CRC::crc16ccitt(packet, packetLen);
@ -368,8 +344,7 @@ void ArduinoComIF::handlePacket(uint8_t *packet, size_t packetLen) {
}
std::memcpy(cookie.replyBuffer.data(), packet + 4, packetLen - 6);
cookie.receivedDataLen = packetLen - 6;
}
break;
} break;
default:
return;
}

19
bsp_hosted/comIF/ArduinoComIF.h
View File

@ -4,8 +4,8 @@
#include <fsfw/container/FixedMap.h>
#include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <cstdint>
#include <map>
@ -17,8 +17,7 @@
// Forward declaration, so users don't peek
class ArduinoCookie;
class ArduinoComIF: public SystemObject,
public DeviceCommunicationIF {
class ArduinoComIF : public SystemObject, public DeviceCommunicationIF {
public:
static const uint8_t MAX_NUMBER_OF_SPI_DEVICES = 8;
static const uint8_t MAX_PACKET_SIZE = 64;
@ -34,13 +33,12 @@ public:
/** DeviceCommunicationIF overrides */
virtual ReturnValue_t initializeInterface(CookieIF *cookie) override;
virtual ReturnValue_t sendMessage(CookieIF *cookie,
const uint8_t * sendData, size_t sendLen) override;
virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData,
size_t sendLen) override;
virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) override;
virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
private:
#ifdef LINUX
@ -59,8 +57,7 @@ private:
SimpleRingBuffer rxBuffer;
ReturnValue_t sendMessage(uint8_t command, uint8_t address,
const uint8_t *data, size_t dataLen);
ReturnValue_t sendMessage(uint8_t command, uint8_t address, const uint8_t *data, size_t dataLen);
void handleSerialPortRx();
void handlePacket(uint8_t *packet, size_t packetLen);

12
bsp_hosted/comIF/ArduinoCookie.cpp
View File

@ -1,8 +1,8 @@
#include <bsp_hosted/comIF/ArduinoCookie.h>
ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address,
const size_t maxReplySize) :
protocol(protocol), command(protocol), address(address),
maxReplySize(maxReplySize), replyBuffer(maxReplySize) {
}
ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address, const size_t maxReplySize)
: protocol(protocol),
command(protocol),
address(address),
maxReplySize(maxReplySize),
replyBuffer(maxReplySize) {}

11
bsp_hosted/comIF/ArduinoCookie.h
View File

@ -2,18 +2,14 @@
#define MISSION_ARDUINO_ARDUINOCOOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <vector>
class ArduinoCookie : public CookieIF {
public:
enum Protocol_t: uint8_t {
INVALID,
SPI,
I2C
};
enum Protocol_t : uint8_t { INVALID, SPI, I2C };
ArduinoCookie(Protocol_t protocol, uint8_t address,
const size_t maxReplySize);
ArduinoCookie(Protocol_t protocol, uint8_t address, const size_t maxReplySize);
Protocol_t protocol;
uint8_t command;
@ -21,7 +17,6 @@ public:
std::vector<uint8_t> replyBuffer;
size_t receivedDataLen = 0;
size_t maxReplySize;
};
#endif /* MISSION_ARDUINO_ARDUINOCOOKIE_H_ */

3
bsp_hosted/fsfwconfig/devices/gpioIds.h
View File

@ -51,7 +51,4 @@ namespace gpioIds {
};
}
#endif /* FSFWCONFIG_DEVICES_GPIOIDS_H_ */

3
bsp_hosted/fsfwconfig/devices/powerSwitcherList.h
View File

@ -52,7 +52,6 @@ namespace pcduSwitches {
static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
static const uint8_t INIT_STATE_PLOC = OFF;
static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
}
} // namespace pcduSwitches
#endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */

5
bsp_hosted/fsfwconfig/events/subsystemIdRanges.h
View File

@ -2,6 +2,7 @@
#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#include <common/config/commonSubsystemIds.h>
#include <cstdint>
/**
@ -9,9 +10,7 @@
* Numbers 0-80 are reserved for FSFW Subsystem IDs (framework/events/)
*/
namespace SUBSYSTEM_ID {
enum: uint8_t {
SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END
};
enum : uint8_t { SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END };
}
#endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */

3
bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.cpp
View File

@ -1,4 +1,5 @@
#include "MissionMessageTypes.h"
#include <fsfw/ipc/CommandMessage.h>
void messagetypes::clearMissionMessage(CommandMessage* message) {
@ -7,5 +8,3 @@ void messagetypes::clearMissionMessage(CommandMessage* message) {
break;
}
}

2
bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.h
View File

@ -17,6 +17,6 @@ enum MESSAGE_TYPE {
};
void clearMissionMessage(CommandMessage* message);
}
} // namespace messagetypes
#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */

3
bsp_hosted/fsfwconfig/objects/systemObjectList.h
View File

@ -1,9 +1,10 @@
#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#include <cstdint>
#include <commonObjects.h>
#include <cstdint>
// The objects will be instantiated in the ID order
namespace objects {
enum sourceObjects : uint32_t {

4
bsp_hosted/fsfwconfig/returnvalues/classIds.h
View File

@ -1,9 +1,10 @@
#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
#define CONFIG_RETURNVALUES_CLASSIDS_H_
#include "commonClassIds.h"
#include <fsfw/returnvalues/FwClassIds.h>
#include "commonClassIds.h"
/**
* Source IDs starts at 73 for now
* Framework IDs for ReturnValues run from 0 to 56
@ -15,5 +16,4 @@ enum {
};
}
#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */

1
bsp_hosted/fsfwconfig/tmtc/apid.h
View File

@ -15,5 +15,4 @@ namespace apid {
static const uint16_t EIVE_OBSW = 0x65;
}
#endif /* FSFWCONFIG_TMTC_APID_H_ */

16
bsp_hosted/main.cpp
View File

@ -1,10 +1,9 @@
#include <iostream>
#include "InitMission.h"
#include "OBSWVersion.h"
#include "fsfw/FSFWVersion.h"
#include "fsfw/tasks/TaskFactory.h"
#include <iostream>
#ifdef WIN32
static const char* COMPILE_PRINTOUT = "Windows";
#elif LINUX
@ -17,13 +16,12 @@ static const char* COMPILE_PRINTOUT = "unknown OS";
* Linux and Windows.
* @return
*/
int main(void)
{
int main(void) {
std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl;
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION <<
"." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "." <<
FSFW_REVISION << "--" << std::endl;
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
<< SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "."
<< FSFW_REVISION << "--" << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
initmission::initMission();
@ -33,5 +31,3 @@ int main(void)
TaskFactory::delayTask(5000);
}
}

35
bsp_linux_board/InitMission.cpp
View File

@ -1,21 +1,21 @@
#include "InitMission.h"
#include "ObjectFactory.h"
#include "objects/systemObjectList.h"
#include "OBSWConfig.h"
#include "pollingsequence/pollingSequenceFactory.h"
#include <mission/utility/InitMission.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <mission/utility/InitMission.h>
#include <iostream>
#include "OBSWConfig.h"
#include "ObjectFactory.h"
#include "objects/systemObjectList.h"
#include "pollingsequence/pollingSequenceFactory.h"
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
@ -47,7 +47,6 @@ void initmission::initTasks() {
void (*missedDeadlineFunc)(void) = nullptr;
#endif
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
@ -93,8 +92,7 @@ void initmission::initTasks() {
for (const auto& task : taskVector) {
if (task != nullptr) {
task->startTask();
}
else {
} else {
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
}
}
@ -120,7 +118,8 @@ void initmission::initTasks() {
}
void initmission::createPusTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*>& taskVec) {
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
@ -182,19 +181,18 @@ void initmission::createPusTasks(TaskFactory& factory,
}
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("INT_ERR_RPRT",
objects::INTERNAL_ERROR_REPORTER);
initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
}
taskVec.push_back(pusLowPrio);
}
void initmission::createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
missedDeadlineFunc);
"SPI_PST", 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;
@ -235,13 +233,12 @@ void initmission::createTestTasks(TaskFactory& factory,
bool startTestPst = true;
static_cast<void>(startTestPst);
#if OBSW_ADD_TEST_PST == 1
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("TEST_PST", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
"TEST_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
result = pst::pstTest(pstTestTask);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
startTestPst = false;
}
#endif /* RPI_TEST_ACS_BOARD == 1 */
}

11
bsp_linux_board/InitMission.h
View File

@ -1,9 +1,10 @@
#ifndef BSP_LINUX_INITMISSION_H_
#define BSP_LINUX_INITMISSION_H_
#include "fsfw/tasks/Typedef.h"
#include <vector>
#include "fsfw/tasks/Typedef.h"
class PeriodicTaskIF;
class TaskFactory;
@ -11,14 +12,12 @@ namespace initmission {
void initMission();
void initTasks();
void createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
void createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
};
}; // namespace initmission
#endif /* BSP_LINUX_INITMISSION_H_ */

141
bsp_linux_board/ObjectFactory.cpp
View File

@ -1,47 +1,47 @@
#include <devConf.h>
#include "ObjectFactory.h"
#include "objects/systemObjectList.h"
#include <devConf.h>
#include <mission/devices/GPSHyperionHandler.h>
#include "OBSWConfig.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "OBSWConfig.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "linux/boardtest/LibgpiodTest.h"
#include "linux/boardtest/SpiTestClass.h"
#include "linux/boardtest/UartTestClass.h"
#include "mission/core/GenericFactory.h"
#include "mission/devices/GyroADIS1650XHandler.h"
#include "mission/utility/TmFunnel.h"
#include <mission/devices/GPSHyperionHandler.h>
#include "mission/devices/GyroADIS16507Handler.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tasks/TaskFactory.h"
#include "objects/systemObjectList.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"
/* UDP server includes */
#if OBSW_USE_TMTC_TCP_BRIDGE == 1
#include <fsfw/src/fsfw/osal/common/TcpTmTcBridge.h>
#include <fsfw/src/fsfw/osal/common/TcpTmTcServer.h>
#else
#include "fsfw/osal/common/UdpTmTcBridge.h"
#include "fsfw/osal/common/UdpTcPollingTask.h"
#include "fsfw/osal/common/UdpTmTcBridge.h"
#endif
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/rpi/GpioRPi.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include <fsfw_hal/linux/uart/UartComIF.h>
#include <fsfw_hal/linux/uart/UartCookie.h>
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/rpi/GpioRPi.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
@ -57,8 +57,6 @@ void Factory::setStaticFrameworkObjectIds() {
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
}
void ObjectFactory::produce(void* args) {
Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects();
@ -88,85 +86,93 @@ void ObjectFactory::produce(void* args){
gpioCookie = new GpioCookie();
}
// TODO: Missing pin for Gyro 2
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
"MGM_0_LIS3", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, "MGM_0_LIS3",
gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
"MGM_1_RM3100", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
"MGM_2_LIS3", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, "MGM_2_LIS3",
gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
"MGM_3_RM3100", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
"GYRO_1_L3G", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, "GYRO_1_L3G",
gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
"GYRO_2_ADIS", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN,
"GYRO_3_L3G", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN, "GYRO_3_L3G",
gpio::Direction::OUT, 1);
gpioIF->addGpios(gpioCookie);
spiDev = "/dev/spidev0.1";
spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie, 0);
auto mgmLis3Handler =
new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie, 0);
auto mgmRm3100Handler =
new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie, 0);
mgmLis3Handler =
new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie, 0);
mgmRm3100Handler =
new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
spiCookie =
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
spiCookie);
auto adisHandler =
new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
adisHandler->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, 0);
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, 0);
gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
gyroL3gHandler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
spiCookie =
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
spiCookie);
adisHandler =
new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
adisHandler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie, 0);
spiCookie =
new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler =
new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
gyroL3gHandler->setToGoToNormalMode(true);
@ -180,7 +186,6 @@ void ObjectFactory::produce(void* args){
}
void ObjectFactory::createTestTasks() {
new TestTask(objects::TEST_TASK);
#if RPI_ADD_SPI_TEST == 1
@ -217,20 +222,20 @@ void ObjectFactory::createTestTasks() {
spiDev = "/dev/spidev0.1";
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED,
nullptr, nullptr);
auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
spi::DEFAULT_ADIS16507_SPEED, nullptr, nullptr);
auto adisGyroHandler =
new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
adisGyroHandler->setStartUpImmediately();
#endif /* RPI_TEST_ADIS16507 == 1 */
#if RPI_TEST_GPS_HANDLER == 1
UartCookie* uartCookie = new UartCookie(objects::GPS0_HANDLER, "/dev/serial0",
UartModes::CANONICAL, 9600, 1024);
UartCookie* uartCookie =
new UartCookie(objects::GPS0_HANDLER, "/dev/serial0", UartModes::CANONICAL, 9600, 1024);
uartCookie->setToFlushInput(true);
uartCookie->setReadCycles(6);
GPSHyperionHandler* gpsHandler = new GPSHyperionHandler(objects::GPS0_HANDLER,
objects::UART_COM_IF, uartCookie, false);
GPSHyperionHandler* gpsHandler =
new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookie, false);
gpsHandler->setStartUpImmediately();
#endif
}

3
bsp_linux_board/ObjectFactory.h
View File

@ -1,12 +1,11 @@
#ifndef BSP_LINUX_OBJECTFACTORY_H_
#define BSP_LINUX_OBJECTFACTORY_H_
namespace ObjectFactory {
void setStatics();
void produce(void* args);
void createTestTasks();
};
}; // namespace ObjectFactory
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */

3
bsp_linux_board/boardconfig/gcov.h
View File

@ -7,7 +7,8 @@ extern "C" void __gcov_flush();
#else
void __gcov_flush() {
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
"coverage information is desired.\n" << std::flush;
"coverage information is desired.\n"
<< std::flush;
}
#endif

4
bsp_linux_board/boardconfig/print.c
View File

@ -8,7 +8,3 @@ void printChar(const char* character, bool errStream) {
}
putc(*character, stdout);
}

16
bsp_linux_board/main.cpp
View File

@ -1,12 +1,11 @@
#include <iostream>
#include "InitMission.h"
#include "OBSWConfig.h"
#include "OBSWVersion.h"
#include "fsfw/FSFWVersion.h"
#include "fsfw/tasks/TaskFactory.h"
#include <iostream>
#ifdef RASPBERRY_PI
static const char* const BOARD_NAME = "Raspberry Pi";
#elif defined(BEAGLEBONEBLACK)
@ -19,13 +18,12 @@ static const char* const BOARD_NAME = "Unknown Board";
* @brief This is the main program and entry point for the Raspberry Pi.
* @return
*/
int main(void)
{
int main(void) {
std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl;
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION <<
"." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION <<
FSFW_REVISION << "--" << std::endl;
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
<< SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << FSFW_REVISION
<< "--" << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
initmission::initMission();
@ -35,5 +33,3 @@ int main(void)
TaskFactory::delayTask(5000);
}
}

24
bsp_q7s/boardconfig/busConf.h
View File

@ -8,13 +8,11 @@ static constexpr char SPI_RW_DEV[] = "/dev/spidev3.0";
static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-1";
static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL3";
static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL4";
static constexpr char UART_SYRLINKS_DEV[] = "/dev/ttyUL5";
static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL8";
static constexpr char UART_GNSS_0_DEV[] = "/dev/ttyUL0";
static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL2";
static constexpr char UART_GNSS_DEV[] = "/dev/ttyUL0";
static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL2";
static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL3";
static constexpr char UART_SYRLINKS_DEV[] = "/dev/ttyUL4";
static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL7";
static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
@ -31,8 +29,10 @@ namespace gpioNames {
static constexpr char MGM_3_CS[] = "mgm_3_rm3100_chip_select";
static constexpr char RESET_GNSS_0[] = "reset_gnss_0";
static constexpr char RESET_GNSS_1[] = "reset_gnss_1";
static constexpr char GYRO_0_ENABLE[] = "gyro_0_enable";
static constexpr char GYRO_2_ENABLE[] = "gyro_2_enable";
static constexpr char GNSS_0_ENABLE[] = "enable_gnss_0";
static constexpr char GNSS_1_ENABLE[] = "enable_gnss_1";
static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0";
static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2";
static constexpr char HEATER_0[] = "heater0";
static constexpr char HEATER_1[] = "heater1";
static constexpr char HEATER_2[] = "heater2";
@ -54,7 +54,7 @@ namespace gpioNames {
static constexpr char EN_RW_2[] = "enable_rw_2";
static constexpr char EN_RW_3[] = "enable_rw_3";
static constexpr char EN_RW_4[] = "enable_rw_4";
static constexpr char SPI_MUX_SELECT[] = "spi_mux_select";
static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select";
static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";
@ -70,7 +70,7 @@ namespace gpioNames {
static constexpr char RS485_EN_RX_DATA[] = "rx_data_enable_ltc2872";
static constexpr char PDEC_RESET[] = "pdec_reset";
static constexpr char BIT_RATE_SEL[] = "bit_rate_sel";
}
}
} // namespace gpioNames
} // namespace q7s
#endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */

3
bsp_q7s/boardconfig/gcov.h
View File

@ -7,7 +7,8 @@ extern "C" void __gcov_flush();
#else
void __gcov_flush() {
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
"coverage information is desired.\n" << std::flush;
"coverage information is desired.\n"
<< std::flush;
}
#endif

4
bsp_q7s/boardconfig/print.c
View File

@ -8,7 +8,3 @@ void printChar(const char* character, bool errStream) {
}
putc(*character, stdout);
}

15
bsp_q7s/boardtest/FileSystemTest.cpp
View File

@ -1,13 +1,11 @@
#include "FileSystemTest.h"
#include <cstdlib>
#include <iostream>
#include "fsfw/timemanager/Stopwatch.h"
#include <iostream>
#include <cstdlib>
enum SdCard {
SDC0,
SDC1
};
enum SdCard { SDC0, SDC1 };
FileSystemTest::FileSystemTest() {
using namespace std;
@ -22,5 +20,4 @@ FileSystemTest::FileSystemTest() {
// stopwatch.stop(true);
}
FileSystemTest::~FileSystemTest() {
}
FileSystemTest::~FileSystemTest() {}

3
bsp_q7s/boardtest/FileSystemTest.h
View File

@ -5,9 +5,8 @@ class FileSystemTest {
public:
FileSystemTest();
virtual ~FileSystemTest();
private:
};
#endif /* BSP_Q7S_BOARDTEST_FILESYSTEMTEST_H_ */

123
bsp_q7s/boardtest/Q7STestTask.cpp
View File

@ -1,28 +1,37 @@
#include "Q7STestTask.h"
#include <bsp_q7s/core/CoreController.h>
#include <bsp_q7s/memory/FileSystemHandler.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include "Q7STestTask.h"
#include <gps.h>
#include <libgpsmm.h>
#include <cstdio>
#include <ctime>
#include <fstream>
#include <iomanip>
#include <iostream>
#include <nlohmann/json.hpp>
#include "bsp_q7s/memory/SdCardManager.h"
#include "bsp_q7s/memory/scratchApi.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "test/DummyParameter.h"
#include <nlohmann/json.hpp>
#include <iostream>
#include <fstream>
#include <cstdio>
Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
doTestSdCard = false;
doTestScratchApi = false;
doTestGps = false;
}
ReturnValue_t Q7STestTask::performOneShotAction() {
//testSdCard();
//testScratchApi();
if (doTestSdCard) {
testSdCard();
}
if (doTestScratchApi) {
testScratchApi();
}
// testJsonLibDirect();
// testDummyParams();
// testProtHandler();
@ -31,6 +40,13 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
return TestTask::performOneShotAction();
}
ReturnValue_t Q7STestTask::performPeriodicAction() {
if (doTestGps) {
testGpsDaemon();
}
return TestTask::performPeriodicAction();
}
void Q7STestTask::testSdCard() {
using namespace std;
Stopwatch stopwatch;
@ -47,8 +63,7 @@ void Q7STestTask::testSdCard() {
while (iss >> word) {
if (word == "on") {
sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl;
}
else if(word == "off") {
} else if (word == "off") {
sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl;
}
}
@ -118,7 +133,6 @@ void Q7STestTask::testDummyParams() {
ReturnValue_t result = param.readJsonFile();
if (result != HasReturnvaluesIF::RETURN_OK) {
}
param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
@ -127,8 +141,18 @@ void Q7STestTask::testDummyParams() {
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);
int test = 0;
result = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1, &test);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
<< " does not exist" << std::endl;
}
std::string test2;
result = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2, &test2);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
<< " does not exist" << std::endl;
}
sif::info << "Test value (3 expected): " << test << std::endl;
sif::info << "Test value 2 (\"blirb\" expected): " << test2 << std::endl;
}
@ -136,8 +160,8 @@ void Q7STestTask::testDummyParams() {
ReturnValue_t Q7STestTask::initialize() {
coreController = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
if (coreController == nullptr) {
sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object" <<
std::endl;
sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object"
<< std::endl;
}
return TestTask::initialize();
}
@ -147,16 +171,14 @@ void Q7STestTask::testProtHandler() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// If any chips are unlocked, lock them here
result = coreController->setBootCopyProtection(
CoreController::Chip::ALL_CHIP, CoreController::Copy::ALL_COPY, true,
opPerformed, true);
CoreController::Chip::ALL_CHIP, CoreController::Copy::ALL_COPY, true, opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
// unlock own copy
result = coreController->setBootCopyProtection(
CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, false,
opPerformed, true);
CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, false, opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
@ -170,8 +192,7 @@ void Q7STestTask::testProtHandler() {
// lock own copy
result = coreController->setBootCopyProtection(
CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, true,
opPerformed, true);
CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, true, opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
@ -185,8 +206,7 @@ void Q7STestTask::testProtHandler() {
// unlock specific copy
result = coreController->setBootCopyProtection(
CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, false,
opPerformed, true);
CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, false, opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
@ -200,8 +220,7 @@ void Q7STestTask::testProtHandler() {
// lock specific copy
result = coreController->setBootCopyProtection(
CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, true,
opPerformed, true);
CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, true, opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
@ -214,9 +233,28 @@ void Q7STestTask::testProtHandler() {
}
}
void Q7STestTask::testGpsDaemon() {
gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
gps_data_t* gps;
gps = gpsmm.read();
if (gps == nullptr) {
sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
}
sif::info << "-- Q7STestTask: GPS shared memory read test --" << std::endl;
time_t timeRaw = gps->fix.time.tv_sec;
std::tm* time = gmtime(&timeRaw);
sif::info << "Time: " << std::put_time(time, "%c %Z") << std::endl;
sif::info << "Visible satellites: " << gps->satellites_visible << std::endl;
sif::info << "Satellites used: " << gps->satellites_used << std::endl;
sif::info << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
sif::info << "Latitude: " << gps->fix.latitude << std::endl;
sif::info << "Longitude: " << gps->fix.longitude << std::endl;
sif::info << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
}
void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
auto fsHandler = ObjectManager::instance()->
get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
if (fsHandler == nullptr) {
sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
<< std::endl;
@ -245,7 +283,6 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
return result;
};
switch (opCode) {
case (FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
// No mount prefix, cause file is created in tmp
@ -267,8 +304,7 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "File removed successfully" << std::endl;
}
else {
} else {
sif::warning << "File removal failed!" << std::endl;
}
break;
@ -281,8 +317,7 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg);
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory created successfully" << std::endl;
}
else {
} else {
sif::warning << "Directory creation failed!" << std::endl;
}
break;
@ -292,16 +327,14 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
cfg.useMountPrefix = false;
if (not std::filesystem::exists("/tmp/test")) {
result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
}
else {
} 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 {
} else {
sif::warning << "Directory removal failed!" << std::endl;
}
break;
@ -314,8 +347,7 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg);
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed recursively successfully" << std::endl;
}
else {
} else {
sif::warning << "Recursive directory removal failed!" << std::endl;
}
break;
@ -328,8 +360,7 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removal attempt failed as expected" << std::endl;
}
else {
} else {
sif::warning << "Directory removal worked when it should not have!" << std::endl;
}
break;
@ -359,8 +390,8 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
std::string content = "Hello World\n";
// Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>(
content.data()), content.size(), 0, &cfg);
fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>(content.data()),
content.size(), 0, &cfg);
}
}
}

11
bsp_q7s/boardtest/Q7STestTask.h
View File

@ -3,14 +3,24 @@
#include "test/testtasks/TestTask.h"
class CoreController;
class Q7STestTask : public TestTask {
public:
Q7STestTask(object_id_t objectId);
ReturnValue_t initialize() override;
private:
bool doTestSdCard = false;
bool doTestScratchApi = false;
bool doTestGps = false;
CoreController* coreController = nullptr;
ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
void testGpsDaemon();
void testSdCard();
void fileTests();
@ -33,5 +43,4 @@ private:
void testFileSystemHandlerDirect(FsOpCodes opCode);
};
#endif /* BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ */

5
bsp_q7s/callbacks/gnssCallback.cpp
View File

@ -1,6 +1,6 @@
#include "gnssCallback.h"
#include "devices/gpioIds.h"
#include "devices/gpioIds.h"
#include "fsfw/tasks/TaskFactory.h"
ReturnValue_t gps::triggerGpioResetPin(void* args) {
@ -15,8 +15,7 @@ ReturnValue_t gps::triggerGpioResetPin(void *args) {
if (resetArgs->gnss1) {
gpioId = gpioIds::GNSS_1_NRESET;
}
else {
} else {
gpioId = gpioIds::GNSS_0_NRESET;
}
resetArgs->gpioComIF->pullLow(gpioId);

2
bsp_q7s/callbacks/gnssCallback.h
View File

@ -1,8 +1,8 @@
#ifndef BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
#define BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
struct ResetArgs {
bool gnss1 = false;

40
bsp_q7s/callbacks/rwSpiCallback.cpp
View File

@ -1,22 +1,20 @@
#include "rwSpiCallback.h"
#include "devices/gpioIds.h"
#include "mission/devices/RwHandler.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "devices/gpioIds.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "mission/devices/RwHandler.h"
namespace rwSpiCallback {
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
size_t sendLen, void* args) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
RwHandler* handler = reinterpret_cast<RwHandler*>(args);
if (handler == nullptr) {
sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid"
<< std::endl;
sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -51,11 +49,6 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
return result;
}
/** Disconnect PS SPI peripheral and select AXI SPI core */
if(gpioIF->pullHigh(gpioIds::SPI_MUX) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull spi mux gpio high" << std::endl;
}
/** Sending frame start sign */
writeBuffer[0] = 0x7E;
writeSize = 1;
@ -158,7 +151,6 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
size_t decodedFrameLen = 0;
while (decodedFrameLen < replyBufferSize) {
/** First byte already read in */
if (decodedFrameLen != 0) {
byteRead = 0;
@ -172,8 +164,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
if (byteRead == FLAG_BYTE) {
/** Reached end of frame */
break;
}
else if (byteRead == 0x7D) {
} else if (byteRead == 0x7D) {
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
@ -183,20 +174,17 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
*(rxBuf + decodedFrameLen) = 0x7E;
decodedFrameLen++;
continue;
}
else if (byteRead == 0x5D) {
} else if (byteRead == 0x5D) {
*(rxBuf + decodedFrameLen) = 0x7D;
decodedFrameLen++;
continue;
}
else {
} else {
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
result = RwHandler::INVALID_SUBSTITUTE;
break;
}
}
else {
} else {
*(rxBuf + decodedFrameLen) = byteRead;
decodedFrameLen++;
continue;
@ -237,12 +225,8 @@ void closeSpi (gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
}
}
if (mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;;
}
/** Route SPI interface again to PS SPI peripheral */
if(gpioIF->pullLow(gpioIds::SPI_MUX) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull spi mux gpio low" << std::endl;
}
sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;
;
}
}
} // namespace rwSpiCallback

5
bsp_q7s/callbacks/rwSpiCallback.h
View File

@ -2,9 +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"
namespace rwSpiCallback {
@ -43,5 +42,5 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
*/
void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
}
} // namespace rwSpiCallback
#endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */

362
bsp_q7s/core/CoreController.cpp
View File

@ -1,36 +1,35 @@
#include "CoreController.h"
#include "OBSWConfig.h"
#include "OBSWVersion.h"
#include "watchdogConf.h"
#include "fsfw/FSFWVersion.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "watchdogConf.h"
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
#include "fsfw/osal/common/UdpTmTcBridge.h"
#else
#include "fsfw/osal/common/TcpTmTcServer.h"
#endif
#include "bsp_q7s/memory/scratchApi.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include <fcntl.h>
#include <unistd.h>
#include <filesystem>
#include "bsp_q7s/memory/SdCardManager.h"
#include "bsp_q7s/memory/scratchApi.h"
CoreController::Chip CoreController::CURRENT_CHIP = Chip::NO_CHIP;
CoreController::Copy CoreController::CURRENT_COPY = Copy::NO_COPY;
CoreController::CoreController(object_id_t objectId):
ExtendedControllerBase(objectId, objects::NO_OBJECT, 5), opDivider(5) {
CoreController::CoreController(object_id_t objectId)
: ExtendedControllerBase(objectId, objects::NO_OBJECT, 5), opDivider(5) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
try {
result = initWatchdogFifo();
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::CoreController: Watchdog FIFO init failed" <<
std::endl;
sif::warning << "CoreController::CoreController: Watchdog FIFO init failed" << std::endl;
}
sdcMan = SdCardManager::instance();
if (sdcMan == nullptr) {
@ -46,10 +45,8 @@ CoreController::CoreController(object_id_t objectId):
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::CoreController: Boot copy init" << std::endl;
}
}
catch(const std::filesystem::filesystem_error& e) {
sif::error << "CoreController::CoreController: Failed with exception " <<
e.what() << std::endl;
} catch (const std::filesystem::filesystem_error &e) {
sif::error << "CoreController::CoreController: Failed with exception " << e.what() << std::endl;
}
}
@ -67,9 +64,7 @@ ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &local
return HasReturnvaluesIF::RETURN_OK;
}
LocalPoolDataSetBase* CoreController::getDataSetHandle(sid_t sid) {
return nullptr;
}
LocalPoolDataSetBase *CoreController::getDataSetHandle(sid_t sid) { return nullptr; }
ReturnValue_t CoreController::initialize() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
@ -77,7 +72,8 @@ ReturnValue_t CoreController::initialize() {
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;
"count failed"
<< std::endl;
}
sdStateMachine();
@ -115,8 +111,7 @@ ReturnValue_t CoreController::initSdCardBlocking() {
// Create update status file
ReturnValue_t result = sdcMan->updateSdCardStateFile();
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Updating SD card state file failed"
<< std::endl;
sif::warning << "CoreController::initialize: Updating SD card state file failed" << std::endl;
}
#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
sif::info << "No SD card initialization will be performed" << std::endl;
@ -131,8 +126,8 @@ ReturnValue_t CoreController::initSdCardBlocking() {
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
determinePreferredSdCard();
updateSdInfoOther();
sif::info << "Cold redundant SD card configuration, preferred SD card: " <<
static_cast<int>(sdInfo.pref) << std::endl;
sif::info << "Cold redundant SD card configuration, preferred SD card: "
<< static_cast<int>(sdInfo.pref) << std::endl;
result = sdColdRedundantBlockingInit();
// Update status file
sdcMan->updateSdCardStateFile();
@ -147,7 +142,6 @@ ReturnValue_t CoreController::initSdCardBlocking() {
#endif
#endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
}
ReturnValue_t CoreController::sdStateMachine() {
@ -165,8 +159,7 @@ ReturnValue_t CoreController::sdStateMachine() {
sdInfo.state = SdStates::IDLE;
sdInfo.initFinished = true;
return result;
}
else {
} else {
// Still update SD state file
#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
sdInfo.state = SdStates::UPDATE_INFO;
@ -180,18 +173,17 @@ ReturnValue_t CoreController::sdStateMachine() {
// This lambda checks the non-blocking operation and assigns the new state on success.
// It returns true for an operation success and false otherwise
auto nonBlockingOpChecking = [&](SdStates newStateOnSuccess,
uint16_t maxCycleCount, std::string opPrintout) {
auto nonBlockingOpChecking = [&](SdStates newStateOnSuccess, uint16_t maxCycleCount,
std::string opPrintout) {
SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
if (status == SdCardManager::OpStatus::SUCCESS) {
sdInfo.state = newStateOnSuccess;
sdInfo.commandExecuted = false;
sdInfo.cycleCount = 0;
return true;
}
else if(sdInfo.cycleCount > 4) {
sif::warning << "CoreController::sdInitStateMachine: " << opPrintout <<
" takes too long" << std::endl;
} else if (sdInfo.cycleCount > 4) {
sif::warning << "CoreController::sdInitStateMachine: " << opPrintout << " takes too long"
<< std::endl;
return false;
}
return false;
@ -206,8 +198,7 @@ ReturnValue_t CoreController::sdStateMachine() {
<< std::endl;
}
sdInfo.commandExecuted = true;
}
else {
} else {
nonBlockingOpChecking(SdStates::SET_STATE_SELF, 4, "Updating SDC file");
}
}
@ -225,32 +216,28 @@ ReturnValue_t CoreController::sdStateMachine() {
sif::warning << "Getting SD card activity status failed" << std::endl;
}
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
sif::info << "Cold redundant SD card configuration, preferred SD card: " <<
static_cast<int>(sdInfo.pref) << std::endl;
sif::info << "Cold redundant SD card configuration, preferred SD card: "
<< static_cast<int>(sdInfo.pref) << std::endl;
#endif
if (sdInfo.prefState == sd::SdState::MOUNTED) {
#if OBSW_VERBOSE_LEVEL >= 1
std::string mountString;
if (sdInfo.pref == sd::SdCard::SLOT_0) {
mountString = SdCardManager::SD_0_MOUNT_POINT;
}
else {
} else {
mountString = SdCardManager::SD_1_MOUNT_POINT;
}
sif::info << "SD card " << sdInfo.prefChar << " already on and mounted at " <<
mountString << std::endl;
sif::info << "SD card " << sdInfo.prefChar << " already on and mounted at " << mountString
<< std::endl;
#endif
sdInfo.state = SdStates::DETERMINE_OTHER;
}
else if(sdInfo.prefState == sd::SdState::OFF) {
} else if (sdInfo.prefState == sd::SdState::OFF) {
sdCardSetup(sdInfo.pref, sd::SdState::ON, sdInfo.prefChar, false);
sdInfo.commandExecuted = true;
}
else if(sdInfo.prefState == sd::SdState::ON) {
} else if (sdInfo.prefState == sd::SdState::ON) {
sdInfo.state = SdStates::MOUNT_SELF;
}
}
else {
} else {
if (nonBlockingOpChecking(SdStates::MOUNT_SELF, 10, "Setting SDC state")) {
sdInfo.prefState = sd::SdState::ON;
currentStateSetter(sdInfo.pref, sd::SdState::ON);
@ -262,8 +249,7 @@ ReturnValue_t CoreController::sdStateMachine() {
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
sdInfo.commandExecuted = true;
}
else {
} else {
if (nonBlockingOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card")) {
sdInfo.prefState = sd::SdState::MOUNTED;
currentStateSetter(sdInfo.pref, sd::SdState::MOUNTED);
@ -278,22 +264,18 @@ ReturnValue_t CoreController::sdStateMachine() {
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
if (sdInfo.otherState == sd::SdState::ON) {
sdInfo.state = SdStates::SET_STATE_OTHER;
}
else if(sdInfo.otherState == sd::SdState::MOUNTED) {
} else if (sdInfo.otherState == sd::SdState::MOUNTED) {
sdInfo.state = SdStates::MOUNT_UNMOUNT_OTHER;
}
else {
} else {
// Is already off, update info, but with a small delay
sdInfo.state = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
}
#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
if (sdInfo.otherState == sd::SdState::OFF) {
sdInfo.state = SdStates::SET_STATE_OTHER;
}
else if(sdInfo.otherState == sd::SdState::ON) {
} else if (sdInfo.otherState == sd::SdState::ON) {
sdInfo.state = SdStates::MOUNT_UNMOUNT_OTHER;
}
else {
} else {
// Is already on and mounted, update info
sdInfo.state = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
}
@ -306,8 +288,7 @@ ReturnValue_t CoreController::sdStateMachine() {
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::OFF, sdInfo.otherChar, false);
sdInfo.commandExecuted = true;
}
else {
} else {
if (nonBlockingOpChecking(SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE, 10,
"Switching off other SD card")) {
sdInfo.otherState = sd::SdState::OFF;
@ -318,10 +299,8 @@ ReturnValue_t CoreController::sdStateMachine() {
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar, false);
sdInfo.commandExecuted = true;
}
else {
if(nonBlockingOpChecking(SdStates::MOUNT_UNMOUNT_OTHER, 10,
"Switching on other SD card")) {
} else {
if (nonBlockingOpChecking(SdStates::MOUNT_UNMOUNT_OTHER, 10, "Switching on other SD card")) {
sdInfo.otherState = sd::SdState::ON;
currentStateSetter(sdInfo.other, sd::SdState::ON);
}
@ -335,8 +314,7 @@ ReturnValue_t CoreController::sdStateMachine() {
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar);
sdInfo.commandExecuted = true;
}
else {
} else {
if (nonBlockingOpChecking(SdStates::SET_STATE_OTHER, 10, "Unmounting other SD card")) {
sdInfo.otherState = sd::SdState::ON;
currentStateSetter(sdInfo.other, sd::SdState::ON);
@ -346,8 +324,7 @@ ReturnValue_t CoreController::sdStateMachine() {
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::MOUNTED, sdInfo.otherChar);
sdInfo.commandExecuted = true;
}
else {
} else {
if (nonBlockingOpChecking(SdStates::UPDATE_INFO, 4, "Mounting other SD card")) {
sdInfo.otherState = sd::SdState::MOUNTED;
currentStateSetter(sdInfo.other, sd::SdState::MOUNTED);
@ -358,8 +335,7 @@ ReturnValue_t CoreController::sdStateMachine() {
if (sdInfo.state == SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE) {
sdInfo.state = SdStates::UPDATE_INFO;
}
else if(sdInfo.state == SdStates::UPDATE_INFO) {
} else if (sdInfo.state == SdStates::UPDATE_INFO) {
// It is assumed that all tasks are running by the point this section is reached.
// Therefore, perform this operation in blocking mode because it does not take long
// and the ready state of the SD card is available sooner
@ -367,8 +343,7 @@ ReturnValue_t CoreController::sdStateMachine() {
// Update status file
result = sdcMan->updateSdCardStateFile();
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Updating SD card state file failed"
<< std::endl;
sif::warning << "CoreController::initialize: Updating SD card state file failed" << std::endl;
}
sdInfo.commandExecuted = false;
sdInfo.state = SdStates::IDLE;
@ -385,8 +360,7 @@ ReturnValue_t CoreController::sdStateMachine() {
if (sdInfo.state == SdStates::SET_STATE_FROM_COMMAND) {
if (not sdInfo.commandExecuted) {
executeNextExternalSdCommand();
}
else {
} else {
checkExternalSdCommandStatus();
}
}
@ -401,44 +375,36 @@ void CoreController::executeNextExternalSdCommand() {
if (sdInfo.commandedCard == sd::SdCard::SLOT_0) {
sdChar = "0";
currentStateOfCard = sdInfo.currentState.first;
}
else {
} else {
sdChar = "1";
currentStateOfCard = sdInfo.currentState.second;
}
if (currentStateOfCard == sd::SdState::OFF) {
if (sdInfo.commandedState == sd::SdState::ON) {
sdInfo.currentlyCommandedState = sdInfo.commandedState;
}
else if(sdInfo.commandedState == sd::SdState::MOUNTED) {
} else if (sdInfo.commandedState == sd::SdState::MOUNTED) {
sdInfo.currentlyCommandedState = sd::SdState::ON;
}
else {
} else {
// SD card is already on target state
sdInfo.commandFinished = true;
sdInfo.state = SdStates::IDLE;
}
}
else if(currentStateOfCard == sd::SdState::ON) {
} else if (currentStateOfCard == sd::SdState::ON) {
if (sdInfo.commandedState == sd::SdState::OFF or
sdInfo.commandedState == sd::SdState::MOUNTED) {
sdInfo.currentlyCommandedState = sdInfo.commandedState;
}
else {
} else {
// Already on target state
sdInfo.commandFinished = true;
sdInfo.state = SdStates::IDLE;
}
}
else if(currentStateOfCard == sd::SdState::MOUNTED) {
} else if (currentStateOfCard == sd::SdState::MOUNTED) {
if (sdInfo.commandedState == sd::SdState::ON) {
sdInfo.currentlyCommandedState = sdInfo.commandedState;
}
else if(sdInfo.commandedState == sd::SdState::OFF) {
} else if (sdInfo.commandedState == sd::SdState::OFF) {
// This causes an unmount in sdCardSetup
sdInfo.currentlyCommandedState = sd::SdState::ON;
}
else {
} else {
sdInfo.commandFinished = true;
}
}
@ -453,25 +419,23 @@ void CoreController::checkExternalSdCommandStatus() {
if (sdInfo.currentlyCommandedState == sdInfo.commandedState) {
sdInfo.state = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
sdInfo.commandFinished = true;
}
else {
} else {
// stay on same state machine state because the target state was not reached yet.
sdInfo.cycleCount = 0;
}
currentStateSetter(sdInfo.commandedCard, sdInfo.currentlyCommandedState);
sdInfo.commandExecuted = false;
}
else if(sdInfo.cycleCount > 4) {
} else if (sdInfo.cycleCount > 4) {
sif::warning << "CoreController::sdStateMachine: Commanding SD state "
"takes too long" << std::endl;
"takes too long"
<< std::endl;
}
}
void CoreController::currentStateSetter(sd::SdCard sdCard, sd::SdState newState) {
if (sdCard == sd::SdCard::SLOT_0) {
sdInfo.currentState.first = newState;
}
else {
} else {
sdInfo.currentState.second = newState;
}
}
@ -482,46 +446,41 @@ ReturnValue_t CoreController::sdCardSetup(sd::SdCard sdCard, sd::SdState targetS
sdcMan->setPrintCommandOutput(printOutput);
if (sdCard == sd::SdCard::SLOT_0) {
mountString = SdCardManager::SD_0_MOUNT_POINT;
}
else {
} else {
mountString = SdCardManager::SD_1_MOUNT_POINT;
}
sd::SdState state = sd::SdState::OFF;
if (sdCard == sd::SdCard::SLOT_0) {
state = sdInfo.currentState.first;
}
else {
} else {
state = sdInfo.currentState.second;
}
if (state == sd::SdState::MOUNTED) {
if (targetState == sd::SdState::OFF) {
sif::info << "Switching off SD card " << sdChar << std::endl;
return sdcMan->switchOffSdCard(sdCard, true, &sdInfo.currentState);
}
else if(targetState == sd::SdState::ON) {
} else if (targetState == sd::SdState::ON) {
sif::info << "Unmounting SD card " << sdChar << std::endl;
return sdcMan->unmountSdCard(sdCard);
}
else {
} else {
if (std::filesystem::exists(mountString)) {
sif::info << "SD card " << sdChar << " already on and mounted at " <<
mountString << std::endl;
sif::info << "SD card " << sdChar << " already on and mounted at " << mountString
<< std::endl;
return SdCardManager::ALREADY_MOUNTED;
}
sif::error << "SD card mounted but expected mount point " <<
mountString << " not found!" << std::endl;
sif::error << "SD card mounted but expected mount point " << mountString << " not found!"
<< std::endl;
return SdCardManager::MOUNT_ERROR;
}
}
if (state == sd::SdState::OFF) {
if (targetState == sd::SdState::MOUNTED) {
sif::info << "Switching on and mounting SD card " << sdChar << " at " <<
mountString << std::endl;
sif::info << "Switching on and mounting SD card " << sdChar << " at " << mountString
<< std::endl;
return sdcMan->switchOnSdCard(sdCard, true, &sdInfo.currentState);
}
else if(targetState == sd::SdState::ON) {
} else if (targetState == sd::SdState::ON) {
sif::info << "Switching on SD card " << sdChar << std::endl;
return sdcMan->switchOnSdCard(sdCard, false, &sdInfo.currentState);
}
@ -531,19 +490,16 @@ ReturnValue_t CoreController::sdCardSetup(sd::SdCard sdCard, sd::SdState targetS
if (targetState == sd::SdState::MOUNTED) {
sif::info << "Mounting SD card " << sdChar << " at " << mountString << std::endl;
return sdcMan->mountSdCard(sdCard);
}
else if(targetState == sd::SdState::OFF) {
} else if (targetState == sd::SdState::OFF) {
sif::info << "Switching off SD card " << sdChar << std::endl;
return sdcMan->switchOffSdCard(sdCard, false, &sdInfo.currentState);
}
}
else {
} else {
sif::warning << "CoreController::sdCardSetup: Invalid state for this call" << std::endl;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch (actionId) {
@ -564,8 +520,8 @@ ReturnValue_t CoreController::sdColdRedundantBlockingInit() {
result = sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
if (result != SdCardManager::ALREADY_MOUNTED and result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Setting up preferred card " << sdInfo.otherChar <<
" in cold redundant mode failed" << std::endl;
sif::warning << "Setting up preferred card " << sdInfo.otherChar
<< " in cold redundant mode failed" << std::endl;
// Try other SD card and mark set up operation as failed
sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
result = HasReturnvaluesIF::RETURN_FAILED;
@ -575,11 +531,11 @@ ReturnValue_t CoreController::sdColdRedundantBlockingInit() {
sif::info << "Switching off secondary SD card " << sdInfo.otherChar << std::endl;
// Switch off other SD card in cold redundant mode if setting up preferred one worked
// without issues
ReturnValue_t result2 = sdcMan->switchOffSdCard(sdInfo.other,
sdInfo.otherState, &sdInfo.currentState);
ReturnValue_t result2 =
sdcMan->switchOffSdCard(sdInfo.other, sdInfo.otherState, &sdInfo.currentState);
if (result2 != HasReturnvaluesIF::RETURN_OK and result2 != SdCardManager::ALREADY_OFF) {
sif::warning << "Switching off secondary SD card " << sdInfo.otherChar <<
" in cold redundant mode failed" << std::endl;
sif::warning << "Switching off secondary SD card " << sdInfo.otherChar
<< " in cold redundant mode failed" << std::endl;
}
}
return result;
@ -596,7 +552,6 @@ ReturnValue_t CoreController::incrementAllocationFailureCount() {
}
ReturnValue_t CoreController::initVersionFile() {
std::string unameFileName = "/tmp/uname_version.txt";
// TODO: No -v flag for now. If the kernel version is used, need to cut off first few letters
std::string unameCmd = "uname -mnrso > " + unameFileName;
@ -607,14 +562,15 @@ ReturnValue_t CoreController::initVersionFile() {
std::ifstream unameFile(unameFileName);
std::string unameLine;
if (not std::getline(unameFile, unameLine)) {
sif::warning << "CoreController::versionFileInit: Retrieving uname line failed"
<< std::endl;
sif::warning << "CoreController::versionFileInit: Retrieving uname line failed" << std::endl;
}
std::string fullObswVersionString = "OBSW: v" + std::to_string(SW_VERSION) + "." +
std::to_string(SW_SUBVERSION) + "." + std::to_string(SW_REVISION);
std::to_string(SW_SUBVERSION) + "." +
std::to_string(SW_REVISION);
std::string fullFsfwVersionString = "FSFW: v" + std::to_string(FSFW_VERSION) + "." +
std::to_string(FSFW_SUBVERSION) + "." + std::to_string(FSFW_REVISION);
std::to_string(FSFW_SUBVERSION) + "." +
std::to_string(FSFW_REVISION);
std::string systemString = "System: " + unameLine;
std::string mountPrefix = SdCardManager::instance()->getCurrentMountPrefix();
std::string versionFilePath = mountPrefix + VERSION_FILE;
@ -638,28 +594,25 @@ ReturnValue_t CoreController::initVersionFile() {
if (idx == 0) {
if (currentVersionString != fullObswVersionString) {
sif::info << "OBSW version changed" << std::endl;
sif::info << "From " << currentVersionString << " to " <<
fullObswVersionString << std::endl;
sif::info << "From " << currentVersionString << " to " << fullObswVersionString
<< std::endl;
createNewFile = true;
}
}
else if(idx == 1) {
} else if (idx == 1) {
if (currentVersionString != fullFsfwVersionString) {
sif::info << "FSFW version changed" << std::endl;
sif::info << "From " << currentVersionString << " to " <<
fullFsfwVersionString << std::endl;
sif::info << "From " << currentVersionString << " to " << fullFsfwVersionString
<< std::endl;
createNewFile = true;
}
}
else if(idx == 2) {
} else if (idx == 2) {
if (currentVersionString != systemString) {
sif::info << "System version changed" << std::endl;
sif::info << "Old: " << currentVersionString << std::endl;
sif::info << "New: " << systemString << std::endl;
createNewFile = true;
}
}
else {
} else {
sif::warning << "Invalid version file! Rewriting it.." << std::endl;
createNewFile = true;
}
@ -680,7 +633,8 @@ ReturnValue_t CoreController::initVersionFile() {
}
ReturnValue_t CoreController::actionListDirectoryIntoFile(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
// 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
@ -764,8 +718,8 @@ void CoreController::getCurrentBootCopy(Chip &chip, Copy &copy) {
ReturnValue_t CoreController::initWatchdogFifo() {
if (not std::filesystem::exists(watchdog::FIFO_NAME)) {
// Still return RETURN_OK for now
sif::info << "Watchdog FIFO " << watchdog::FIFO_NAME << " does not exist, can't initiate" <<
" watchdog" << std::endl;
sif::info << "Watchdog FIFO " << watchdog::FIFO_NAME << " does not exist, can't initiate"
<< " watchdog" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
// Open FIFO write only and non-blocking to prevent SW from killing itself.
@ -774,10 +728,9 @@ ReturnValue_t CoreController::initWatchdogFifo() {
if (errno == ENXIO) {
watchdogFifoFd = RETRY_FIFO_OPEN;
sif::info << "eive-watchdog not running. FIFO can not be opened" << std::endl;
}
else {
sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with " <<
errno << ": " << strerror(errno) << std::endl;
} else {
sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with " << errno
<< ": " << strerror(errno) << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
@ -806,8 +759,8 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_0);
SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_1);
// If any boot copies are unprotected
ReturnValue_t retval = setBootCopyProtection(Chip::SELF_CHIP, Copy::SELF_COPY,
true, protOpPerformed, false);
ReturnValue_t retval =
setBootCopyProtection(Chip::SELF_CHIP, Copy::SELF_COPY, true, protOpPerformed, false);
if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
sif::info << "Running slot was writeprotected before reboot" << std::endl;
}
@ -822,22 +775,22 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
return HasActionsIF::INVALID_PARAMETERS;
}
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "CoreController::actionPerformReboot: Rebooting on " <<
static_cast<int>(data[1]) << " " << static_cast<int>(data[2]) << std::endl;
sif::info << "CoreController::actionPerformReboot: Rebooting on " << static_cast<int>(data[1])
<< " " << static_cast<int>(data[2]) << std::endl;
#endif
// Check that the target chip and copy is writeprotected first
generateChipStateFile();
// If any boot copies are unprotected, protect them here
ReturnValue_t retval = setBootCopyProtection(static_cast<Chip>(data[1]),
static_cast<Copy>(data[2]), true, protOpPerformed, false);
ReturnValue_t retval = setBootCopyProtection(
static_cast<Chip>(data[1]), static_cast<Copy>(data[2]), true, protOpPerformed, false);
if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
sif::info << "Target slot was writeprotected before reboot" << std::endl;
}
// The second byte in data is the target chip, the third byte is the target copy
std::string cmdString = "xsc_boot_copy " + std::to_string(data[1]) + " " +
std::to_string(data[2]);
std::string cmdString =
"xsc_boot_copy " + std::to_string(data[1]) + " " + std::to_string(data[2]);
int result = std::system(cmdString.c_str());
if (result != 0) {
utility::handleSystemError(result, "CoreController::executeAction");
@ -846,8 +799,7 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
return HasActionsIF::EXECUTION_FINISHED;
}
CoreController::~CoreController() {
}
CoreController::~CoreController() {}
void CoreController::determinePreferredSdCard() {
if (sdInfo.pref == sd::SdCard::NONE) {
@ -855,13 +807,14 @@ void CoreController::determinePreferredSdCard() {
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;
"Preferred SD card not set. Setting to 0"
<< std::endl;
sdcMan->setPreferredSdCard(sd::SdCard::SLOT_0);
sdInfo.pref = sd::SdCard::SLOT_0;
}
else {
} else {
sif::warning << "CoreController::sdCardInit: Could not get preferred SD card"
"information from the scratch buffer" << std::endl;
"information from the scratch buffer"
<< std::endl;
}
}
}
@ -875,22 +828,18 @@ void CoreController::updateSdInfoOther() {
sdInfo.prefState = sdInfo.currentState.first;
sdInfo.other = sd::SdCard::SLOT_1;
}
else if(sdInfo.pref == sd::SdCard::SLOT_1) {
} else if (sdInfo.pref == sd::SdCard::SLOT_1) {
sdInfo.prefChar = "1";
sdInfo.otherChar = "0";
sdInfo.otherState = sdInfo.currentState.first;
sdInfo.prefState = sdInfo.currentState.second;
sdInfo.other = sd::SdCard::SLOT_0;
}
else {
} else {
sif::warning << "CoreController::updateSdInfoOther: Invalid SD card passed" << std::endl;
}
}
bool CoreController::sdInitFinished() const {
return sdInfo.initFinished;
}
bool CoreController::sdInitFinished() const { return sdInfo.initFinished; }
ReturnValue_t CoreController::generateChipStateFile() {
int result = std::system(CHIP_PROT_SCRIPT);
@ -901,8 +850,9 @@ ReturnValue_t CoreController::generateChipStateFile() {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CoreController::setBootCopyProtection(Chip targetChip, Copy targetCopy,
bool protect, bool& protOperationPerformed, bool updateProtFile) {
ReturnValue_t CoreController::setBootCopyProtection(Chip targetChip, Copy targetCopy, bool protect,
bool &protOperationPerformed,
bool updateProtFile) {
bool allChips = false;
bool allCopies = false;
bool selfChip = false;
@ -945,8 +895,8 @@ ReturnValue_t CoreController::setBootCopyProtection(Chip targetChip, Copy target
}
for (uint8_t arrIdx = 0; arrIdx < protArray.size(); arrIdx++) {
int result = handleBootCopyProtAtIndex(targetChip, targetCopy, protect,
protOperationPerformed, selfChip, selfCopy, allChips, allCopies, arrIdx);
int result = handleBootCopyProtAtIndex(targetChip, targetCopy, protect, protOperationPerformed,
selfChip, selfCopy, allChips, allCopies, arrIdx);
if (result != 0) {
break;
}
@ -958,8 +908,9 @@ ReturnValue_t CoreController::setBootCopyProtection(Chip targetChip, Copy target
}
int CoreController::handleBootCopyProtAtIndex(Chip targetChip, Copy targetCopy, bool protect,
bool &protOperationPerformed, bool selfChip, bool selfCopy, bool allChips,
bool allCopies, uint8_t arrIdx) {
bool &protOperationPerformed, bool selfChip,
bool selfCopy, bool allChips, bool allCopies,
uint8_t arrIdx) {
bool currentProt = protArray[arrIdx];
std::ostringstream oss;
bool performOp = false;
@ -978,64 +929,52 @@ int CoreController::handleBootCopyProtAtIndex(Chip targetChip, Copy targetCopy,
if (arrIdx == 0 or arrIdx == 1) {
oss << "0 ";
currentChip = Chip::CHIP_0;
}
else {
} else {
oss << "1 ";
currentChip = Chip::CHIP_1;
}
if (arrIdx == 0 or arrIdx == 2) {
oss << "0 ";
currentCopy = Copy::COPY_0;
}
else {
} else {
oss << "1 ";
currentCopy = Copy::COPY_1;
}
if (protect) {
oss << "1";
}
else {
} else {
oss << "0";
}
int result = 0;
if (allChips and allCopies) {
performOp = true;
}
else if(allChips) {
if((selfCopy and CURRENT_COPY == targetCopy) or
(currentCopy == targetCopy)) {
} else if (allChips) {
if ((selfCopy and CURRENT_COPY == targetCopy) or (currentCopy == targetCopy)) {
performOp = true;
}
}
else if(allCopies) {
if((selfChip and CURRENT_COPY == targetCopy) or
(currentChip == targetChip)) {
} else if (allCopies) {
if ((selfChip and CURRENT_COPY == targetCopy) or (currentChip == targetChip)) {
performOp = true;
}
}
else if(selfChip and (currentChip == targetChip)) {
} else if (selfChip and (currentChip == targetChip)) {
if (selfCopy) {
if (currentCopy == targetCopy) {
performOp = true;
}
}
else {
} else {
performOp = true;
}
}
else if(selfCopy and (currentCopy == targetCopy)) {
} else if (selfCopy and (currentCopy == targetCopy)) {
if (selfChip) {
if (currentChip == targetChip) {
performOp = true;
}
}
else {
} else {
performOp = true;
}
}
else if((targetChip == currentChip) and (targetCopy == currentCopy)) {
} else if ((targetChip == currentChip) and (targetCopy == currentCopy)) {
performOp = true;
}
if (result != 0) {
@ -1057,8 +996,8 @@ ReturnValue_t CoreController::updateProtInfo(bool regenerateChipStateFile) {
if (regenerateChipStateFile) {
result = generateChipStateFile();
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::updateProtInfo: Generating chip state file failed" <<
std::endl;
sif::warning << "CoreController::updateProtInfo: Generating chip state file failed"
<< std::endl;
return result;
}
}
@ -1075,14 +1014,14 @@ ReturnValue_t CoreController::updateProtInfo(bool regenerateChipStateFile) {
while (getline(chipStateFile, nextLine)) {
ReturnValue_t result = handleProtInfoUpdateLine(nextLine);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::updateProtInfo: Protection info update failed!" <<
std::endl;
sif::warning << "CoreController::updateProtInfo: Protection info update failed!" << std::endl;
return result;
}
++lineCounter;
if (lineCounter > 4) {
sif::warning << "CoreController::checkAndProtectBootCopy: "
"Line counter larger than 4" << std::endl;
"Line counter larger than 4"
<< std::endl;
}
}
return HasReturnvaluesIF::RETURN_OK;
@ -1108,8 +1047,7 @@ ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {
if (currentChip == Chip::CHIP_0) {
if (currentCopy == Copy::COPY_0) {
arrayIdx = 0;
}
else if(currentCopy == Copy::COPY_1) {
} else if (currentCopy == Copy::COPY_1) {
arrayIdx = 1;
}
}
@ -1117,8 +1055,7 @@ ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {
else if (currentChip == Chip::CHIP_1) {
if (currentCopy == Copy::COPY_0) {
arrayIdx = 2;
}
else if(currentCopy == Copy::COPY_1) {
} else if (currentCopy == Copy::COPY_1) {
arrayIdx = 3;
}
}
@ -1126,8 +1063,7 @@ ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {
if (wordIdx == 5) {
if (word == "unlocked.") {
protArray[arrayIdx] = false;
}
else {
} else {
protArray[arrayIdx] = true;
}
}
@ -1147,25 +1083,21 @@ void CoreController::performWatchdogControlOperation() {
watchdogFifoFd = RETRY_FIFO_OPEN;
// No printout for now, would be spam
return;
}
else {
sif::error << "Opening pipe " << watchdog::FIFO_NAME <<
" write-only failed with " << errno << ": " <<
strerror(errno) << std::endl;
} else {
sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with "
<< errno << ": " << strerror(errno) << std::endl;
return;
}
}
sif::info << "Opened " << watchdog::FIFO_NAME << " successfully" << std::endl;
}
else if(watchdogFifoFd > 0) {
} else if (watchdogFifoFd > 0) {
// Write to OBSW watchdog FIFO here
const char writeChar = 'a';
ssize_t writtenBytes = write(watchdogFifoFd, &writeChar, 1);
if (writtenBytes < 0) {
sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " <<
strerror(errno) << std::endl;
sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " << strerror(errno)
<< std::endl;
}
}
}
}

38
bsp_q7s/core/CoreController.h
View File

@ -2,32 +2,19 @@
#define BSP_Q7S_CORE_CORECONTROLLER_H_
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "fsfw/controller/ExtendedControllerBase.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/controller/ExtendedControllerBase.h"
class Timer;
class SdCardManager;
class CoreController : public ExtendedControllerBase {
public:
enum Chip: uint8_t {
CHIP_0,
CHIP_1,
NO_CHIP,
SELF_CHIP,
ALL_CHIP
};
enum Chip : uint8_t { CHIP_0, CHIP_1, NO_CHIP, SELF_CHIP, ALL_CHIP };
enum Copy: uint8_t {
COPY_0,
COPY_1,
NO_COPY,
SELF_COPY,
ALL_COPY
};
enum Copy : uint8_t { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
static constexpr char CHIP_PROT_SCRIPT[] = "/home/root/scripts/get-chip-prot-status.sh";
static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
@ -38,12 +25,10 @@ public:
static constexpr ActionId_t REBOOT_OBC = 32;
static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
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);
virtual ~CoreController();
@ -51,8 +36,8 @@ public:
ReturnValue_t initializeAfterTaskCreation() override;
ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) 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;
@ -78,8 +63,8 @@ public:
* @param updateProtFile Specify whether the protection info file is updated
* @return
*/
ReturnValue_t setBootCopyProtection(Chip targetChip, Copy targetCopy,
bool protect, bool& protOperationPerformed, bool updateProtFile = true);
ReturnValue_t setBootCopyProtection(Chip targetChip, Copy targetCopy, bool protect,
bool& protOperationPerformed, bool updateProtFile = true);
bool sdInitFinished() const;
@ -150,8 +135,7 @@ private:
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode);
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
ReturnValue_t initVersionFile();
ReturnValue_t initBootCopy();
@ -177,8 +161,8 @@ private:
ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
int handleBootCopyProtAtIndex(Chip targetChip, Copy targetCopy, bool protect,
bool &protOperationPerformed, bool selfChip, bool selfCopy, bool allChips,
bool allCopies, uint8_t arrIdx);
bool& protOperationPerformed, bool selfChip, bool selfCopy,
bool allChips, bool allCopies, uint8_t arrIdx);
};
#endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */

80
bsp_q7s/core/InitMission.cpp
View File

@ -1,22 +1,21 @@
#include "InitMission.h"
#include "ObjectFactory.h"
#include "OBSWConfig.h"
#include "pollingsequence/pollingSequenceFactory.h"
#include "mission/utility/InitMission.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>
#include "OBSWConfig.h"
#include "ObjectFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/platform.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include "mission/utility/InitMission.h"
#include "pollingsequence/pollingSequenceFactory.h"
/* This is configured for linux without CR */
#ifdef PLATFORM_UNIX
ServiceInterfaceStream sif::debug("DEBUG");
@ -33,7 +32,6 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
ObjectManagerIF* objectManager = nullptr;
void initmission::initMission() {
sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
@ -117,6 +115,13 @@ void initmission::initTasks() {
}
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
PeriodicTaskIF* acsCtrl = factory->createPeriodicTask(
"ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = acsCtrl->addComponent(objects::GPS_CONTROLLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER);
}
#if BOARD_TE0720 == 0
// FS task, task interval does not matter because it runs in permanent loop, priority low
// because it is a non-essential background task
@ -126,6 +131,16 @@ void initmission::initTasks() {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
}
#if OBSW_ADD_STAR_TRACKER == 1
PeriodicTaskIF* strImgLoaderTask = factory->createPeriodicTask(
"FILE_SYSTEM_TASK", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = strImgLoaderTask->addComponent(objects::STR_HELPER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::STR_HELPER);
}
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#endif /* BOARD_TE0720 */
#if OBSW_TEST_CCSDS_BRIDGE == 1
@ -151,8 +166,7 @@ void initmission::initTasks() {
for (const auto& task : taskVector) {
if (task != nullptr) {
task->startTask();
}
else {
} else {
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
}
}
@ -187,47 +201,51 @@ void initmission::initTasks() {
#if BOARD_TE0720 == 0
fsTask->startTask();
#if OBSW_ADD_STAR_TRACKER == 1
strImgLoaderTask->startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#endif
acsCtrl->startTask();
sif::info << "Tasks started.." << std::endl;
}
void initmission::createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if BOARD_TE0720 == 0
/* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
missedDeadlineFunc);
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
}
else {
} else {
taskVec.push_back(spiPst);
}
#endif
FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, 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);
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, 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);
"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
result = pst::pstI2c(i2cPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
@ -242,8 +260,7 @@ void initmission::createPstTasks(TaskFactory& factory,
taskVec.push_back(gomSpacePstTask);
#else /* BOARD_TE7020 == 0 */
FixedTimeslotTaskIF* pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask(
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
missedDeadlineFunc);
"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;
@ -253,7 +270,8 @@ void initmission::createPstTasks(TaskFactory& factory,
}
void initmission::createPusTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
/* PUS Services */
PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
@ -321,9 +339,11 @@ void initmission::createPusTasks(TaskFactory &factory,
taskVec.push_back(pusLowPrio);
}
void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
void initmission::createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || \
(BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#endif
PeriodicTaskIF* testTask = factory.createPeriodicTask(

5
bsp_q7s/core/InitMission.h
View File

@ -1,9 +1,10 @@
#ifndef BSP_Q7S_INITMISSION_H_
#define BSP_Q7S_INITMISSION_H_
#include "fsfw/tasks/Typedef.h"
#include <vector>
#include "fsfw/tasks/Typedef.h"
class PeriodicTaskIF;
class TaskFactory;
@ -17,6 +18,6 @@ void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadl
std::vector<PeriodicTaskIF*>& taskVec);
void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
};
}; // namespace initmission
#endif /* BSP_Q7S_INITMISSION_H_ */

682
bsp_q7s/core/ObjectFactory.cpp
View File

@ -1,85 +1,82 @@
#include <sstream>
#include "ObjectFactory.h"
#include <sstream>
#include "OBSWConfig.h"
#include "devConf.h"
#include "ccsdsConfig.h"
#include "busConf.h"
#include "tmtc/apid.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "tmtc/pusIds.h"
#include "devices/powerSwitcherList.h"
#include "bsp_q7s/gpio/gpioCallbacks.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include "bsp_q7s/callbacks/gnssCallback.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/devices/PlocMemoryDumper.h"
#include "bsp_q7s/devices/PlocSupervisorHandler.h"
#include "bsp_q7s/devices/PlocUpdater.h"
#include "bsp_q7s/devices/PlocMemoryDumper.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/callbacks/gnssCallback.h"
#include "linux/devices/StarTrackerHandler.h"
#include "linux/devices/SolarArrayDeploymentHandler.h"
#include "linux/devices/devicedefinitions/SusDefinitions.h"
#include "linux/devices/SusHandler.h"
#include "linux/csp/CspCookie.h"
#include "bsp_q7s/devices/startracker/StarTrackerDefinitions.h"
#include "bsp_q7s/devices/startracker/StarTrackerHandler.h"
#include "bsp_q7s/devices/startracker/StrHelper.h"
#include "bsp_q7s/gpio/gpioCallbacks.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include "busConf.h"
#include "ccsdsConfig.h"
#include "devConf.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "devices/powerSwitcherList.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "fsfw_hal/linux/i2c/I2cCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "linux/boardtest/SpiTestClass.h"
#include "linux/csp/CspComIF.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
#include "mission/devices/HeaterHandler.h"
#include "linux/csp/CspCookie.h"
#include "linux/devices/SolarArrayDeploymentHandler.h"
#include "linux/devices/SusHandler.h"
#include "linux/devices/devicedefinitions/SusDefinitions.h"
#include "mission/core/GenericFactory.h"
#include "mission/devices/ACUHandler.h"
#include "mission/devices/GPSHyperionHandler.h"
#include "mission/devices/GyroADIS1650XHandler.h"
#include "mission/devices/HeaterHandler.h"
#include "mission/devices/IMTQHandler.h"
#include "mission/devices/Max31865PT1000Handler.h"
#include "mission/devices/P60DockHandler.h"
#include "mission/devices/PCDUHandler.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/GyroADIS1650XHandler.h"
#include "mission/devices/IMTQHandler.h"
#include "mission/devices/SyrlinksHkHandler.h"
#include "mission/devices/PlocMPSoCHandler.h"
#include "mission/devices/RadiationSensorHandler.h"
#include "mission/devices/RwHandler.h"
#include "mission/devices/SyrlinksHkHandler.h"
#include "mission/devices/Tmp1075Handler.h"
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"
#include "mission/devices/GPSHyperionHandler.h"
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
#include "mission/tmtc/CCSDSHandler.h"
#include "mission/tmtc/VirtualChannel.h"
#include "mission/utility/TmFunnel.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.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 "linux/boardtest/SpiTestClass.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"
#if OBSW_TEST_LIBGPIOD == 1
#include "linux/boardtest/LibgpiodTest.h"
#endif
#include <linux/obc/Ptme.h>
#include <linux/obc/PdecHandler.h>
#include <linux/obc/PapbVcInterface.h>
#include <linux/obc/PdecHandler.h>
#include <linux/obc/Ptme.h>
#include <linux/obc/PtmeConfig.h>
#include <linux/obc/PtmeRateSetter.h>
#include <linux/obc/TxRateSetterIF.h>
@ -87,9 +84,7 @@
ResetArgs resetArgsGnss0;
ResetArgs resetArgsGnss1;
void ObjectFactory::setStatics() {
Factory::setStaticFrameworkObjectIds();
}
void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@ -144,22 +139,22 @@ void ObjectFactory::produce(void* args) {
createRtdComponents(gpioComIF);
#endif /* OBSW_ADD_RTD_DEVICES == 1 */
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
q7s::I2C_DEFAULT_DEV);
I2cCookie* imtqI2cCookie =
new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
createReactionWheelComponents(gpioComIF);
#if OBSW_ADD_PLOC_MPSOC == 1
UartCookie* plocMpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER,
q7s::UART_PLOC_MPSOC_DEV, UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD,
PLOC_MPSOC::MAX_REPLY_SIZE);
UartCookie* plocMpsocCookie =
new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD, PLOC_MPSOC::MAX_REPLY_SIZE);
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocMpsocCookie);
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
#if OBSW_ADD_PLOC_SUPERVISOR == 1
UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL, uart::PLOC_SUPERVISOR_BAUD,
PLOC_SPV::MAX_PACKET_SIZE * 20);
UartCookie* plocSupervisorCookie = new UartCookie(
objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL,
uart::PLOC_SUPERVISOR_BAUD, PLOC_SPV::MAX_PACKET_SIZE * 20);
plocSupervisorCookie->setNoFixedSizeReply();
PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
@ -169,11 +164,15 @@ void ObjectFactory::produce(void* args) {
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
#if OBSW_ADD_STAR_TRACKER == 1
UartCookie* starTrackerCookie = new UartCookie(objects::START_TRACKER,
q7s::UART_STAR_TRACKER_DEV, UartModes::NON_CANONICAL, uart::STAR_TRACKER_BAUD,
StarTracker::MAX_FRAME_SIZE* 2 + 2);
UartCookie* starTrackerCookie =
new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, UartModes::NON_CANONICAL,
uart::STAR_TRACKER_BAUD, StarTracker::MAX_FRAME_SIZE * 2 + 2);
starTrackerCookie->setNoFixedSizeReply();
new StarTrackerHandler(objects::START_TRACKER, objects::UART_COM_IF, starTrackerCookie);
StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(
objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, strHelper);
starTrackerHandler->setStartUpImmediately();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#endif /* TE7020 == 0 */
@ -193,23 +192,23 @@ void ObjectFactory::produce(void* args) {
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,
TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
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, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
#else
I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
I2cCookie* i2cCookieTmp1075tcs1 =
new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
I2cCookie* i2cCookieTmp1075tcs2 =
new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
#endif
/* Temperature sensors */
Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(objects::TMP1075_HANDLER_1,
objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
Tmp1075Handler* tmp1075Handler_1 =
new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
(void)tmp1075Handler_1;
Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(objects::TMP1075_HANDLER_2,
objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
Tmp1075Handler* tmp1075Handler_2 =
new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
(void)tmp1075Handler_2;
}
@ -241,14 +240,13 @@ void ObjectFactory::createPcduComponents() {
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
/* Device Handler */
P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER,
objects::CSP_COM_IF, p60DockCspCookie);
PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
pdu1CspCookie);
PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
pdu2CspCookie);
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
acuCspCookie);
P60DockHandler* p60dockhandler =
new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
PDU1Handler* pdu1handler =
new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
PDU2Handler* pdu2handler =
new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
new PCDUHandler(objects::PCDU_HANDLER, 50);
/**
@ -270,9 +268,9 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
gpioComIF->addGpios(gpioCookieRadSensor);
SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR,
std::string(q7s::SPI_DEFAULT_DEV), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieRadSensor = new SpiCookie(
addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV),
RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
}
@ -322,64 +320,55 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComI
gpioComIF->addGpios(gpioCookieSus);
SpiCookie* spiCookieSus1 = new SpiCookie(addresses::SUS_1, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus2 = new SpiCookie(addresses::SUS_2, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus3 = new SpiCookie(addresses::SUS_3, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus4 = new SpiCookie(addresses::SUS_4, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus5 = new SpiCookie(addresses::SUS_5, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus6 = new SpiCookie(addresses::SUS_6, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus7 = new SpiCookie(addresses::SUS_7, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus8 = new SpiCookie(addresses::SUS_8, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus9 = new SpiCookie(addresses::SUS_9, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus10 = new SpiCookie(addresses::SUS_10, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus11 = new SpiCookie(addresses::SUS_11, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus12 = new SpiCookie(addresses::SUS_12, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus13 = new SpiCookie(addresses::SUS_13, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus1 =
new SpiCookie(addresses::SUS_1, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus2 =
new SpiCookie(addresses::SUS_2, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus3 =
new SpiCookie(addresses::SUS_3, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus4 =
new SpiCookie(addresses::SUS_4, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus5 =
new SpiCookie(addresses::SUS_5, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus6 =
new SpiCookie(addresses::SUS_6, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus7 =
new SpiCookie(addresses::SUS_7, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus8 =
new SpiCookie(addresses::SUS_8, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus9 =
new SpiCookie(addresses::SUS_9, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus10 =
new SpiCookie(addresses::SUS_10, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus11 =
new SpiCookie(addresses::SUS_11, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus12 =
new SpiCookie(addresses::SUS_12, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus13 =
new SpiCookie(addresses::SUS_13, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
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_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,
@ -396,8 +385,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
std::stringstream consumer;
GpiodRegularByLineName* gpio = nullptr;
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(),
gpio::DIR_OUT, gpio::HIGH);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), gpio::DIR_OUT,
gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
consumer.str("");
@ -432,8 +421,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
consumer.str("");
consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(),
gpio::DIR_OUT, gpio::HIGH);
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), gpio::DIR_OUT,
gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
consumer.str("");
@ -443,14 +432,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GPS0_HANDLER;
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
// GNSS reset pins are active low
gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), gpio::DIR_OUT,
gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GPS1_HANDLER;
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), gpio::DIR_OUT,
gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
@ -458,8 +447,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
// Enable pins must be pulled low for regular operations
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(),
gpio::DIR_OUT, gpio::LOW);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
consumer.str("");
@ -468,11 +457,24 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
// TODO: Add enable pins for GPS as soon as new interface board design is finished
// Enable pins for GNSS
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
gpioComIF->addGpios(gpioCookieAcsBoard);
std::string spiDev = q7s::SPI_DEFAULT_DEV;
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
SpiCookie* spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::LIS3_TRANSITION_DELAY);
@ -481,7 +483,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
mgmLis3Handler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::RM3100_TRANSITION_DELAY);
@ -490,7 +493,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
mgmRm3100Handler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::LIS3_TRANSITION_DELAY);
@ -499,7 +503,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
mgmLis3Handler2->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::RM3100_TRANSITION_DELAY);
@ -517,8 +522,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
spiCookie, ADIS1650X::Type::ADIS16505);
adisHandler->setStartUpImmediately();
// 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);
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, spi::L3G_TRANSITION_DELAY);
gyroL3gHandler->setStartUpImmediately();
@ -533,8 +539,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
spiCookie, ADIS1650X::Type::ADIS16505);
adisHandler->setStartUpImmediately();
// Gyro 3 Side B
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
spiCookie =
new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::L3G_TRANSITION_DELAY);
gyroL3gHandler->setStartUpImmediately();
@ -552,26 +559,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
resetArgsGnss0.gnss1 = false;
resetArgsGnss0.gpioComIF = gpioComIF;
resetArgsGnss0.waitPeriodMs = 100;
auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_0_DEV,
UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
uartCookieGps0->setToFlushInput(true);
uartCookieGps0->setReadCycles(6);
auto uartCookieGps1 = new UartCookie(objects::GPS1_HANDLER, q7s::UART_GNSS_1_DEV,
UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
uartCookieGps1->setToFlushInput(true);
uartCookieGps1->setReadCycles(6);
auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
uartCookieGps0, debugGps);
auto gpsHandler0 = new GPSHyperionHandler(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
gpsHandler0->setStartUpImmediately();
auto gpsHandler1 = new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF,
uartCookieGps1, debugGps);
gpsHandler1->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss1);
gpsHandler1->setStartUpImmediately();
}
void ObjectFactory::createHeaterComponents() {
GpioCookie* heaterGpiosCookie = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
@ -591,24 +583,24 @@ void ObjectFactory::createHeaterComponents() {
gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(),
gpio::DIR_OUT, gpio::LOW);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(),
gpio::DIR_OUT, gpio::LOW);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(),
gpio::DIR_OUT, gpio::LOW);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(),
gpio::DIR_OUT, gpio::LOW);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(),
gpio::DIR_OUT, gpio::LOW);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
@ -621,8 +613,8 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
std::stringstream consumer;
consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0,
consumer.str(), gpio::DIR_OUT, gpio::LOW);
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
@ -630,14 +622,15 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
// TODO: Find out burn time. For now set to 1000 ms.
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM,
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
solarArrayDeplCookie, objects::PCDU_HANDLER,
pcduSwitches::DEPLOYMENT_MECHANISM, gpioIds::DEPLSA1,
gpioIds::DEPLSA2, 1000);
}
void ObjectFactory::createSyrlinksComponents() {
UartCookie* syrlinksUartCookie = new UartCookie(objects::SYRLINKS_HK_HANDLER,
q7s::UART_SYRLINKS_DEV, UartModes::NON_CANONICAL, uart::SYRLINKS_BAUD,
SYRLINKS::MAX_REPLY_SIZE);
UartCookie* syrlinksUartCookie =
new UartCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, UartModes::NON_CANONICAL,
uart::SYRLINKS_BAUD, SYRLINKS::MAX_REPLY_SIZE);
syrlinksUartCookie->setParityEven();
new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie);
@ -697,84 +690,96 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
gpioComIF->addGpios(rtdGpioCookie);
SpiCookie* spiRtdIc0 = new SpiCookie(addresses::RTD_IC_3, gpioIds::RTD_IC_3, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc1 = new SpiCookie(addresses::RTD_IC_4, gpioIds::RTD_IC_4, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc2 = new SpiCookie(addresses::RTD_IC_5, gpioIds::RTD_IC_5, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC_6, gpioIds::RTD_IC_6, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC_7, gpioIds::RTD_IC_7, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC_8, gpioIds::RTD_IC_8, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC_9, gpioIds::RTD_IC_9, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC_10, gpioIds::RTD_IC_10,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::RTD_SPEED);
SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC_11, gpioIds::RTD_IC_11,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::RTD_SPEED);
SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC_12, gpioIds::RTD_IC_12,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::RTD_SPEED);
SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC_13, gpioIds::RTD_IC_13,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::RTD_SPEED);
SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC_14, gpioIds::RTD_IC_14,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::RTD_SPEED);
SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC_15, gpioIds::RTD_IC_15,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::RTD_SPEED);
SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC_16, gpioIds::RTD_IC_16,
std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC_17, gpioIds::RTD_IC_17,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::RTD_SPEED);
SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC_18, gpioIds::RTD_IC_18,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::RTD_SPEED);
SpiCookie* spiRtdIc0 =
new SpiCookie(addresses::RTD_IC_3, gpioIds::RTD_IC_3, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc1 =
new SpiCookie(addresses::RTD_IC_4, gpioIds::RTD_IC_4, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc2 =
new SpiCookie(addresses::RTD_IC_5, gpioIds::RTD_IC_5, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc3 =
new SpiCookie(addresses::RTD_IC_6, gpioIds::RTD_IC_6, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc4 =
new SpiCookie(addresses::RTD_IC_7, gpioIds::RTD_IC_7, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc5 =
new SpiCookie(addresses::RTD_IC_8, gpioIds::RTD_IC_8, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc6 =
new SpiCookie(addresses::RTD_IC_9, gpioIds::RTD_IC_9, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc7 =
new SpiCookie(addresses::RTD_IC_10, gpioIds::RTD_IC_10, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc8 =
new SpiCookie(addresses::RTD_IC_11, gpioIds::RTD_IC_11, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc9 =
new SpiCookie(addresses::RTD_IC_12, gpioIds::RTD_IC_12, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc10 =
new SpiCookie(addresses::RTD_IC_13, gpioIds::RTD_IC_13, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc11 =
new SpiCookie(addresses::RTD_IC_14, gpioIds::RTD_IC_14, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc12 =
new SpiCookie(addresses::RTD_IC_15, gpioIds::RTD_IC_15, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc13 =
new SpiCookie(addresses::RTD_IC_16, gpioIds::RTD_IC_16, std::string(q7s::SPI_DEFAULT_DEV),
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc14 =
new SpiCookie(addresses::RTD_IC_17, gpioIds::RTD_IC_17, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc15 =
new SpiCookie(addresses::RTD_IC_18, gpioIds::RTD_IC_18, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
Max31865PT1000Handler* rtdIc0 = new Max31865PT1000Handler(objects::RTD_IC_3, objects::SPI_COM_IF,
spiRtdIc0);
Max31865PT1000Handler* rtdIc1 = new Max31865PT1000Handler(objects::RTD_IC_4, objects::SPI_COM_IF,
spiRtdIc1);
Max31865PT1000Handler* rtdIc2 = new Max31865PT1000Handler(objects::RTD_IC_5, objects::SPI_COM_IF,
spiRtdIc2);
Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC_6, objects::SPI_COM_IF,
spiRtdIc3);
Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC_7, objects::SPI_COM_IF,
spiRtdIc4);
Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC_8, objects::SPI_COM_IF,
spiRtdIc5);
Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC_9, objects::SPI_COM_IF,
spiRtdIc6);
Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC_10,
objects::SPI_COM_IF, spiRtdIc7);
Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC_11,
objects::SPI_COM_IF, spiRtdIc8);
Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC_12,
objects::SPI_COM_IF, spiRtdIc9);
Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC_13,
objects::SPI_COM_IF, spiRtdIc10);
Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC_14,
objects::SPI_COM_IF, spiRtdIc11);
Max31865PT1000Handler* rtdIc12 = new Max31865PT1000Handler(objects::RTD_IC_15,
objects::SPI_COM_IF, spiRtdIc12);
Max31865PT1000Handler* rtdIc13 = new Max31865PT1000Handler(objects::RTD_IC_16,
objects::SPI_COM_IF, spiRtdIc13);
Max31865PT1000Handler* rtdIc14 = new Max31865PT1000Handler(objects::RTD_IC_17,
objects::SPI_COM_IF, spiRtdIc14);
Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC_18,
objects::SPI_COM_IF, spiRtdIc15);
Max31865PT1000Handler* rtdIc0 =
new Max31865PT1000Handler(objects::RTD_IC_3, objects::SPI_COM_IF, spiRtdIc0);
Max31865PT1000Handler* rtdIc1 =
new Max31865PT1000Handler(objects::RTD_IC_4, objects::SPI_COM_IF, spiRtdIc1);
Max31865PT1000Handler* rtdIc2 =
new Max31865PT1000Handler(objects::RTD_IC_5, objects::SPI_COM_IF, spiRtdIc2);
Max31865PT1000Handler* rtdIc3 =
new Max31865PT1000Handler(objects::RTD_IC_6, objects::SPI_COM_IF, spiRtdIc3);
Max31865PT1000Handler* rtdIc4 =
new Max31865PT1000Handler(objects::RTD_IC_7, objects::SPI_COM_IF, spiRtdIc4);
Max31865PT1000Handler* rtdIc5 =
new Max31865PT1000Handler(objects::RTD_IC_8, objects::SPI_COM_IF, spiRtdIc5);
Max31865PT1000Handler* rtdIc6 =
new Max31865PT1000Handler(objects::RTD_IC_9, objects::SPI_COM_IF, spiRtdIc6);
Max31865PT1000Handler* rtdIc7 =
new Max31865PT1000Handler(objects::RTD_IC_10, objects::SPI_COM_IF, spiRtdIc7);
Max31865PT1000Handler* rtdIc8 =
new Max31865PT1000Handler(objects::RTD_IC_11, objects::SPI_COM_IF, spiRtdIc8);
Max31865PT1000Handler* rtdIc9 =
new Max31865PT1000Handler(objects::RTD_IC_12, objects::SPI_COM_IF, spiRtdIc9);
Max31865PT1000Handler* rtdIc10 =
new Max31865PT1000Handler(objects::RTD_IC_13, objects::SPI_COM_IF, spiRtdIc10);
Max31865PT1000Handler* rtdIc11 =
new Max31865PT1000Handler(objects::RTD_IC_14, objects::SPI_COM_IF, spiRtdIc11);
Max31865PT1000Handler* rtdIc12 =
new Max31865PT1000Handler(objects::RTD_IC_15, objects::SPI_COM_IF, spiRtdIc12);
Max31865PT1000Handler* rtdIc13 =
new Max31865PT1000Handler(objects::RTD_IC_16, objects::SPI_COM_IF, spiRtdIc13);
Max31865PT1000Handler* rtdIc14 =
new Max31865PT1000Handler(objects::RTD_IC_17, objects::SPI_COM_IF, spiRtdIc14);
Max31865PT1000Handler* rtdIc15 =
new Max31865PT1000Handler(objects::RTD_IC_18, objects::SPI_COM_IF, spiRtdIc15);
rtdIc0->setStartUpImmediately();
rtdIc1->setStartUpImmediately();
rtdIc2->setStartUpImmediately();
#if OBSW_DEBUG_RTD == 1
rtdIc0->setInstantNormal(true);
rtdIc1->setInstantNormal(true);
rtdIc2->setInstantNormal(true);
#endif
static_cast<void>(rtdIc0);
static_cast<void>(rtdIc1);
@ -812,73 +817,64 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
std::stringstream consumer;
GpiodRegularByLineName* gpio = nullptr;
consumer << "0x" << std::hex << objects::RW1;
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpio =
new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), gpio::DIR_OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW1, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::RW2;
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpio =
new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), gpio::DIR_OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW2, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::RW3;
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpio =
new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), gpio::DIR_OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW3, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::RW4;
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpio =
new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), gpio::DIR_OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
/**
* 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).
*/
gpio = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_SELECT,
"SPI Reaction Wheel Callback ", gpio::DIR_OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::SPI_MUX, gpio);
gpioComIF->addGpios(gpioCookieRw);
auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw1SpiCookie =
new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
auto rw2SpiCookie =
new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
auto rw3SpiCookie =
new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
auto rw4SpiCookie =
new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV, 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);
#if OBSW_DEBUG_RW == 1
rwHandler1->setStartUpImmediately();
#endif
rw1SpiCookie->setCallbackArgs(rwHandler1);
rwHandler1->setStartUpImmediately();
auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
gpioIds::EN_RW2);
auto rwHandler2 =
new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
#if OBSW_DEBUG_RW == 1
rwHandler2->setStartUpImmediately();
#endif
rw2SpiCookie->setCallbackArgs(rwHandler2);
auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
gpioIds::EN_RW3);
auto rwHandler3 =
new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
#if OBSW_DEBUG_RW == 1
rwHandler3->setStartUpImmediately();
#endif
rw3SpiCookie->setCallbackArgs(rwHandler3);
auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
gpioIds::EN_RW4);
auto rwHandler4 =
new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
#if OBSW_DEBUG_RW == 1
rwHandler4->setStartUpImmediately();
#endif
@ -952,9 +948,9 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
TxRateSetterIF* txRateSetterIF = new PtmeRateSetter(gpioIds::BIT_RATE_SEL, gpioComIF);
CCSDSHandler* ccsdsHandler = new CCSDSHandler(objects::CCSDS_HANDLER, objects::PTME,
objects::CCSDS_PACKET_DISTRIBUTOR, txRateSetterIF, gpioComIF,
gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
CCSDSHandler* ccsdsHandler = new CCSDSHandler(
objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, txRateSetterIF,
gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
VirtualChannel* vc = nullptr;
vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE);
@ -1002,7 +998,6 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
}
void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if BOARD_TE0720 == 0
new Q7STestTask(objects::TEST_TASK);
#endif
@ -1012,8 +1007,8 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
/* Configure MIO0 as input */
GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::DIR_OUT, 0, "/amba_pl/gpio@41200000", 0);
#elif OBSW_TEST_GPIO_OPEN_BY_LINE_NAME
GpiodRegularByLineName* testGpio = new GpiodRegularByLineName("test-name", "gpio-test",
gpio::DIR_OUT, 0);
GpiodRegularByLineName* testGpio =
new GpiodRegularByLineName("test-name", "gpio-test", gpio::DIR_OUT, 0);
#else
/* Configure MIO0 as input */
GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
@ -1025,24 +1020,25 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if BOARD_TE0720 == 1 && OBSW_TEST_SUS_HANDLER == 1
GpioCookie* gpioCookieSus = new GpioCookie;
GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip1"), 9,
std::string("Chip Select Sus Sensor"), gpio::DIR_OUT, 1);
GpiodRegular* chipSelectSus = new GpiodRegular(
std::string("gpiochip1"), 9, std::string("Chip Select Sus Sensor"), gpio::DIR_OUT, 1);
gpioCookieSus->addGpio(gpioIds::CS_SUS_1, chipSelectSus);
gpioComIF->addGpios(gpioCookieSus);
SpiCookie* spiCookieSus = new SpiCookie(addresses::SUS_1, std::string("/dev/spidev1.0"),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus =
new SpiCookie(addresses::SUS_1, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus, gpioComIF,
gpioIds::CS_SUS_1);
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_1);
#endif
#if BOARD_TE0720 == 1 && OBSW_TEST_CCSDS_BRIDGE == 1
GpioCookie* gpioCookieCcsdsIp = new GpioCookie;
GpiodRegular* papbBusyN = new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_VC0"));
GpiodRegular* papbBusyN =
new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_VC0"));
gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
GpiodRegular* papbEmpty = new GpiodRegular(std::string("gpiochip0"), 1,
std::string("PAPBEmpty_VC0"));
GpiodRegular* papbEmpty =
new GpiodRegular(std::string("gpiochip0"), 1, std::string("PAPBEmpty_VC0"));
gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_EMPTY, papbEmpty);
gpioComIF->addGpios(gpioCookieCcsdsIp);
@ -1053,32 +1049,33 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if BOARD_TE0720 == 1 && OBSW_TEST_RADIATION_SENSOR_HANDLER == 1
GpioCookie* gpioCookieRadSensor = new GpioCookie;
GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip1"), 0,
std::string("Chip select radiation sensor"), gpio::DIR_OUT, 1);
GpiodRegular* chipSelectRadSensor = new GpiodRegular(
std::string("gpiochip1"), 0, std::string("Chip select radiation sensor"), gpio::DIR_OUT, 1);
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
gpioComIF->addGpios(gpioCookieRadSensor);
SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR,
std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieRadSensor =
new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string("/dev/spidev1.0"),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
RadiationSensorHandler* radSensor = new RadiationSensorHandler(objects::RAD_SENSOR,
objects::SPI_COM_IF, spiCookieRadSensor);
RadiationSensorHandler* radSensor =
new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
radSensor->setStartUpImmediately();
#endif
#if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_MPSOC == 1
UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200,
PLOC_MPSOC::MAX_REPLY_SIZE);
UartCookie* plocUartCookie =
new UartCookie(std::string("/dev/ttyPS1"), 115200, PLOC_MPSOC::MAX_REPLY_SIZE);
/* Testing PlocMPSoCHandler on TE0720-03-1CFA */
PlocMPSoCHandler* mpsocPlocHandler = new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF,
plocUartCookie);
PlocMPSoCHandler* mpsocPlocHandler =
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocUartCookie);
mpsocPlocHandler->setStartUpImmediately();
#endif
#if BOARD_TE0720 == 1 && OBSW_TEST_TE7020_HEATER == 1
/* Configuration for MIO0 on TE0720-03-1CFA */
GpiodRegular* heaterGpio = new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
GpiodRegular* heaterGpio =
new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
GpioCookie* gpioCookie = new GpioCookie;
gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
@ -1087,9 +1084,9 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_SUPERVISOR == 1
/* Configuration for MIO0 on TE0720-03-1CFA */
UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
std::string("/dev/ttyPS1"), UartModes::NON_CANONICAL, 115200,
PLOC_SPV::MAX_PACKET_SIZE * 20);
UartCookie* plocSupervisorCookie =
new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"),
UartModes::NON_CANONICAL, 115200, PLOC_SPV::MAX_PACKET_SIZE * 20);
plocSupervisorCookie->setNoFixedSizeReply();
PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
@ -1099,5 +1096,4 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if OBSW_ADD_SPI_TEST_CODE == 1
new SpiTestClass(objects::SPI_TEST, gpioComIF);
#endif
}

2
bsp_q7s/core/ObjectFactory.h
View File

@ -25,6 +25,6 @@ void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
void createTestComponents(LinuxLibgpioIF* gpioComIF);
};
}; // namespace ObjectFactory
#endif /* BSP_Q7S_OBJECTFACTORY_H_ */

7
bsp_q7s/core/ParameterHandler.cpp
View File

@ -1,8 +1,5 @@
#include "ParameterHandler.h"
ParameterHandler::ParameterHandler(std::string mountPrefix): mountPrefix(mountPrefix) {
}
ParameterHandler::ParameterHandler(std::string mountPrefix) : mountPrefix(mountPrefix) {}
void ParameterHandler::setMountPrefix(std::string prefix) {
mountPrefix = prefix;
}
void ParameterHandler::setMountPrefix(std::string prefix) { mountPrefix = prefix; }

4
bsp_q7s/core/ParameterHandler.h
View File

@ -4,8 +4,6 @@
#include <nlohmann/json.hpp>
#include <string>
class ParameterHandler {
public:
ParameterHandler(std::string mountPrefix);
@ -13,10 +11,10 @@ public:
void setMountPrefix(std::string prefix);
void setUpDummyParameter();
private:
std::string mountPrefix;
DummyParameter dummyParam;
};
#endif /* BSP_Q7S_CORE_PARAMETERHANDLER_H_ */

27
bsp_q7s/core/obsw.cpp
View File

@ -1,14 +1,14 @@
#include "obsw.h"
#include "OBSWVersion.h"
#include "OBSWConfig.h"
#include "InitMission.h"
#include "watchdogConf.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/FSFWVersion.h"
#include <iostream>
#include <filesystem>
#include <iostream>
#include "InitMission.h"
#include "OBSWConfig.h"
#include "OBSWVersion.h"
#include "fsfw/FSFWVersion.h"
#include "fsfw/tasks/TaskFactory.h"
#include "watchdogConf.h"
static int OBSW_ALREADY_RUNNING = -2;
@ -19,17 +19,18 @@ int obsw::obsw() {
#else
std::cout << "-- Compiled for Linux (TE0720) --" << std::endl;
#endif
std::cout << "-- OBSW v" << SW_VERSION << "." << SW_SUBVERSION <<
"." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "." <<
FSFW_REVISION << "--" << std::endl;
std::cout << "-- OBSW v" << SW_VERSION << "." << SW_SUBVERSION << "." << SW_REVISION << ", FSFW v"
<< FSFW_VERSION << "." << FSFW_SUBVERSION << "." << FSFW_REVISION << "--" << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
#if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1
// Check special file here. This file is created or deleted by the eive-watchdog application
// or systemd service!
if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
sif::warning << "File " << watchdog::RUNNING_FILE_NAME << " exists so the software might "
"already be running. Aborting.." << std::endl;
sif::warning << "File " << watchdog::RUNNING_FILE_NAME
<< " exists so the software might "
"already be running. Aborting.."
<< std::endl;
return OBSW_ALREADY_RUNNING;
}
#endif

2
bsp_q7s/devices/CMakeLists.txt
View File

@ -3,3 +3,5 @@ target_sources(${TARGET_NAME} PRIVATE
PlocUpdater.cpp
PlocMemoryDumper.cpp
)
add_subdirectory(startracker)

54
bsp_q7s/devices/PlocMemoryDumper.cpp
View File

@ -1,21 +1,21 @@
#include <fsfw/src/fsfw/serialize/SerializeAdapter.h>
#include "fsfw/ipc/QueueFactory.h"
#include "PlocMemoryDumper.h"
#include <fstream>
#include <fsfw/src/fsfw/serialize/SerializeAdapter.h>
#include <filesystem>
#include <fstream>
#include <string>
PlocMemoryDumper::PlocMemoryDumper(object_id_t objectId) :
SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
#include "fsfw/ipc/QueueFactory.h"
PlocMemoryDumper::PlocMemoryDumper(object_id_t objectId)
: SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
}
PlocMemoryDumper::~PlocMemoryDumper() {
}
PlocMemoryDumper::~PlocMemoryDumper() {}
ReturnValue_t PlocMemoryDumper::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
@ -38,9 +38,8 @@ ReturnValue_t PlocMemoryDumper::performOperation(uint8_t operationCode) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocMemoryDumper::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
ReturnValue_t PlocMemoryDumper::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
if (state != State::IDLE) {
return IS_BUSY;
}
@ -71,13 +70,9 @@ ReturnValue_t PlocMemoryDumper::executeAction(ActionId_t actionId,
return EXECUTION_FINISHED;
}
MessageQueueId_t PlocMemoryDumper::getCommandQueue() const {
return commandQueue->getId();
}
MessageQueueId_t PlocMemoryDumper::getCommandQueue() const { return commandQueue->getId(); }
MessageQueueIF* PlocMemoryDumper::getCommandQueuePtr() {
return commandQueue;
}
MessageQueueIF* PlocMemoryDumper::getCommandQueuePtr() { return commandQueue; }
void PlocMemoryDumper::readCommandQueue() {
CommandMessage message;
@ -121,17 +116,12 @@ void PlocMemoryDumper::doStateMachine() {
}
}
void PlocMemoryDumper::stepSuccessfulReceived(ActionId_t actionId,
uint8_t step) {
}
void PlocMemoryDumper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
void PlocMemoryDumper::stepFailedReceived(ActionId_t actionId, uint8_t step,
ReturnValue_t returnCode) {
}
ReturnValue_t returnCode) {}
void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
}
void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
switch (pendingCommand) {
@ -140,8 +130,7 @@ void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
if (mram.endAddress == mram.startAddress) {
triggerEvent(MRAM_DUMP_FINISHED);
state = State::IDLE;
}
else {
} else {
state = State::COMMAND_CONSECUTIVE_MRAM_DUMP;
}
break;
@ -153,8 +142,7 @@ void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
}
}
void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId,
ReturnValue_t returnCode) {
void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
switch (pendingCommand) {
case (PLOC_SPV::FIRST_MRAM_DUMP):
case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
@ -179,8 +167,7 @@ void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
tempEndAddress = mram.startAddress + MAX_MRAM_DUMP_SIZE;
mram.startAddress += MAX_MRAM_DUMP_SIZE;
mram.lastStartAddress = tempStartAddress;
}
else {
} else {
tempStartAddress = mram.startAddress;
tempEndAddress = mram.endAddress;
mram.startAddress = mram.endAddress;
@ -188,8 +175,8 @@ void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
MemoryParams params(tempStartAddress, tempEndAddress);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
dumpCommand, &params);
result =
commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, dumpCommand, &params);
if (result != RETURN_OK) {
sif::warning << "PlocMemoryDumper::commandNextMramDump: Failed to send mram dump command "
<< "with start address " << tempStartAddress << " and end address "
@ -203,4 +190,3 @@ void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
pendingCommand = dumpCommand;
return;
}

17
bsp_q7s/devices/PlocMemoryDumper.h
View File

@ -3,18 +3,18 @@
#include <bsp_q7s/devices/devicedefinitions/PlocMemDumpDefinitions.h>
#include <bsp_q7s/devices/devicedefinitions/PlocSupervisorDefinitions.h>
#include "OBSWConfig.h"
#include "fsfw/action/CommandActionHelper.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "fsfw/action/ActionHelper.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/CommandsActionsIF.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "linux/fsfwconfig/objects/systemObjectList.h"
#include "fsfw/tmtcpacket/SpacePacket.h"
#include "linux/fsfwconfig/objects/systemObjectList.h"
/**
* @brief Because the buffer of the linux tty driver is limited to 2 x 65535 bytes, this class is
@ -30,7 +30,6 @@ class PlocMemoryDumper : public SystemObject,
public HasReturnvaluesIF,
public CommandsActionsIF {
public:
static const ActionId_t NONE = 0;
static const ActionId_t DUMP_MRAM = 1;
@ -50,12 +49,12 @@ public:
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
private:
static const uint32_t QUEUE_SIZE = 10;
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MEMORY_DUMPER;
//! [EXPORT] : [COMMENT] The capacity of the MRAM amounts to 512 kB. Thus the maximum address must not be higher than 0x7d000.
//! [EXPORT] : [COMMENT] The capacity of the MRAM amounts to 512 kB. Thus the maximum address must
//! not be higher than 0x7d000.
static const ReturnValue_t MRAM_ADDRESS_TOO_HIGH = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] The specified end address is lower than the start address
static const ReturnValue_t MRAM_INVALID_ADDRESS_COMBINATION = MAKE_RETURN_CODE(0xA1);

205
bsp_q7s/devices/PlocSupervisorHandler.cpp
View File

@ -1,26 +1,28 @@
#include <sstream>
#include <string>
#include <fstream>
#include <filesystem>
#include "PlocSupervisorHandler.h"
#include "OBSWConfig.h"
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/timemanager/Clock.h>
#include <filesystem>
#include <fstream>
#include <sstream>
#include <string>
#include "OBSWConfig.h"
PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid,
CookieIF * comCookie) :
DeviceHandlerBase(objectId, uartComIFid, comCookie), hkset(this), bootStatusReport(this), latchupStatusReport(
this) {
CookieIF* comCookie)
: DeviceHandlerBase(objectId, uartComIFid, comCookie),
hkset(this),
bootStatusReport(this),
latchupStatusReport(this) {
if (comCookie == NULL) {
sif::error << "PlocSupervisorHandler: Invalid com cookie" << std::endl;
}
}
PlocSupervisorHandler::~PlocSupervisorHandler() {
}
PlocSupervisorHandler::~PlocSupervisorHandler() {}
ReturnValue_t PlocSupervisorHandler::initialize() {
ReturnValue_t result = RETURN_OK;
@ -41,7 +43,6 @@ ReturnValue_t PlocSupervisorHandler::initialize() {
return result;
}
void PlocSupervisorHandler::doStartUp() {
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
@ -50,22 +51,18 @@ void PlocSupervisorHandler::doStartUp(){
#endif
}
void PlocSupervisorHandler::doShutDown(){
setMode(_MODE_POWER_DOWN);
}
void PlocSupervisorHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(
DeviceCommandId_t * id) {
ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
return NOTHING_TO_SEND;
}
ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(
DeviceCommandId_t * id){
ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
return NOTHING_TO_SEND;
}
ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = RETURN_FAILED;
switch (deviceCommand) {
@ -330,14 +327,12 @@ void PlocSupervisorHandler::fillCommandAndReplyMap() {
PLOC_SPV::SIZE_LATCHUP_STATUS_REPORT);
}
ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t *start,
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
if (nextReplyId == PLOC_SPV::FIRST_MRAM_DUMP) {
*foundId = PLOC_SPV::FIRST_MRAM_DUMP;
return parseMramPackets(start, remainingSize, foundLen);
}
else if (nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
} else if (nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
*foundId = PLOC_SPV::CONSECUTIVE_MRAM_DUMP;
return parseMramPackets(start, remainingSize, foundLen);
}
@ -387,7 +382,6 @@ ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t *start,
ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t* packet) {
ReturnValue_t result = RETURN_OK;
switch (id) {
@ -416,7 +410,8 @@ ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
break;
}
default: {
sif::debug << "PlocSupervisorHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
sif::debug << "PlocSupervisorHandler::interpretDeviceReply: Unknown device reply id"
<< std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
@ -424,17 +419,12 @@ ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
return result;
}
void PlocSupervisorHandler::setNormalDatapoolEntriesInvalid(){
void PlocSupervisorHandler::setNormalDatapoolEntriesInvalid() {}
}
uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
return 500;
}
uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(PLOC_SPV::NUM_TMS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::TEMP_PS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::TEMP_PL, new PoolEntry<uint32_t>({0}));
@ -478,9 +468,9 @@ ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool
}
ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies, bool useAlternateId,
uint8_t expectedReplies,
bool useAlternateId,
DeviceCommandId_t alternateReplyID) {
ReturnValue_t result = RETURN_OK;
uint8_t enabledReplies = 0;
@ -585,15 +575,15 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
* Every command causes at least one acknowledgment and one execution report. Therefore both
* replies will be enabled here.
*/
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
PLOC_SPV::ACK_REPORT);
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, PLOC_SPV::ACK_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
<< PLOC_SPV::ACK_REPORT << " not in replyMap" << std::endl;
}
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
PLOC_SPV::EXE_REPORT);
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, PLOC_SPV::EXE_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
<< PLOC_SPV::EXE_REPORT << " not in replyMap" << std::endl;
@ -603,7 +593,6 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
}
ReturnValue_t PlocSupervisorHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);
uint16_t recalculatedCrc = CRC::crc16ccitt(start, foundLen - 2);
@ -616,7 +605,6 @@ ReturnValue_t PlocSupervisorHandler::verifyPacket(const uint8_t* start, size_t f
}
ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_ACK_REPORT);
@ -635,7 +623,8 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
switch (apid) {
case PLOC_SPV::APID_ACK_FAILURE: {
// TODO: Interpretation of status field in acknowledgment report
sif::debug << "PlocSupervisorHandler::handleAckReport: Received Ack failure report" << std::endl;
sif::debug << "PlocSupervisorHandler::handleAckReport: Received Ack failure report"
<< std::endl;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(SUPV_ACK_FAILURE, commandId);
@ -651,7 +640,8 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
break;
}
default: {
sif::debug << "PlocSupervisorHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
sif::debug << "PlocSupervisorHandler::handleAckReport: Invalid APID in Ack report"
<< std::endl;
result = RETURN_FAILED;
break;
}
@ -661,7 +651,6 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
}
ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_EXE_REPORT);
@ -679,14 +668,15 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data)
}
case (PLOC_SPV::APID_EXE_FAILURE): {
// TODO: Interpretation of status field in execution report
sif::error << "PlocSupervisorHandler::handleExecutionReport: Received execution failure report"
sif::error
<< "PlocSupervisorHandler::handleExecutionReport: Received execution failure report"
<< std::endl;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(SUPV_EXE_FAILURE, commandId);
}
else {
sif::debug << "PlocSupervisorHandler::handleExecutionReport: Unknown command id" << std::endl;
} else {
sif::debug << "PlocSupervisorHandler::handleExecutionReport: Unknown command id"
<< std::endl;
}
sendFailureReport(PLOC_SPV::EXE_REPORT, RECEIVED_EXE_FAILURE);
disableExeReportReply();
@ -706,43 +696,41 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data)
}
ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_HK_REPORT);
if (result == CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleHkReport: Hk report has invalid crc"
<< std::endl;
sif::error << "PlocSupervisorHandler::handleHkReport: Hk report has invalid crc" << std::endl;
}
uint16_t offset = PLOC_SPV::DATA_FIELD_OFFSET;
hkset.tempPs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.tempPs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.tempPl = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.tempPl = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.tempSup = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.tempSup = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.uptime = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.uptime = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.cpuLoad = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.cpuLoad = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.availableHeap = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.availableHeap = *(data + offset) << 24 | *(data + offset + 1) << 16 |
*(data + offset + 2) << 8 | *(data + offset + 3);
offset += 4;
hkset.numTcs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.numTcs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.numTms = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.numTms = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.socState = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.socState = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.nvm0_1_state = *(data + offset);
offset += 1;
@ -761,7 +749,8 @@ ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
sif::info << "PlocSupervisorHandler::handleHkReport: temp_sup: " << hkset.tempSup << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: uptime: " << hkset.uptime << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: cpu_load: " << hkset.cpuLoad << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: available_heap: " << hkset.availableHeap << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: available_heap: " << hkset.availableHeap
<< std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: num_tcs: " << hkset.numTcs << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: num_tms: " << hkset.numTms << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: soc_state: " << hkset.socState << std::endl;
@ -780,14 +769,14 @@ ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
}
ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_BOOT_STATUS_REPORT);
if (result == CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleBootStatusReport: Boot status report has invalid"
" crc" << std::endl;
" crc"
<< std::endl;
return result;
}
@ -835,7 +824,6 @@ ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data)
}
ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_LATCHUP_STATUS_REPORT);
@ -921,8 +909,8 @@ ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* da
<< latchupStatusReport.timeYear << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Msec: "
<< latchupStatusReport.timeMsec << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: isSet: 0x"
<< std::hex << latchupStatusReport.timeMsec << std::dec << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: isSet: 0x" << std::hex
<< latchupStatusReport.timeMsec << std::dec << std::endl;
#endif
return result;
@ -953,15 +941,13 @@ void PlocSupervisorHandler::setNextReplyId() {
}
size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId) {
size_t replyLen = 0;
if (nextReplyId == PLOC_SPV::NONE) {
return replyLen;
}
if (nextReplyId == PLOC_SPV::FIRST_MRAM_DUMP
|| nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
if (nextReplyId == PLOC_SPV::FIRST_MRAM_DUMP || nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
/**
* Try to read 20 MRAM packets. If reply is larger, the packets will be read with the
* next doSendRead call. The command will be as long active as the packet with the sequence
@ -978,8 +964,7 @@ size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId){
return replyLen;
}
replyLen = iter->second.replyLen;
}
else {
} else {
sif::debug << "PlocSupervisorHandler::getNextReplyLength: No entry for reply with reply id "
<< std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
}
@ -987,8 +972,8 @@ size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId){
return replyLen;
}
void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
DeviceCommandId_t replyId) {
ReturnValue_t result = RETURN_OK;
if (wiretappingMode == RAW) {
@ -1043,8 +1028,8 @@ void PlocSupervisorHandler::prepareDisableHk() {
}
void PlocSupervisorHandler::prepareSetBootTimeoutCmd(const uint8_t* commandData) {
uint32_t timeout = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
| *(commandData + 3);
uint32_t timeout = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
*(commandData + 3);
PLOC_SPV::SetBootTimeout packet(timeout);
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}
@ -1073,8 +1058,8 @@ ReturnValue_t PlocSupervisorHandler::prepareWatchdogsConfigTimeoutCmd(const uint
if (watchdog > 2) {
return INVALID_WATCHDOG;
}
uint32_t timeout = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
| *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
uint32_t timeout = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
*(commandData + offset + 2) << 8 | *(commandData + offset + 3);
if (timeout < 1000 || timeout > 360000) {
return INVALID_WATCHDOG_TIMEOUT;
}
@ -1115,8 +1100,8 @@ ReturnValue_t PlocSupervisorHandler::prepareAutoCalibrateAlertCmd(const uint8_t*
uint8_t offset = 0;
uint8_t latchupId = *commandData;
offset += 1;
uint32_t mg = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
| *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
uint32_t mg = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
*(commandData + offset + 2) << 8 | *(commandData + offset + 3);
if (latchupId > 6) {
return INVALID_LATCHUP_ID;
}
@ -1141,8 +1126,8 @@ ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* comm
uint8_t offset = 0;
uint8_t latchupId = *commandData;
offset += 1;
uint32_t dutycycle = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
| *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
uint32_t dutycycle = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
*(commandData + offset + 2) << 8 | *(commandData + offset + 3);
if (latchupId > 6) {
return INVALID_LATCHUP_ID;
}
@ -1152,8 +1137,8 @@ ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* comm
}
ReturnValue_t PlocSupervisorHandler::prepareSetAdcSweetPeriodCmd(const uint8_t* commandData) {
uint32_t sweepPeriod = *(commandData) << 24 | *(commandData + 1) << 16
| *(commandData + 2) << 8 | *(commandData + 3);
uint32_t sweepPeriod = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
*(commandData + 3);
if (sweepPeriod < 21) {
return SWEEP_PERIOD_TOO_SMALL;
}
@ -1178,8 +1163,8 @@ void PlocSupervisorHandler::prepareSetAdcWindowAndStrideCmd(const uint8_t* comma
}
void PlocSupervisorHandler::prepareSetAdcThresholdCmd(const uint8_t* commandData) {
uint32_t threshold = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
| *(commandData + 3);
uint32_t threshold = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
*(commandData + 3);
PLOC_SPV::SetAdcThreshold packet(threshold);
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}
@ -1275,7 +1260,6 @@ void PlocSupervisorHandler::packetToOutBuffer(uint8_t* packetData, size_t fullSi
}
void PlocSupervisorHandler::disableAllReplies() {
DeviceReplyMap::iterator iter;
/* Disable ack reply */
@ -1305,7 +1289,6 @@ void PlocSupervisorHandler::disableAllReplies() {
}
void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
DeviceReplyIter iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
@ -1316,7 +1299,8 @@ void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnV
DeviceCommandInfo* info = &(iter->second.command->second);
if (info == nullptr) {
sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply has no active command" << std::endl;
sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply has no active command"
<< std::endl;
return;
}
@ -1367,7 +1351,6 @@ ReturnValue_t PlocSupervisorHandler::parseMramPackets(const uint8_t *packet, siz
}
ReturnValue_t PlocSupervisorHandler::handleMramDumpPacket(DeviceCommandId_t id) {
ReturnValue_t result = RETURN_FAILED;
// Prepare packet for downlink
@ -1380,8 +1363,7 @@ ReturnValue_t PlocSupervisorHandler::handleMramDumpPacket(DeviceCommandId_t id)
}
handleMramDumpFile(id);
if (downlinkMramDump == true) {
handleDeviceTM(spacePacketBuffer + PLOC_SPV::SPACE_PACKET_HEADER_LENGTH, packetLen - 1,
id);
handleDeviceTM(spacePacketBuffer + PLOC_SPV::SPACE_PACKET_HEADER_LENGTH, packetLen - 1, id);
}
packetInBuffer = false;
receivedMramDumpPackets++;
@ -1426,16 +1408,15 @@ void PlocSupervisorHandler::increaseExpectedMramReplies(DeviceCommandId_t id) {
return;
}
uint8_t sequenceFlags = spacePacketBuffer[2] >> 6;
if (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT)
&& (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
if (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT) &&
(sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
// Command expects at least one MRAM packet more and the execution report
info->expectedReplies = 2;
// Wait maximum of 2 cycles for next MRAM packet
mramReplyInfo->delayCycles = 2;
// Also adapting delay cycles for execution report
exeReplyInfo->delayCycles = 3;
}
else {
} else {
// Command expects the execution report
info->expectedReplies = 1;
mramReplyInfo->delayCycles = 0;
@ -1456,8 +1437,8 @@ ReturnValue_t PlocSupervisorHandler::handleMramDumpFile(DeviceCommandId_t id) {
uint16_t packetLen = readSpacePacketLength(spacePacketBuffer);
uint8_t sequenceFlags = readSequenceFlags(spacePacketBuffer);
if (id == PLOC_SPV::FIRST_MRAM_DUMP) {
if (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT)
|| (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
if (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT) ||
(sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
result = createMramDumpFile();
if (result != RETURN_OK) {
return result;
@ -1523,8 +1504,8 @@ ReturnValue_t PlocSupervisorHandler::getTimeStampString(std::string& timeStamp)
<< std::endl;
return GET_TIME_FAILURE;
}
timeStamp = std::to_string(time.year) + "-" + std::to_string(time.month) + "-"
+ std::to_string(time.day) + "--" + std::to_string(time.hour) + "-"
+ std::to_string(time.minute) + "-" + std::to_string(time.second);
timeStamp = std::to_string(time.year) + "-" + std::to_string(time.month) + "-" +
std::to_string(time.day) + "--" + std::to_string(time.hour) + "-" +
std::to_string(time.minute) + "-" + std::to_string(time.second);
return RETURN_OK;
}

39
bsp_q7s/devices/PlocSupervisorHandler.h
View File

@ -1,12 +1,12 @@
#ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#include "devicedefinitions/PlocSupervisorDefinitions.h"
#include <bsp_q7s/memory/SdCardManager.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw_hal/linux/uart/UartComIF.h>
#include "devicedefinitions/PlocSupervisorDefinitions.h"
/**
* @brief This is the device handler for the supervisor of the PLOC which is programmed by
* Thales.
@ -21,7 +21,6 @@
*/
class PlocSupervisorHandler : public DeviceHandlerBase {
public:
PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie);
virtual ~PlocSupervisorHandler();
@ -33,12 +32,11 @@ protected:
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t * commandData,size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -49,7 +47,6 @@ protected:
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPERVISOR_HANDLER;
//! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
@ -64,25 +61,32 @@ private:
static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Invalid communication interface specified
static const ReturnValue_t INVALID_UART_COM_IF = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0 for PS, 1 for PL and 2 for INT
//! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0
//! for PS, 1 for PL and 2 for INT
static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid timeouts must be in the range between 1000 and 360000 ms.
//! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid
//! timeouts must be in the range between 1000 and 360000 ms.
static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA8);
//! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be larger than 21.
//! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be
//! larger than 21.
static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA9);
//! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1 and 2.
//! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1
//! and 2.
static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xAA);
//! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAB);
//! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM wipe commands are invalid (e.g. start address bigger than stop address)
//! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM wipe
//! commands are invalid (e.g. start address bigger than stop address)
static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAC);
//! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with other apid.
//! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with
//! other apid.
static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAD);
//! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have been created with the reception of the first dump packet.
//! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have
//! been created with the reception of the first dump packet.
static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAF);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
@ -258,7 +262,6 @@ private:
void prepareSetGpioCmd(const uint8_t* commandData);
void prepareReadGpioCmd(const uint8_t* commandData);
/**
* @brief Copies the content of a space packet to the command buffer.
*/

121
bsp_q7s/devices/PlocUpdater.cpp
View File

@ -1,17 +1,17 @@
#include "fsfw/ipc/QueueFactory.h"
#include "PlocUpdater.h"
#include <fstream>
#include <filesystem>
#include <fstream>
#include <string>
PlocUpdater::PlocUpdater(object_id_t objectId) :
SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
#include "fsfw/ipc/QueueFactory.h"
PlocUpdater::PlocUpdater(object_id_t objectId)
: SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
}
PlocUpdater::~PlocUpdater() {
}
PlocUpdater::~PlocUpdater() {}
ReturnValue_t PlocUpdater::initialize() {
#if BOARD_TE0720 == 0
@ -39,8 +39,8 @@ ReturnValue_t PlocUpdater::performOperation(uint8_t operationCode) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
ReturnValue_t result = RETURN_FAILED;
if (state != State::IDLE) {
@ -99,13 +99,9 @@ ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId,
return EXECUTION_FINISHED;
}
MessageQueueId_t PlocUpdater::getCommandQueue() const {
return commandQueue->getId();
}
MessageQueueId_t PlocUpdater::getCommandQueue() const { return commandQueue->getId(); }
MessageQueueIF* PlocUpdater::getCommandQueuePtr() {
return commandQueue;
}
MessageQueueIF* PlocUpdater::getCommandQueuePtr() { return commandQueue; }
void PlocUpdater::readCommandQueue() {
CommandMessage message;
@ -167,19 +163,19 @@ ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
#if BOARD_TE0720 == 0
// Check if file is stored on SD card and if associated SD card is mounted
if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (!isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::prepareNvm0AUpdate: SD card 0 not mounted" << std::endl;
if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::getImageLocation: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
}
else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_1_MOUNT_POINT)) {
if (!isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::prepareNvm0AUpdate: SD card 1 not mounted" << std::endl;
} else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
std::string(SdCardManager::SD_1_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::getImageLocation: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
}
else {
} else {
// update image not stored on SD card
}
#endif /* BOARD_TE0720 == 0 */
@ -193,48 +189,11 @@ ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
return RETURN_OK;
}
#if BOARD_TE0720 == 0
bool PlocUpdater::isSdCardMounted(sd::SdCard sdCard) {
SdCardManager::SdStatePair active;
ReturnValue_t result = sdcMan->getSdCardActiveStatus(active);
if (result != RETURN_OK) {
sif::debug << "PlocUpdater::isSdCardMounted: Failed to get SD card active state";
return false;
}
if (sdCard == sd::SLOT_0) {
if (active.first == sd::MOUNTED) {
return true;
}
else {
return false;
}
}
else if (sdCard == sd::SLOT_1) {
if (active.second == sd::MOUNTED) {
return true;
}
else {
return false;
}
}
else {
sif::debug << "PlocUpdater::isSdCardMounted: Unknown SD card specified" << std::endl;
}
return false;
}
#endif /* #if BOARD_TE0720 == 0 */
void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId,
uint8_t step) {
}
void PlocUpdater::stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) {}
void PlocUpdater::stepFailedReceived(ActionId_t actionId, uint8_t step,
ReturnValue_t returnCode) {
}
void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
}
void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
switch (pendingCommand) {
@ -245,8 +204,7 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
if (remainingPackets == 0) {
packetsSent = 0; // Reset packets sent variable for next update sequence
state = State::UPDATE_VERIFY;
}
else {
} else {
state = State::UPDATE_TRANSFER;
}
break;
@ -263,8 +221,7 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
}
}
void PlocUpdater::completionFailedReceived(ActionId_t actionId,
ReturnValue_t returnCode) {
void PlocUpdater::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
switch (pendingCommand) {
case (PLOC_SPV::UPDATE_AVAILABLE): {
triggerEvent(UPDATE_AVAILABLE_FAILED);
@ -279,8 +236,7 @@ void PlocUpdater::completionFailedReceived(ActionId_t actionId,
break;
}
default:
sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command "
<< std::endl;
sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command " << std::endl;
break;
}
state = State::IDLE;
@ -311,10 +267,12 @@ void PlocUpdater::commandUpdateAvailable() {
calcImageCrc();
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
static_cast<uint8_t>(partition), imageSize, imageCrc,
numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(), packet.getFullSize());
PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(),
packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
<< " packet to supervisor handler" << std::endl;
@ -344,8 +302,7 @@ void PlocUpdater::commandUpdatePacket() {
if (remainingPackets == 1) {
payloadLength = imageSize - static_cast<uint16_t>(file.tellg());
}
else {
} else {
payloadLength = MAX_SP_DATA;
}
@ -360,7 +317,8 @@ void PlocUpdater::commandUpdatePacket() {
packet.makeCrc();
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(), packet.getFullSize());
PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(),
packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
@ -382,10 +340,12 @@ void PlocUpdater::commandUpdateVerify() {
ReturnValue_t result = RETURN_OK;
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
static_cast<uint8_t>(partition), imageSize, imageCrc,
numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_VERIFY, packet.getWholeData(), packet.getFullSize());
result =
commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, PLOC_SPV::UPDATE_VERIFY,
packet.getWholeData(), packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
<< " packet to supervisor handler" << std::endl;
@ -425,12 +385,9 @@ void PlocUpdater::calcImageCrc() {
void PlocUpdater::adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet) {
if (packetsSent == 0) {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT));
}
else if (remainingPackets == 1) {
} else if (remainingPackets == 1) {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT));
}
else {
} else {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT));
}
}

48
bsp_q7s/devices/PlocUpdater.h
View File

@ -2,27 +2,25 @@
#define MISSION_DEVICES_PLOCUPDATER_H_
#include "OBSWConfig.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "devicedefinitions/PlocSupervisorDefinitions.h"
#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/ActionHelper.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/CommandsActionsIF.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "linux/fsfwconfig/objects/systemObjectList.h"
#include "fsfw/tmtcpacket/SpacePacket.h"
#include "linux/fsfwconfig/objects/systemObjectList.h"
/**
* @brief An object of this class can be used to perform the software updates of the PLOC. The
* software update will be read from one of the SD cards, split into multiple space
* packets and sent to the PlocSupervisorHandler.
*
* @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition A
* and Partition B)
* @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition
* A and Partition B)
*
* @author J. Meier
*/
@ -32,7 +30,6 @@ class PlocUpdater : public SystemObject,
public HasReturnvaluesIF,
public CommandsActionsIF {
public:
static const ActionId_t UPDATE_A_UBOOT = 0;
static const ActionId_t UPDATE_A_BITSTREAM = 1;
static const ActionId_t UPDATE_A_LINUX = 2;
@ -58,14 +55,14 @@ public:
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_UPDATER;
//! [EXPORT] : [COMMENT] Updater is already performing an update
static const ReturnValue_t UPDATER_BUSY = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Received update command with invalid path string (too long).
static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Received command to initiate update but SD card with update image not mounted.
//! [EXPORT] : [COMMENT] Received command to initiate update but SD card with update image not
//! mounted.
static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Update file received with update command does not exist.
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA3);
@ -74,13 +71,15 @@ private:
//! [EXPORT] : [COMMENT] Try to read update file but the file does not exist.
//! P1: Indicates in which state the file read fails
//! P2: During the update transfer the second parameter gives information about the number of already sent packets
//! P2: During the update transfer the second parameter gives information about the number of
//! already sent packets
static const Event UPDATE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to send command to supervisor handler
//! P1: Return value of CommandActionHelper::commandAction
//! P2: Action ID of command to send
static const Event ACTION_COMMANDING_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor handler replied action message indicating a command execution failure of the update available command
//! [EXPORT] : [COMMENT] Supervisor handler replied action message indicating a command execution
//! failure of the update available command
static const Event UPDATE_AVAILABLE_FAILED = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor handler failed to transfer an update space packet.
//! P1: Parameter holds the number of update packets already sent (inclusive the failed packet)
@ -122,21 +121,11 @@ private:
ActionId_t pendingCommand = PLOC_SPV::NONE;
enum class Image: uint8_t {
NONE,
A,
B
};
enum class Image : uint8_t { NONE, A, B };
Image image = Image::NONE;
enum class Partition: uint8_t {
NONE,
UBOOT,
BITSTREAM,
LINUX_OS,
APP_SW
};
enum class Partition : uint8_t { NONE, UBOOT, BITSTREAM, LINUX_OS, APP_SW };
Partition partition = Partition::NONE;
@ -174,13 +163,6 @@ private:
*/
void commandUpdateVerify();
#if BOARD_TE0720 == 0
/**
* @brief Checks whether the SD card to read from is mounted or not.
*/
bool isSdCardMounted(sd::SdCard sdCard);
#endif
void calcImageCrc();
void adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet);

11
bsp_q7s/devices/devicedefinitions/PlocMemDumpDefinitions.h
View File

@ -5,18 +5,17 @@
class MemoryParams : public SerialLinkedListAdapter<SerializeIF> {
public:
/**
* @brief Constructor
* @param startAddress Start of address range to dump
* @param endAddress End of address range to dump
*/
MemoryParams(uint32_t startAddress, uint32_t endAddress) :
startAddress(startAddress), endAddress(endAddress) {
MemoryParams(uint32_t startAddress, uint32_t endAddress)
: startAddress(startAddress), endAddress(endAddress) {
setLinks();
}
private:
private:
void setLinks() {
setStart(&startAddress);
startAddress.setNext(&endAddress);
@ -24,10 +23,6 @@ private:
SerializeElement<uint32_t> startAddress;
SerializeElement<uint32_t> endAddress;
};
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_ */

427
bsp_q7s/devices/devicedefinitions/PlocSupervisorDefinitions.h
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File diff suppressed because it is too large Load Diff

62
bsp_q7s/devices/startracker/ArcsecDatalinkLayer.cpp Normal file
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@ -0,0 +1,62 @@
#include "ArcsecDatalinkLayer.h"
ArcsecDatalinkLayer::ArcsecDatalinkLayer() { slipInit(); }
ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {}
void ArcsecDatalinkLayer::slipInit() {
slipInfo.buffer = rxBuffer;
slipInfo.maxlength = StarTracker::MAX_FRAME_SIZE;
slipInfo.length = 0;
slipInfo.unescape_next = 0;
slipInfo.prev_state = SLIP_COMPLETE;
}
ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t rawDataSize,
size_t* bytesLeft) {
size_t bytePos = 0;
for (bytePos = 0; bytePos < rawDataSize; bytePos++) {
enum arc_dec_result decResult =
arc_transport_decode_body(*(rawData + bytePos), &slipInfo, decodedFrame, &decFrameSize);
*bytesLeft = rawDataSize - bytePos - 1;
switch (decResult) {
case ARC_DEC_INPROGRESS: {
if (bytePos == rawDataSize - 1) {
return DEC_IN_PROGRESS;
}
continue;
}
case ARC_DEC_ERROR_FRAME_SHORT:
return REPLY_TOO_SHORT;
case ARC_DEC_ERROR_CHECKSUM:
return CRC_FAILURE;
case ARC_DEC_ASYNC:
case ARC_DEC_SYNC: {
// Reset length of SLIP struct for next frame
slipInfo.length = 0;
return RETURN_OK;
}
default:
sif::debug << "ArcsecDatalinkLayer::decodeFrame: Unknown result code" << std::endl;
break;
return RETURN_FAILED;
}
}
return RETURN_FAILED;
}
uint8_t ArcsecDatalinkLayer::getReplyFrameType() { return decodedFrame[0]; }
const uint8_t* ArcsecDatalinkLayer::getReply() { return &decodedFrame[1]; }
void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, uint32_t length) {
arc_transport_encode_body(data, length, encBuffer, &encFrameSize);
}
uint8_t* ArcsecDatalinkLayer::getEncodedFrame() { return encBuffer; }
uint32_t ArcsecDatalinkLayer::getEncodedLength() { return encFrameSize; }
uint8_t ArcsecDatalinkLayer::getStatusField() { return *(decodedFrame + STATUS_OFFSET); }
uint8_t ArcsecDatalinkLayer::getId() { return *(decodedFrame + ID_OFFSET); }

98
bsp_q7s/devices/startracker/ArcsecDatalinkLayer.h Normal file
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@ -0,0 +1,98 @@
#ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
#define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
#include "StarTrackerDefinitions.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
extern "C" {
#include "common/misc.h"
}
/**
* @brief Helper class to handle the datalinklayer of replies from the star tracker of arcsec.
*/
class ArcsecDatalinkLayer : public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] More data required to complete frame
static const ReturnValue_t DEC_IN_PROGRESS = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Data too short to represent a valid frame
static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Detected CRC failure in received frame
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA2);
static const uint8_t STATUS_OK = 0;
ArcsecDatalinkLayer();
virtual ~ArcsecDatalinkLayer();
/**
* @brief Applies decoding to data referenced by rawData pointer
*
* @param rawData Pointer to raw data received from star tracker
* @param rawDataSize Size of raw data stream
* @param remainingBytes Number of bytes left
*/
ReturnValue_t decodeFrame(const uint8_t* rawData, size_t rawDataSize, size_t* bytesLeft);
/**
* @brief SLIP encodes data pointed to by data pointer.
*
* @param data Pointer to data to encode
* @param length Length of buffer to encode
*/
void encodeFrame(const uint8_t* data, uint32_t length);
/**
* @brief Returns the frame type field of a decoded frame.
*/
uint8_t getReplyFrameType();
/**
* @brief Returns pointer to reply packet (first entry normally action ID, telemetry ID etc.)
*/
const uint8_t* getReply();
/**
* @brief Returns size of encoded frame
*/
uint32_t getEncodedLength();
/**
* @brief Returns pointer to encoded frame
*/
uint8_t* getEncodedFrame();
/**
* @brief Returns status of reply
*/
uint8_t getStatusField();
/**
* @brief Returns ID of reply
*/
uint8_t getId();
private:
static const uint8_t ID_OFFSET = 1;
static const uint8_t STATUS_OFFSET = 2;
// Used by arcsec slip decoding function process received data
uint8_t rxBuffer[StarTracker::MAX_FRAME_SIZE];
// Decoded frame will be copied to this buffer
uint8_t decodedFrame[StarTracker::MAX_FRAME_SIZE];
// Buffer where encoded frames will be stored. First byte of encoded frame represents type of
// reply
uint8_t encBuffer[StarTracker::MAX_FRAME_SIZE * 2 + 2];
// Size of decoded frame
uint32_t decFrameSize = 0;
// Size of encoded frame
uint32_t encFrameSize = 0;
slip_decode_state slipInfo;
void slipInit();
};
#endif /* BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_ */

126
bsp_q7s/devices/startracker/ArcsecJsonKeys.h Normal file
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@ -0,0 +1,126 @@
#ifndef BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_
#define BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_
/**
* @brief Keys used in JSON file of ARCSEC.
*/
namespace arcseckeys {
static const char PROPERTIES[] = "properties";
static const char NAME[] = "name";
static const char VALUE[] = "value";
static const char LIMITS[] = "limits";
static const char ACTION[] = "action";
static const char FPGA18CURRENT[] = "FPGA18Current";
static const char FPGA25CURRENT[] = "FPGA25Current";
static const char FPGA10CURRENT[] = "FPGA10Current";
static const char MCUCURRENT[] = "MCUCurrent";
static const char CMOS21CURRENT[] = "CMOS21Current";
static const char CMOSPIXCURRENT[] = "CMOSPixCurrent";
static const char CMOS33CURRENT[] = "CMOS33Current";
static const char CMOSVRESCURRENT[] = "CMOSVResCurrent";
static const char CMOS_TEMPERATURE[] = "CMOSTemperature";
static const char MCU_TEMPERATURE[] = "MCUTemperature";
static const char MOUNTING[] = "mounting";
static const char qw[] = "qw";
static const char qx[] = "qx";
static const char qy[] = "qy";
static const char qz[] = "qz";
static const char CAMERA[] = "camera";
static const char MODE[] = "mode";
static const char FOCALLENGTH[] = "focallength";
static const char EXPOSURE[] = "exposure";
static const char INTERVAL[] = "interval";
static const char OFFSET[] = "offset";
static const char PGAGAIN[] = "PGAGain";
static const char ADCGAIN[] = "ADCGain";
static const char REG_1[] = "reg1";
static const char VAL_1[] = "val1";
static const char REG_2[] = "reg2";
static const char VAL_2[] = "val2";
static const char REG_3[] = "reg3";
static const char VAL_3[] = "val3";
static const char REG_4[] = "reg4";
static const char VAL_4[] = "val4";
static const char REG_5[] = "reg5";
static const char VAL_5[] = "val5";
static const char REG_6[] = "reg6";
static const char VAL_6[] = "val6";
static const char REG_7[] = "reg7";
static const char VAL_7[] = "val7";
static const char REG_8[] = "reg8";
static const char VAL_8[] = "val8";
static const char FREQ_1[] = "freq1";
static const char FREQ_2[] = "freq2";
static const char BLOB[] = "blob";
static const char MIN_VALUE[] = "minValue";
static const char MIN_DISTANCE[] = "minDistance";
static const char NEIGHBOUR_DISTANCE[] = "neighbourDistance";
static const char NEIGHBOUR_BRIGHT_PIXELS[] = "neighbourBrightPixels";
static const char MIN_TOTAL_VALUE[] = "minTotalValue";
static const char MAX_TOTAL_VALUE[] = "maxTotalValue";
static const char MIN_BRIGHT_NEIGHBOURS[] = "minBrightNeighbours";
static const char MAX_BRIGHT_NEIGHBOURS[] = "maxBrightNeighbours";
static const char MAX_PIXEL_TO_CONSIDER[] = "maxPixelsToConsider";
static const char SIGNAL_THRESHOLD[] = "signalThreshold";
static const char DARK_THRESHOLD[] = "darkThreshold";
static const char ENABLE_HISTOGRAM[] = "enableHistogram";
static const char ENABLE_CONTRAST[] = "enableContrast";
static const char BIN_MODE[] = "binMode";
static const char CENTROIDING[] = "centroiding";
static const char ENABLE_FILTER[] = "enableFilter";
static const char MAX_QUALITY[] = "maxquality";
static const char MIN_QUALITY[] = "minquality";
static const char MAX_INTENSITY[] = "maxintensity";
static const char MIN_INTENSITY[] = "minintensity";
static const char MAX_MAGNITUDE[] = "maxmagnitude";
static const char GAUSSIAN_CMAX[] = "gaussianCmax";
static const char GAUSSIAN_CMIN[] = "gaussianCmin";
static const char TRANSMATRIX_00[] = "transmatrix00";
static const char TRANSMATRIX_01[] = "transmatrix01";
static const char TRANSMATRIX_10[] = "transmatrix10";
static const char TRANSMATRIX_11[] = "transmatrix11";
static const char LISA[] = "lisa";
static const char PREFILTER_DIST_THRESHOLD[] = "prefilterDistThreshold";
static const char PREFILTER_ANGLE_THRESHOLD[] = "prefilterAngleThreshold";
static const char FOV_WIDTH[] = "fov_width";
static const char FOV_HEIGHT[] = "fov_height";
static const char FLOAT_STAR_LIMIT[] = "float_star_limit";
static const char CLOSE_STAR_LIMIT[] = "close_star_limit";
static const char RATING_WEIGHT_CLOSE_STAR_COUNT[] = "rating_weight_close_star_count";
static const char RATING_WEIGHT_FRACTION_CLOSE[] = "rating_weight_fraction_close";
static const char RATING_WEIGHT_MEAN_SUM[] = "rating_weight_mean_sum";
static const char RATING_WEIGHT_DB_STAR_COUNT[] = "rating_weight_db_star_count";
static const char MAX_COMBINATIONS[] = "max_combinations";
static const char NR_STARS_STOP[] = "nr_stars_stop";
static const char FRACTION_CLOSE_STOP[] = "fraction_close_stop";
static const char MATCHING[] = "matching";
static const char SQUARED_DISTANCE_LIMIT[] = "squaredDistanceLimit";
static const char SQUARED_SHIFT_LIMIT[] = "squaredShiftLimit";
static const char VALIDATION[] = "validation";
static const char STABLE_COUNT[] = "stable_count";
static const char MAX_DIFFERENCE[] = "max_difference";
static const char MIN_TRACKER_CONFIDENCE[] = "min_trackerConfidence";
static const char MIN_MATCHED_STARS[] = "min_matchedStars";
static const char TRACKING[] = "tracking";
static const char THIN_LIMIT[] = "thinLimit";
static const char OUTLIER_THRESHOLD[] = "outlierThreshold";
static const char OUTLIER_THRESHOLD_QUEST[] = "outlierThresholdQUEST";
static const char TRACKER_CHOICE[] = "trackerChoice";
static const char ALGO[] = "algo";
static const char L2T_MIN_CONFIDENCE[] = "l2t_minConfidence";
static const char L2T_MIN_MATCHED[] = "l2t_minConfidence";
static const char T2L_MIN_CONFIDENCE[] = "t2l_minConfidence";
static const char T2L_MIN_MATCHED[] = "t2l_minMatched";
} // namespace arcseckeys
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_ */

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#include "ArcsecJsonParamBase.h"
#include "ArcsecJsonKeys.h"
ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {}
ReturnValue_t ArcsecJsonParamBase::create(std::string fullname, uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
result = init(fullname);
if (result != RETURN_OK) {
return result;
}
result = createCommand(buffer);
return result;
}
ReturnValue_t ArcsecJsonParamBase::getParam(const std::string name, std::string& value) {
for (json::iterator it = set.begin(); it != set.end(); ++it) {
if ((*it)[arcseckeys::NAME] == name) {
value = (*it)[arcseckeys::VALUE];
convertEmpty(value);
return RETURN_OK;
}
}
return PARAM_NOT_EXISTS;
}
void ArcsecJsonParamBase::convertEmpty(std::string& value) {
if (value == "") {
value = "0";
}
}
void ArcsecJsonParamBase::addfloat(const std::string value, uint8_t* buffer) {
float param = std::stof(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::adduint8(const std::string value, uint8_t* buffer) {
uint8_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::addint16(const std::string value, uint8_t* buffer) {
int16_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::adduint16(const std::string value, uint8_t* buffer) {
uint16_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::adduint32(const std::string value, uint8_t* buffer) {
uint32_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::addSetParamHeader(uint8_t* buffer, uint8_t setId) {
*buffer = static_cast<uint8_t>(TMTC_SETPARAMREQ);
*(buffer + 1) = setId;
}
ReturnValue_t ArcsecJsonParamBase::init(const std::string filename) {
ReturnValue_t result = RETURN_OK;
if (not std::filesystem::exists(filename)) {
sif::warning << "ArcsecJsonParamBase::init: JSON file " << filename << " does not exist"
<< std::endl;
return JSON_FILE_NOT_EXISTS;
}
createJsonObject(filename);
result = initSet();
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
void ArcsecJsonParamBase::createJsonObject(const std::string fullname) {
json j;
std::ifstream file(fullname);
file >> j;
file.close();
properties = j[arcseckeys::PROPERTIES];
}
ReturnValue_t ArcsecJsonParamBase::initSet() {
for (json::iterator it = properties.begin(); it != properties.end(); ++it) {
if ((*it)["name"] == setName) {
set = (*it)["fields"];
return RETURN_OK;
}
}
return SET_NOT_EXISTS;
}

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#ifndef BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_
#define BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_
#include <filesystem>
#include <fstream>
#include <nlohmann/json.hpp>
#include "StarTrackerDefinitions.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
extern "C" {
#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
#include "thirdparty/arcsec_star_tracker/common/genericstructs.h"
}
using json = nlohmann::json;
/**
* @brief Base class for creation of parameter configuration commands. Reads parameter set
* from a json file located on the filesystem and generates the appropriate command
* to apply the parameters to the star tracker software.
*
* @author J. Meier
*/
class ArcsecJsonParamBase : public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::ARCSEC_JSON_BASE;
//! [EXPORT] : [COMMENT] Specified json file does not exist
static const ReturnValue_t JSON_FILE_NOT_EXISTS = MAKE_RETURN_CODE(1);
//! [EXPORT] : [COMMENT] Requested set does not exist in json file
static const ReturnValue_t SET_NOT_EXISTS = MAKE_RETURN_CODE(2);
//! [EXPORT] : [COMMENT] Requested parameter does not exist in json file
static const ReturnValue_t PARAM_NOT_EXISTS = MAKE_RETURN_CODE(3);
/**
* @brief Constructor
*
* @param fullname Name with absolute path of json file containing the parameters to set.
*/
ArcsecJsonParamBase(std::string setName);
/**
* @brief Fills a buffer with a parameter set
*
* @param fullname The name including the absolute path of the json file containing the
* parameter set.
* @param buffer Pointer to the buffer the command will be written to
*/
ReturnValue_t create(std::string fullname, uint8_t* buffer);
/**
* @brief Returns the size of the parameter command.
*/
virtual size_t getSize() = 0;
protected:
/**
* @brief Reads the value of a parameter from a json set
*
* @param name The name of the parameter
* @param value The string representation of the read value
*
* @return RETURN_OK if successful, otherwise PARAM_NOT_EXISTS
*/
ReturnValue_t getParam(const std::string name, std::string& value);
/**
* @brief Converts empty string which is equal to define a value as zero.
*/
void convertEmpty(std::string& value);
/**
* @brief This function adds a float represented as string to a buffer
*
* @param value The float in string representation to add
* @param buffer Pointer to the buffer the float will be written to
*/
void addfloat(const std::string value, uint8_t* buffer);
/**
* @brief This function adds a uint8_t represented as string to a buffer
*
* @param value The uint8_t in string representation to add
* @param buffer Pointer to the buffer the uint8_t will be written to
*/
void adduint8(const std::string value, uint8_t* buffer);
/**
* @brief This function adds a int16_t represented as string to a buffer
*
* @param value The int16_t in string representation to add
* @param buffer Pointer to the buffer the int16_t will be written to
*/
void addint16(const std::string value, uint8_t* buffer);
/**
* @brief This function adds a uint16_t represented as string to a buffer
*
* @param value The uint16_t in string representation to add
* @param buffer Pointer to the buffer the uint16_t will be written to
*/
void adduint16(const std::string value, uint8_t* buffer);
/**
* @brief This function adds a uint32_t represented as string to a buffer
*
* @param value The uint32_t in string representation to add
* @param buffer Pointer to the buffer the uint32_t will be written to
*/
void adduint32(const std::string value, uint8_t* buffer);
void addSetParamHeader(uint8_t* buffer, uint8_t setId);
private:
json properties;
json set;
std::string setName;
/**
* @brief This function must be implemented by the derived class to define creation of a
* parameter command.
*/
virtual ReturnValue_t createCommand(uint8_t* buffer) = 0;
/**
* @brief Initializes the properties json object and the set json object
*
* @param fullname Name including absolute path to json file
* @param setName The name of the set to work on
*
* @param return JSON_FILE_NOT_EXISTS if specified file does not exist, otherwise
* RETURN_OK
*/
ReturnValue_t init(const std::string filename);
void createJsonObject(const std::string fullname);
/**
* @brief Extracts the json set object form the json file
*
* @param setName The name of the set to create the json object from
*/
ReturnValue_t initSet();
};
#endif /* BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_ */

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target_sources(${TARGET_NAME} PRIVATE
StarTrackerHandler.cpp
StarTrackerJsonCommands.cpp
ArcsecDatalinkLayer.cpp
ArcsecJsonParamBase.cpp
StrHelper.cpp
)

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#ifndef MISSION_DEVICES_STARTRACKERHANDLER_H_
#define MISSION_DEVICES_STARTRACKERHANDLER_H_
#include <fsfw/datapool/PoolReadGuard.h>
#include "ArcsecDatalinkLayer.h"
#include "ArcsecJsonParamBase.h"
#include "StarTrackerDefinitions.h"
#include "StrHelper.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
#include "fsfw/timemanager/Countdown.h"
#include "thirdparty/arcsec_star_tracker/common/SLIP.h"
/**
* @brief This is the device handler for the star tracker from arcsec.
*
* @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
* Arbeitsdaten/08_Used%20Components/ArcSec_KULeuven_Startracker/
* Sagitta%201.0%20Datapack&fileid=659181
* @author J. Meier
*/
class StarTrackerHandler : public DeviceHandlerBase {
public:
/**
* @brief Constructor
*
* @param objectId
* @param comIF
* @param comCookie
* @param gpioComIF Pointer to gpio communication interface
* @param enablePin GPIO connected to the enable pin of the reaction wheels. Must be pulled
* to high to enable the device.
*/
StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
StrHelper* strHelper);
virtual ~StarTrackerHandler();
ReturnValue_t initialize() override;
/**
* @brief Overwrite this function from DHB to handle commands executed by the str image
* loader task.
*/
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
void performOperationHook() override;
protected:
void doStartUp() override;
void doShutDown() override;
void doOffActivity() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
/**
* @brief Overwritten here to always read all available data from the UartComIF.
*/
virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
virtual ReturnValue_t doSendReadHook() override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] Received reply is too short
static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xB0);
//! [EXPORT] : [COMMENT] Received reply with invalid CRC
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xB1);
//! [EXPORT] : [COMMENT] Image loader executing
static const ReturnValue_t IMAGE_LOADER_EXECUTING = MAKE_RETURN_CODE(0xB2);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] Status in temperature reply signals error
static const ReturnValue_t TEMPERATURE_REQ_FAILED = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Ping command failed
static const ReturnValue_t PING_FAILED = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Status in version reply signals error
static const ReturnValue_t VERSION_REQ_FAILED = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Status in interface reply signals error
static const ReturnValue_t INTERFACE_REQ_FAILED = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Status in power reply signals error
static const ReturnValue_t POWER_REQ_FAILED = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Status of reply to parameter set command signals error
static const ReturnValue_t SET_PARAM_FAILED = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] Status of reply to action command signals error
static const ReturnValue_t ACTION_FAILED = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Received upload image command with invalid length
static const ReturnValue_t UPLOAD_TOO_SHORT = MAKE_RETURN_CODE(0xA8);
//! [EXPORT] : [COMMENT] Received upload image command with invalid position field
static const ReturnValue_t UPLOAD_INVALID_POSITION = MAKE_RETURN_CODE(0xA8);
//! [EXPORT] : [COMMENT] Position value in upload image reply not matching sent position
static const ReturnValue_t UPLOAD_IMAGE_FAILED = MAKE_RETURN_CODE(0xA9);
//! [EXPORT] : [COMMENT] Received upload image command with invalid length
static const ReturnValue_t INVALID_UPLOAD_COMMAND = MAKE_RETURN_CODE(0xAA);
//! [EXPORT] : [COMMENT] Received invalid path string. Exceeds allowed length
static const ReturnValue_t FILE_PATH_TOO_LONG = MAKE_RETURN_CODE(0xAB);
//! [EXPORT] : [COMMENT] Name of file received with command is too long
static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xAC);
//! [EXPORT] : [COMMENT] Received version reply with invalid program ID
static const ReturnValue_t INVALID_PROGRAM = MAKE_RETURN_CODE(0xAD);
//! [EXPORT] : [COMMENT] Status field reply signals error
static const ReturnValue_t REPLY_ERROR = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] Status field of contrast reply signals error
static const ReturnValue_t CONTRAST_REQ_FAILED = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] Received command which is too short (some data is missing for proper
//! execution)
static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAF);
//! [EXPORT] : [COMMENT] Received command with invalid length (too few or too many parameters)
static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xB0);
//! [EXPORT] : [COMMENT] Region mismatch between send and received data
static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xB1);
//! [EXPORT] : [COMMENT] Address mismatch between send and received data
static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xB2);
//! [EXPORT] : [COMMENT] Length field mismatch between send and received data
static const ReturnValue_t lENGTH_MISMATCH = MAKE_RETURN_CODE(0xB3);
//! [EXPORT] : [COMMENT] Specified file does not exist
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xB4);
//! [EXPORT] : [COMMENT] Reply to upload centroid does not match commanded centroid id
static const ReturnValue_t UPLOAD_CENTROID_ID_MISMATCH = MAKE_RETURN_CODE(0xB5);
//! [EXPORT] : [COMMENT] Download blob pixel command has invalid type field
static const ReturnValue_t INVALID_TYPE = MAKE_RETURN_CODE(0xB6);
//! [EXPORT] : [COMMENT] Received FPGA action command with invalid ID
static const ReturnValue_t INVALID_ID = MAKE_RETURN_CODE(0xB7);
static const size_t MAX_PATH_SIZE = 50;
static const size_t MAX_FILE_NAME = 30;
// position (uint32) + 1024 image data
static const size_t UPLOAD_COMMAND_LEN = 1028;
// Max valid position value in upload image command
static const uint16_t MAX_POSITION = 4095;
static const uint8_t STATUS_OFFSET = 1;
static const uint8_t TICKS_OFFSET = 2;
static const uint8_t TIME_OFFSET = 6;
static const uint8_t TM_DATA_FIELD_OFFSET = 14;
static const uint8_t PARAMETER_ID_OFFSET = 0;
static const uint8_t ACTION_ID_OFFSET = 0;
static const uint8_t ACTION_DATA_OFFSET = 2;
// Ping request will reply ping with this ID (data field)
static const uint32_t PING_ID = 0x55;
static const uint32_t BOOT_REGION_ID = 1;
static const MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
static const uint32_t MUTEX_TIMEOUT = 20;
static const uint32_t BOOT_TIMEOUT = 1000;
class WriteCmd {
public:
static const uint8_t ADDRESS_OFFSET = 1;
static const uint8_t FILE_OFFSET = 5;
// Minimum length of a write command (region, address and filename)
static const size_t MIN_LENGTH = 7;
};
class ReadCmd {
public:
static const uint8_t ADDRESS_OFFSET = 1;
static const uint8_t LENGTH_OFFSET = 5;
static const uint8_t FILE_OFFSET = 9;
// Minimum length of a read command (region, address, length and filename)
static const size_t MIN_LENGTH = 11;
};
class EraseCmd {
public:
static const uint8_t LENGTH = 1;
uint8_t rememberRegion = 0;
};
EraseCmd eraseCmd;
class UnlockCmd {
public:
static const uint8_t CODE_OFFSET = 1;
};
class ChecksumCmd {
public:
static const uint8_t ADDRESS_OFFSET = 1;
static const uint8_t LENGTH_OFFSET = 5;
// Length of checksum command
static const size_t LENGTH = 9;
uint8_t rememberRegion = 0;
uint32_t rememberAddress = 0;
uint32_t rememberLength = 0;
};
ChecksumCmd checksumCmd;
class SetTimeCmd {
public:
static const uint8_t LENGTH = 8;
};
class DownloadCentroidCmd {
public:
static const uint8_t LENGTH = 1;
};
class UploadCentroid {
public:
uint8_t rememberId = 0;
};
UploadCentroid uploadCentroid;
class DownloadMatchedStarCmd {
public:
static const uint8_t LENGTH = 1;
};
class DownloadDbImageCmd {
public:
static const uint8_t LENGTH = 1;
};
class DownloadBlobPixCmd {
public:
static const uint8_t LENGTH = 2;
static const uint8_t NORMAL = 0;
static const uint8_t FAST = 1;
};
class FpgaDownloadCmd {
public:
static const uint8_t MIN_LENGTH = 10;
};
class FpgaActionCmd {
public:
static const uint8_t LENGTH = 1;
static const uint8_t ID = 3;
};
MessageQueueIF* eventQueue = nullptr;
ArcsecDatalinkLayer dataLinkLayer;
StarTracker::TemperatureSet temperatureSet;
StarTracker::VersionSet versionSet;
StarTracker::PowerSet powerSet;
StarTracker::InterfaceSet interfaceSet;
StarTracker::TimeSet timeSet;
StarTracker::SolutionSet solutionSet;
StarTracker::HistogramSet histogramSet;
StarTracker::ContrastSet contrastSet;
StarTracker::ChecksumSet checksumSet;
StarTracker::DownloadCentroidSet downloadCentroidSet;
StarTracker::DownloadMatchedStar downloadMatchedStar;
StarTracker::DownloadDBImage downloadDbImage;
StarTracker::DownloadBlobPixel downloadBlobPixel;
// Pointer to object responsible for uploading and downloading images to/from the star tracker
StrHelper* strHelper = nullptr;
uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
// Countdown to insert delay for star tracker to switch from bootloader to firmware program
Countdown bootCountdown;
std::string paramJsonFile = "/mnt/sd0/startracker/full.json";
enum class InternalState { TEMPERATURE_REQUEST };
InternalState internalState = InternalState::TEMPERATURE_REQUEST;
enum class StartupState {
IDLE,
CHECK_BOOT_STATE,
BOOT,
BOOT_DELAY,
LIMITS,
TRACKING,
MOUNTING,
CAMERA,
BLOB,
CENTROIDING,
LISA,
MATCHING,
VALIDATION,
ALGO,
WAIT_FOR_EXECUTION,
DONE
};
StartupState startupState = StartupState::IDLE;
bool strHelperExecuting = false;
/**
* @brief Handles internal state
*/
void handleInternalState();
/**
* @brief Checks mode for commands requiring MODE_ON of MODE_NORMAL for execution.
*
* @param actionId Action id of command to execute
*/
ReturnValue_t checkMode(ActionId_t actionId);
/**
* @brief This function initializes the serial link ip protocol struct slipInfo.
*/
void slipInit();
ReturnValue_t scanForActionReply(DeviceCommandId_t* foundId);
ReturnValue_t scanForParameterReply(DeviceCommandId_t* foundId);
ReturnValue_t scanForTmReply(DeviceCommandId_t* foundId);
/**
* @brief Fills command buffer with data to ping the star tracker
*/
void preparePingRequest();
/**
* @brief Fills command buffer with data to request the time telemetry.
*/
void prepareTimeRequest();
/**
* @brief Handles all received event messages
*/
void handleEvent(EventMessage* eventMessage);
/**
* @brief Executes the write command
*
* @param commandData Pointer to received command data
* @param commandDataLen Size of received command data
*
* @return RETURN_OK if start of execution was successful, otherwise error return value
*/
ReturnValue_t executeWriteCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Starts the execution of the fpga download command
*
* @param commandData Pointer to buffer with command data
* @param commandDataLen Size of received command
*/
ReturnValue_t executeFpgaDownloadCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Extracts information for flash-read-command from TC data and starts execution of
* flash-read-procedure
*
* @param commandData Pointer to received command data
* @param commandDataLen Size of received command data
*
* @return RETURN_OK if start of execution was successful, otherwise error return value
*/
ReturnValue_t executeReadCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with data to boot image (works only when star tracker is
* in bootloader mode).
*/
void prepareBootCommand();
/**
* @brief Fills command buffer with command to erase a flash region
*/
ReturnValue_t prepareEraseCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with command to unlock flash region
*/
ReturnValue_t prepareUnlockCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with command to get the checksum of a flash part
*/
ReturnValue_t prepareChecksumCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with command to set the unix time
*/
ReturnValue_t prepareSetTimeCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with command to request a centroid
*/
ReturnValue_t prepareDownloadCentroidCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with command to upload a centroid for testing purpose
*/
ReturnValue_t prepareUploadCentroidCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills the command buffer with the command to take an image.
*/
void prepareTakeImageCommand(const uint8_t* commandData);
/**
* @brief Fills command buffer with data to request the version telemetry packet
*/
void prepareVersionRequest();
/**
* @brief Fills the command buffer with data to request the interface telemetry packet.
*/
void prepareInterfaceRequest();
/**
* @brief Fills the command buffer with data to request the power telemetry packet.
*/
void preparePowerRequest();
/**
* @brief Fills command buffer with data to reboot star tracker.
*/
void prepareRebootCommand();
/**
* @brief Fills command buffer with data to subscribe to a telemetry packet.
*
* @param tmId The ID of the telemetry packet to subscribe to
*/
void prepareSubscriptionCommand(const uint8_t* tmId);
/**
* @brief Fills command buffer with data to request solution telemtry packet (contains
* attitude information)
*/
void prepareSolutionRequest();
/**
* @brief Fills command buffer with data to request temperature from star tracker
*/
void prepareTemperatureRequest();
/**
* @brief Fills command buffer with data to request histogram
*/
void prepareHistogramRequest();
void prepareContrastRequest();
/**
* @brief Fills command buffer with command to reset the error signal of the star tracker
*/
void prepareErrorResetRequest();
/**
* @brief Reads parameters from json file specified by string in commandData and
* prepares the command to apply the parameter set to the star tracker
*
* @param commandData Contains string with file name
* @param commandDataLen Length of command
* @param paramSet The object defining the command generation
*
* @return RETURN_OK if successful, otherwise error return Value
*/
ReturnValue_t prepareParamCommand(const uint8_t* commandData, size_t commandDataLen,
ArcsecJsonParamBase& paramSet);
/**
* @brief Fills command buffer with data to request matched star.
*/
ReturnValue_t prepareDownloadMatchedStarCommand(const uint8_t* commandData,
size_t commandDataLen);
/**
* @brief Fills command buffer with data to request matched star coordinates.
*/
ReturnValue_t prepareDownloadDbImageCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with data to request output of the blob filter algorithm.
*/
ReturnValue_t prepareDownloadBlobPixelCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief With this command the FPGA update will be applied to the star tracker
*/
ReturnValue_t prepareFpgaActionCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Handles action replies with datasets.
*/
ReturnValue_t handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size);
/**
* @brief Default function to handle action replies
*/
ReturnValue_t handleActionReply();
/**
* @brief Handles reply to upload centroid command
*/
ReturnValue_t handleUploadCentroidReply();
/**
* @brief Handles reply to erase command
*/
ReturnValue_t handleEraseReply();
/**
* @brief Handles reply to checksum command
*/
ReturnValue_t handleChecksumReply();
/**
* @brief Handles all set parameter replies
*/
ReturnValue_t handleSetParamReply();
ReturnValue_t handlePingReply();
/**
* @brief Checks the loaded program by means of the version set
*/
ReturnValue_t checkProgram();
/**
* @brief Handles the startup state machine
*/
void handleStartup(const uint8_t* parameterId);
/**
* @brief Handles telemtry replies and fills the appropriate dataset
*
* @param dataset Dataset where reply data will be written to
* @param size Size of the dataset
*
* @return RETURN_OK if successful, otherwise error return value
*/
ReturnValue_t handleTm(LocalPoolDataSetBase& dataset, size_t size);
};
#endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */

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#include "StarTrackerJsonCommands.h"
#include "ArcsecJsonKeys.h"
Limits::Limits() : ArcsecJsonParamBase(arcseckeys::LIMITS) {}
size_t Limits::getSize() { return COMMAND_SIZE; }
ReturnValue_t Limits::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::LIMITS);
offset = 2;
result = getParam(arcseckeys::ACTION, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::FPGA18CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FPGA25CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FPGA10CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MCUCURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOS21CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOSPIXCURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOS33CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOSVRESCURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOS_TEMPERATURE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MCU_TEMPERATURE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
return RETURN_OK;
}
Tracking::Tracking() : ArcsecJsonParamBase(arcseckeys::TRACKING) {}
size_t Tracking::getSize() { return COMMAND_SIZE; }
ReturnValue_t Tracking::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::TRACKING);
offset = 2;
result = getParam(arcseckeys::THIN_LIMIT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::OUTLIER_THRESHOLD, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::OUTLIER_THRESHOLD_QUEST, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRACKER_CHOICE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
return RETURN_OK;
}
Mounting::Mounting() : ArcsecJsonParamBase(arcseckeys::MOUNTING) {}
size_t Mounting::getSize() { return COMMAND_SIZE; }
ReturnValue_t Mounting::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::MOUNTING);
offset = 2;
result = getParam(arcseckeys::qw, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::qx, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::qy, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::qz, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
return RETURN_OK;
}
Camera::Camera() : ArcsecJsonParamBase(arcseckeys::CAMERA) {}
size_t Camera::getSize() { return COMMAND_SIZE; }
ReturnValue_t Camera::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::CAMERA);
offset = 2;
result = getParam(arcseckeys::MODE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::FOCALLENGTH, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::EXPOSURE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::INTERVAL, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::OFFSET, param);
if (result != RETURN_OK) {
return result;
}
addint16(param, buffer + offset);
offset += sizeof(int16_t);
result = getParam(arcseckeys::PGAGAIN, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::ADCGAIN, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_1, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_1, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_2, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_2, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_3, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_3, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_4, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_4, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_5, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_5, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_6, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_6, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_7, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_7, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_8, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_8, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::FREQ_1, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FREQ_2, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
return RETURN_OK;
}
Blob::Blob() : ArcsecJsonParamBase(arcseckeys::BLOB) {}
size_t Blob::getSize() { return COMMAND_SIZE; }
ReturnValue_t Blob::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::BLOB);
offset = 2;
result = getParam(arcseckeys::MODE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MIN_VALUE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MIN_DISTANCE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::NEIGHBOUR_DISTANCE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::NEIGHBOUR_BRIGHT_PIXELS, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MIN_TOTAL_VALUE, param);
if (result != RETURN_OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::MAX_TOTAL_VALUE, param);
if (result != RETURN_OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::MIN_BRIGHT_NEIGHBOURS, param);
if (result != RETURN_OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::MAX_BRIGHT_NEIGHBOURS, param);
if (result != RETURN_OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::MAX_PIXEL_TO_CONSIDER, param);
if (result != RETURN_OK) {
return result;
}
adduint32(param, buffer + offset);
offset += sizeof(uint32_t);
result = getParam(arcseckeys::SIGNAL_THRESHOLD, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::DARK_THRESHOLD, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::ENABLE_HISTOGRAM, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::ENABLE_CONTRAST, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::BIN_MODE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
return RETURN_OK;
}
Centroiding::Centroiding() : ArcsecJsonParamBase(arcseckeys::CENTROIDING) {}
size_t Centroiding::getSize() { return COMMAND_SIZE; }
ReturnValue_t Centroiding::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::CENTROIDING);
offset = 2;
result = getParam(arcseckeys::ENABLE_FILTER, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MAX_QUALITY, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MIN_QUALITY, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MAX_INTENSITY, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MIN_INTENSITY, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MAX_MAGNITUDE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::GAUSSIAN_CMAX, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::GAUSSIAN_CMIN, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRANSMATRIX_00, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRANSMATRIX_01, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRANSMATRIX_10, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRANSMATRIX_11, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
return RETURN_OK;
}
Lisa::Lisa() : ArcsecJsonParamBase(arcseckeys::LISA) {}
size_t Lisa::getSize() { return COMMAND_SIZE; }
ReturnValue_t Lisa::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::LISA);
offset = 2;
result = getParam(arcseckeys::PREFILTER_DIST_THRESHOLD, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::PREFILTER_ANGLE_THRESHOLD, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FOV_WIDTH, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FOV_HEIGHT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FLOAT_STAR_LIMIT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CLOSE_STAR_LIMIT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::RATING_WEIGHT_CLOSE_STAR_COUNT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::RATING_WEIGHT_FRACTION_CLOSE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::RATING_WEIGHT_DB_STAR_COUNT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MAX_COMBINATIONS, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::NR_STARS_STOP, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::FRACTION_CLOSE_STOP, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
return RETURN_OK;
}
Matching::Matching() : ArcsecJsonParamBase(arcseckeys::MATCHING) {}
size_t Matching::getSize() { return COMMAND_SIZE; }
ReturnValue_t Matching::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::MATCHING);
offset = 2;
result = getParam(arcseckeys::SQUARED_DISTANCE_LIMIT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::SQUARED_SHIFT_LIMIT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
return RETURN_OK;
}
Validation::Validation() : ArcsecJsonParamBase(arcseckeys::VALIDATION) {}
size_t Validation::getSize() { return COMMAND_SIZE; }
ReturnValue_t Validation::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::VALIDATION);
offset = 2;
result = getParam(arcseckeys::STABLE_COUNT, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MAX_DIFFERENCE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MIN_TRACKER_CONFIDENCE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MIN_MATCHED_STARS, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
return RETURN_OK;
}
Algo::Algo() : ArcsecJsonParamBase(arcseckeys::ALGO) {}
size_t Algo::getSize() { return COMMAND_SIZE; }
ReturnValue_t Algo::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::ALGO);
offset = 2;
result = getParam(arcseckeys::MODE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::L2T_MIN_CONFIDENCE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::L2T_MIN_MATCHED, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::T2L_MIN_CONFIDENCE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::T2L_MIN_MATCHED, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
return RETURN_OK;
}

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#ifndef BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_
#define BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_
/**
* @brief This file defines a few helper classes to generate commands by means of the parameters
* defined in the arcsec json files.
* @author J. Meier
*/
#include <string>
#include "ArcsecJsonParamBase.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
/**
* @brief Generates command to set the limit parameters
*
*/
class Limits : public ArcsecJsonParamBase {
public:
Limits();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 43;
virtual ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the tracking algorithm.
*
*/
class Tracking : public ArcsecJsonParamBase {
public:
Tracking();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 15;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to set the mounting quaternion
*
*/
class Mounting : public ArcsecJsonParamBase {
public:
Mounting();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 18;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to set the mounting quaternion
*
*/
class Camera : public ArcsecJsonParamBase {
public:
Camera();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 43;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the blob algorithm
*
*/
class Blob : public ArcsecJsonParamBase {
public:
Blob();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 24;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the centroiding algorithm
*
*/
class Centroiding : public ArcsecJsonParamBase {
public:
Centroiding();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 47;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the LISA (lost in space algorithm)
*
*/
class Lisa : public ArcsecJsonParamBase {
public:
Lisa();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 48;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the matching algorithm
*
*/
class Matching : public ArcsecJsonParamBase {
public:
Matching();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 10;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the validation parameters
*
*/
class Validation : public ArcsecJsonParamBase {
public:
Validation();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 12;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates command to configure the mechanism of automatically switching between the
* LISA and other algorithms.
*
*/
class Algo : public ArcsecJsonParamBase {
public:
Algo();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 13;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_ */

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#include "StrHelper.h"
#include <filesystem>
#include <fstream>
#include "mission/utility/Timestamp.h"
StrHelper::StrHelper(object_id_t objectId) : SystemObject(objectId) {}
StrHelper::~StrHelper() {}
ReturnValue_t StrHelper::initialize() {
sdcMan = SdCardManager::instance();
if (sdcMan == nullptr) {
sif::warning << "StrHelper::initialize: Invalid SD Card Manager" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
ReturnValue_t result = RETURN_OK;
semaphore.acquire();
while (true) {
switch (internalState) {
case InternalState::IDLE: {
semaphore.acquire();
break;
}
case InternalState::UPLOAD_IMAGE: {
result = performImageUpload();
if (result == RETURN_OK) {
triggerEvent(IMAGE_UPLOAD_SUCCESSFUL);
} else {
triggerEvent(IMAGE_UPLOAD_FAILED);
}
internalState = InternalState::IDLE;
break;
}
case InternalState::DOWNLOAD_IMAGE: {
result = performImageDownload();
if (result == RETURN_OK) {
triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL);
} else {
triggerEvent(IMAGE_DOWNLOAD_FAILED);
}
internalState = InternalState::IDLE;
break;
}
case InternalState::FLASH_WRITE: {
result = performFlashWrite();
if (result == RETURN_OK) {
triggerEvent(FLASH_WRITE_SUCCESSFUL);
} else {
triggerEvent(FLASH_WRITE_FAILED);
}
internalState = InternalState::IDLE;
break;
}
case InternalState::FLASH_READ: {
result = performFlashRead();
if (result == RETURN_OK) {
triggerEvent(FLASH_READ_SUCCESSFUL);
} else {
triggerEvent(FLASH_READ_FAILED);
}
internalState = InternalState::IDLE;
break;
}
case InternalState::DOWNLOAD_FPGA_IMAGE: {
result = performFpgaDownload();
if (result == RETURN_OK) {
triggerEvent(FPGA_DOWNLOAD_SUCCESSFUL);
} else {
triggerEvent(FPGA_DOWNLOAD_FAILED);
}
internalState = InternalState::IDLE;
break;
}
case InternalState::UPLOAD_FPGA_IMAGE: {
result = performFpgaUpload();
if (result == RETURN_OK) {
triggerEvent(FPGA_UPLOAD_SUCCESSFUL);
} else {
triggerEvent(FPGA_UPLOAD_FAILED);
}
internalState = InternalState::IDLE;
break;
}
default:
sif::debug << "StrHelper::performOperation: Invalid state" << std::endl;
break;
}
}
}
ReturnValue_t StrHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
uartComIF = dynamic_cast<UartComIF*>(communicationInterface_);
if (uartComIF == nullptr) {
sif::warning << "StrHelper::initialize: Invalid uart com if" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
void StrHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
ReturnValue_t StrHelper::startImageUpload(std::string fullname) {
ReturnValue_t result = checkPath(fullname);
if (result != RETURN_OK) {
return result;
}
uploadImage.uploadFile = fullname;
if (not std::filesystem::exists(fullname)) {
return FILE_NOT_EXISTS;
}
internalState = InternalState::UPLOAD_FPGA_IMAGE;
semaphore.release();
terminate = false;
return RETURN_OK;
}
ReturnValue_t StrHelper::startImageDownload(std::string path) {
ReturnValue_t result = checkPath(path);
if (result != RETURN_OK) {
return result;
}
if (not std::filesystem::exists(path)) {
return PATH_NOT_EXISTS;
}
downloadImage.path = path;
internalState = InternalState::DOWNLOAD_IMAGE;
terminate = false;
semaphore.release();
return RETURN_OK;
}
void StrHelper::stopProcess() { terminate = true; }
void StrHelper::setDownloadImageName(std::string filename) { downloadImage.filename = filename; }
void StrHelper::setFlashReadFilename(std::string filename) { flashRead.filename = filename; }
void StrHelper::setDownloadFpgaImage(std::string filename) { fpgaDownload.fileName = filename; }
ReturnValue_t StrHelper::startFlashWrite(std::string fullname, uint8_t region, uint32_t address) {
ReturnValue_t result = checkPath(fullname);
if (result != RETURN_OK) {
return result;
}
flashWrite.fullname = fullname;
if (not std::filesystem::exists(flashWrite.fullname)) {
return FILE_NOT_EXISTS;
}
flashWrite.address = address;
flashWrite.region = region;
internalState = InternalState::FLASH_WRITE;
semaphore.release();
terminate = false;
return RETURN_OK;
}
ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t region, uint32_t address,
uint32_t length) {
ReturnValue_t result = checkPath(path);
if (result != RETURN_OK) {
return result;
}
flashRead.path = path;
if (not std::filesystem::exists(flashRead.path)) {
return FILE_NOT_EXISTS;
}
flashRead.address = address;
flashRead.region = region;
flashRead.size = length;
internalState = InternalState::FLASH_READ;
semaphore.release();
terminate = false;
return RETURN_OK;
}
ReturnValue_t StrHelper::startFpgaDownload(std::string path, uint32_t startPosition,
uint32_t length) {
fpgaDownload.path = path;
fpgaDownload.startPosition = startPosition;
fpgaDownload.length = length;
internalState = InternalState::DOWNLOAD_FPGA_IMAGE;
semaphore.release();
terminate = false;
return RETURN_OK;
}
ReturnValue_t StrHelper::startFpgaUpload(std::string uploadFile) {
fpgaUpload.uploadFile = uploadFile;
internalState = InternalState::UPLOAD_FPGA_IMAGE;
semaphore.release();
terminate = false;
return RETURN_OK;
}
ReturnValue_t StrHelper::performImageDownload() {
ReturnValue_t result;
struct DownloadActionRequest downloadReq;
uint32_t size = 0;
uint32_t retries = 0;
Timestamp timestamp;
std::string image = downloadImage.path + "/" + timestamp.str() + downloadImage.filename;
std::ofstream file(image, std::ios_base::app | std::ios_base::out);
if (not std::filesystem::exists(image)) {
return FILE_CREATION_FAILED;
}
downloadReq.position = 0;
while (downloadReq.position < ImageDownload::LAST_POSITION) {
if (terminate) {
return RETURN_OK;
}
arc_pack_download_action_req(&downloadReq, commandBuffer, &size);
result = sendAndRead(size, downloadReq.position);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
result = checkActionReply();
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
result = checkReplyPosition(downloadReq.position);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + IMAGE_DATA_OFFSET),
IMAGE_DATA_SIZE);
downloadReq.position++;
retries = 0;
}
file.close();
return RETURN_OK;
}
ReturnValue_t StrHelper::performImageUpload() {
ReturnValue_t result = RETURN_OK;
uint32_t size = 0;
uint32_t imageSize = 0;
struct UploadActionRequest uploadReq;
uploadReq.position = 0;
std::memset(&uploadReq.data, 0, sizeof(uploadReq.data));
if (not std::filesystem::exists(uploadImage.uploadFile)) {
triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
internalState = InternalState::IDLE;
return RETURN_FAILED;
}
std::ifstream file(uploadImage.uploadFile, std::ifstream::binary);
// Set position of next character to end of file input stream
file.seekg(0, file.end);
// tellg returns position of character in input stream
imageSize = file.tellg();
while ((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) {
if (terminate) {
return RETURN_OK;
}
file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
file.read(reinterpret_cast<char*>(uploadReq.data), SIZE_IMAGE_PART);
arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
result = sendAndRead(size, uploadReq.position);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
result = checkActionReply();
if (result != RETURN_OK) {
return result;
}
uploadReq.position++;
}
std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
uint32_t remainder = imageSize - uploadReq.position * SIZE_IMAGE_PART;
file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
file.close();
uploadReq.position++;
arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
result = sendAndRead(size, uploadReq.position);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
result = checkActionReply();
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::performFlashWrite() {
ReturnValue_t result = RETURN_OK;
uint32_t size = 0;
uint32_t remainingBytes = 0;
uint32_t fileSize = 0;
struct WriteActionRequest req;
if (not std::filesystem::exists(flashWrite.fullname)) {
triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
internalState = InternalState::IDLE;
return RETURN_FAILED;
}
std::ifstream file(flashWrite.fullname, std::ifstream::binary);
file.seekg(0, file.end);
fileSize = file.tellg();
remainingBytes = fileSize;
req.region = flashWrite.region;
req.address = flashWrite.address;
req.length = MAX_FLASH_DATA;
while (remainingBytes >= MAX_FLASH_DATA) {
if (terminate) {
return RETURN_OK;
}
file.seekg(fileSize - remainingBytes, file.beg);
file.read(reinterpret_cast<char*>(req.data), MAX_FLASH_DATA);
arc_pack_write_action_req(&req, commandBuffer, &size);
result = sendAndRead(size, req.address);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
result = checkFlashActionReply(req.region, req.address, req.length);
if (result != RETURN_OK) {
return result;
}
remainingBytes = remainingBytes - MAX_FLASH_DATA;
}
file.seekg(fileSize - remainingBytes, file.beg);
file.read(reinterpret_cast<char*>(req.data), remainingBytes);
file.close();
arc_pack_write_action_req(&req, commandBuffer, &size);
result = sendAndRead(size, req.address);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
result = checkFlashActionReply(req.region, req.address, req.length);
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::performFlashRead() {
ReturnValue_t result;
struct ReadActionRequest req;
uint32_t bytesRead = 0;
uint32_t size = 0;
uint32_t retries = 0;
Timestamp timestamp;
std::string fullname = flashRead.path + "/" + timestamp.str() + flashRead.filename;
std::ofstream file(fullname, std::ios_base::app | std::ios_base::out);
if (not std::filesystem::exists(fullname)) {
return FILE_CREATION_FAILED;
}
req.region = flashRead.region;
while (bytesRead < flashRead.size) {
if (terminate) {
return RETURN_OK;
}
if ((flashRead.size - bytesRead) < MAX_FLASH_DATA) {
req.length = flashRead.size - bytesRead;
} else {
req.length = MAX_FLASH_DATA;
}
req.address = flashRead.address + bytesRead;
arc_pack_read_action_req(&req, commandBuffer, &size);
result = sendAndRead(size, req.address);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
result = checkActionReply();
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
result = checkFlashActionReply(req.region, req.address, req.length);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + FLASH_READ_DATA_OFFSET),
req.length);
bytesRead += req.length;
retries = 0;
}
file.close();
return RETURN_OK;
}
ReturnValue_t StrHelper::performFpgaDownload() {
ReturnValue_t result;
struct DownloadFPGAImageActionRequest req;
uint32_t size = 0;
uint32_t retries = 0;
Timestamp timestamp;
std::string image = fpgaDownload.path + "/" + timestamp.str() + fpgaDownload.fileName;
std::ofstream file(image, std::ios_base::app | std::ios_base::out);
if (not std::filesystem::exists(image)) {
return FILE_CREATION_FAILED;
}
req.pos = fpgaDownload.startPosition;
while (req.pos < fpgaDownload.length) {
if (terminate) {
return RETURN_OK;
}
if (fpgaDownload.length - req.pos >= FpgaDownload::MAX_DATA) {
req.length = FpgaDownload::MAX_DATA;
} else {
req.length = fpgaDownload.length - req.pos;
}
arc_pack_downloadfpgaimage_action_req(&req, commandBuffer, &size);
result = sendAndRead(size, req.pos);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
result = checkFpgaActionReply(req.pos, req.length);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + FpgaDownload::DATA_OFFSET),
req.length);
req.pos += req.length;
retries = 0;
}
file.close();
return RETURN_OK;
}
ReturnValue_t StrHelper::performFpgaUpload() {
ReturnValue_t result = RETURN_OK;
uint32_t commandSize = 0;
uint32_t bytesUploaded = 0;
uint32_t fileSize = 0;
struct UploadFPGAImageActionRequest req;
if (not std::filesystem::exists(fpgaUpload.uploadFile)) {
triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
internalState = InternalState::IDLE;
return RETURN_FAILED;
}
std::ifstream file(flashWrite.fullname, std::ifstream::binary);
file.seekg(0, file.end);
fileSize = file.tellg();
req.pos = 0;
while (bytesUploaded <= fileSize) {
if (terminate) {
return RETURN_OK;
}
if (fileSize - bytesUploaded > FpgaUpload::MAX_DATA) {
req.length = FpgaUpload::MAX_DATA;
} else {
req.length = fileSize - bytesUploaded;
}
file.seekg(bytesUploaded, file.beg);
file.read(reinterpret_cast<char*>(req.data), req.length);
arc_pack_uploadfpgaimage_action_req(&req, commandBuffer, &commandSize);
result = sendAndRead(commandSize, req.pos);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
result = checkFpgaActionReply(req.pos, req.length);
if (result != RETURN_OK) {
return result;
}
bytesUploaded += req.length;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter) {
ReturnValue_t result = RETURN_OK;
ReturnValue_t decResult = RETURN_OK;
size_t receivedDataLen = 0;
uint8_t* receivedData = nullptr;
size_t bytesLeft = 0;
uint32_t missedReplies = 0;
datalinkLayer.encodeFrame(commandBuffer, size);
result = uartComIF->sendMessage(comCookie, datalinkLayer.getEncodedFrame(),
datalinkLayer.getEncodedLength());
if (result != RETURN_OK) {
sif::warning << "StrHelper::sendAndRead: Failed to send packet" << std::endl;
triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, parameter);
return RETURN_FAILED;
}
decResult = ArcsecDatalinkLayer::DEC_IN_PROGRESS;
while (decResult == ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
result = uartComIF->requestReceiveMessage(comCookie, StarTracker::MAX_FRAME_SIZE * 2 + 2);
if (result != RETURN_OK) {
sif::warning << "StrHelper::sendAndRead: Failed to request reply" << std::endl;
triggerEvent(STR_HELPER_REQUESTING_MSG_FAILED, result, parameter);
return RETURN_FAILED;
}
result = uartComIF->readReceivedMessage(comCookie, &receivedData, &receivedDataLen);
if (result != RETURN_OK) {
sif::warning << "StrHelper::sendAndRead: Failed to read received message" << std::endl;
triggerEvent(STR_HELPER_READING_REPLY_FAILED, result, parameter);
return RETURN_FAILED;
}
if (receivedDataLen == 0 && missedReplies < MAX_POLLS) {
missedReplies++;
continue;
} else if ((receivedDataLen == 0) && (missedReplies >= MAX_POLLS)) {
triggerEvent(STR_HELPER_NO_REPLY, parameter);
return RETURN_FAILED;
} else {
missedReplies = 0;
}
decResult = datalinkLayer.decodeFrame(receivedData, receivedDataLen, &bytesLeft);
if (bytesLeft != 0) {
// This should never happen
sif::warning << "StrHelper::sendAndRead: Bytes left after decoding" << std::endl;
triggerEvent(STR_HELPER_COM_ERROR, result, parameter);
return RETURN_FAILED;
}
}
if (decResult != RETURN_OK) {
triggerEvent(STR_HELPER_DEC_ERROR, decResult, parameter);
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::checkActionReply() {
uint8_t type = datalinkLayer.getReplyFrameType();
if (type != TMTC_ACTIONREPLY) {
sif::warning << "StrHelper::checkActionReply: Received reply with invalid type ID" << std::endl;
return INVALID_TYPE_ID;
}
uint8_t status = datalinkLayer.getStatusField();
if (status != ArcsecDatalinkLayer::STATUS_OK) {
sif::warning << "StrHelper::checkActionReply: Status failure: "
<< static_cast<unsigned int>(status) << std::endl;
return STATUS_ERROR;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) {
uint32_t receivedPosition = 0;
std::memcpy(&receivedPosition, datalinkLayer.getReply() + POS_OFFSET, sizeof(receivedPosition));
if (receivedPosition != expectedPosition) {
triggerEvent(POSITION_MISMATCH, receivedPosition);
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::checkFlashActionReply(uint8_t region_, uint32_t address_,
uint16_t length_) {
ReturnValue_t result = RETURN_OK;
result = checkActionReply();
if (result != RETURN_OK) {
return result;
}
const uint8_t* data = datalinkLayer.getReply();
uint8_t region = *(data + REGION_OFFSET);
uint32_t address;
const uint8_t* addressData = data + ADDRESS_OFFSET;
size_t size = sizeof(address);
result =
SerializeAdapter::deSerialize(&address, &addressData, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFlashActionReply: Deserialization of address failed"
<< std::endl;
return result;
}
uint16_t length = 0;
size = sizeof(length);
const uint8_t* lengthData = data + LENGTH_OFFSET;
result =
SerializeAdapter::deSerialize(&length, lengthData, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFlashActionReply: Deserialization of length failed"
<< std::endl;
}
if (region != region_) {
return REGION_MISMATCH;
}
if (address != address_) {
return ADDRESS_MISMATCH;
}
if (length != length_) {
return LENGTH_MISMATCH;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::checkFpgaActionReply(uint32_t expectedPosition, uint32_t expectedLength) {
ReturnValue_t result = RETURN_OK;
result = checkActionReply();
if (result != RETURN_OK) {
return result;
}
const uint8_t* data = datalinkLayer.getReply() + ACTION_DATA_OFFSET;
uint32_t position;
size_t size = sizeof(position);
result = SerializeAdapter::deSerialize(&position, &data, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFpgaActionReply: Deserialization of position failed"
<< std::endl;
return result;
}
uint32_t length;
size = sizeof(length);
result = SerializeAdapter::deSerialize(&length, &data, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFpgaActionReply: Deserialization of length failed"
<< std::endl;
return result;
}
return result;
}
ReturnValue_t StrHelper::checkPath(std::string name) {
if (name.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT)) ==
std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "StrHelper::checkPath: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
} else if (name.substr(0, sizeof(SdCardManager::SD_1_MOUNT_POINT)) ==
std::string(SdCardManager::SD_1_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "StrHelper::checkPath: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
}
return RETURN_OK;
}

397
bsp_q7s/devices/startracker/StrHelper.h Normal file
View File

@ -0,0 +1,397 @@
#ifndef BSP_Q7S_DEVICES_STRHELPER_H_
#define BSP_Q7S_DEVICES_STRHELPER_H_
#include <string>
#include "ArcsecDatalinkLayer.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "fsfw/devicehandlers/CookieIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/osal/linux/BinarySemaphore.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
extern "C" {
#include "thirdparty/arcsec_star_tracker/client/generated/actionreq.h"
#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
}
/**
* @brief Helper class for the star tracker handler to accelerate large data transfers.
*/
class StrHelper : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER;
//! [EXPORT] : [COMMENT] Image upload failed
static const Event IMAGE_UPLOAD_FAILED = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Image download failed
static const Event IMAGE_DOWNLOAD_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Uploading image to star tracker was successfulop
static const Event IMAGE_UPLOAD_SUCCESSFUL = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Image download was successful
static const Event IMAGE_DOWNLOAD_SUCCESSFUL = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Finished flash write procedure successfully
static const Event FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Finished flash read procedure successfully
static const Event FLASH_READ_SUCCESSFUL = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Flash write procedure failed
static const Event FLASH_WRITE_FAILED = MAKE_EVENT(6, severity::LOW);
//! [EXPORT] : [COMMENT] Flash read procedure failed
static const Event FLASH_READ_FAILED = MAKE_EVENT(7, severity::LOW);
//! [EXPORT] : [COMMENT] Download of FPGA image successful
static const Event FPGA_DOWNLOAD_SUCCESSFUL = MAKE_EVENT(8, severity::LOW);
//! [EXPORT] : [COMMENT] Download of FPGA image failed
static const Event FPGA_DOWNLOAD_FAILED = MAKE_EVENT(9, severity::LOW);
//! [EXPORT] : [COMMENT] Upload of FPGA image successful
static const Event FPGA_UPLOAD_SUCCESSFUL = MAKE_EVENT(10, severity::LOW);
//! [EXPORT] : [COMMENT] Upload of FPGA image failed
static const Event FPGA_UPLOAD_FAILED = MAKE_EVENT(11, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to read communication interface reply data
//! P1: Return code of failed communication interface read call
//! P1: Upload/download position for which the read call failed
static const Event STR_HELPER_READING_REPLY_FAILED = MAKE_EVENT(12, severity::LOW);
//! [EXPORT] : [COMMENT] Unexpected stop of decoding sequence
//! P1: Return code of failed communication interface read call
//! P1: Upload/download position for which the read call failed
static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(13, severity::LOW);
//! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off)
//! P1: Position of upload or download packet for which no reply was sent
static const Event STR_HELPER_NO_REPLY = MAKE_EVENT(14, severity::LOW);
//! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
// P1: Return value of decoding function
// P2: Position of upload/download packet, or address of flash write/read request
static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(15, severity::LOW);
//! [EXPORT] : [COMMENT] Position mismatch
//! P1: The expected position and thus the position for which the image upload/download failed
static const Event POSITION_MISMATCH = MAKE_EVENT(16, severity::LOW);
//! [EXPORT] : [COMMENT] Specified file does not exist
//! P1: Internal state of str helper
static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(17, severity::LOW);
//! [EXPORT] : [COMMENT] Sending packet to star tracker failed
//! P1: Return code of communication interface sendMessage function
//! P2: Position of upload/download packet, or address of flash write/read request for which
//! sending failed
static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(18, severity::LOW);
//! [EXPORT] : [COMMENT] Communication interface requesting reply failed
//! P1: Return code of failed request
//! P1: Upload/download position, or address of flash write/read request for which transmission
//! failed
static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(19, severity::LOW);
StrHelper(object_id_t objectId);
virtual ~StrHelper();
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
void setComCookie(CookieIF* comCookie_);
/**
* @brief Starts sequence to upload image to star tracker
*
* @param uploadImage_ Name including absolute path of the image to upload. Must be previously
* transferred to the OBC with the CFDP protocol.
*/
ReturnValue_t startImageUpload(std::string uploadImage_);
/**
* @brief Calling this function initiates the download of an image from the star tracker.
*
* @param path Path where downloaded image will be stored
*/
ReturnValue_t startImageDownload(std::string path);
/**
* @brief Starts the flash write procedure
*
* @param fullname Full name including absolute path of file to write to flash
* @param region Region ID of flash region to write to
* @param address Start address of flash write procedure
*/
ReturnValue_t startFlashWrite(std::string fullname, uint8_t region, uint32_t address);
/**
* @brief Starts the flash read procedure
*
* @param path Path where file with read flash data will be created
* @param region Region ID of flash region to read from
* @param address Start address of flash section to read
* @param length Number of bytes to read from flash
*/
ReturnValue_t startFlashRead(std::string path, uint8_t region, uint32_t address, uint32_t length);
/**
* @brief Starts the download of the FPGA image
*
* @param path The path where the file with the downloaded data will be created
* @param startPosition Offset in fpga image to read from
* @param length Number of bytes to dwonload from the FPGA image
*
*/
ReturnValue_t startFpgaDownload(std::string path, uint32_t startPosition, uint32_t length);
/**
* @brief Starts upload of new image to FPGA
*
* @param uploadFile Full name of file containing FPGA image data
*/
ReturnValue_t startFpgaUpload(std::string uploadFile);
/**
* @brief Can be used to interrupt a running data transfer.
*/
void stopProcess();
/**
* @brief Changes the dafault name of downloaded images
*/
void setDownloadImageName(std::string filename);
/**
* @brief Sets the name of the file which will be created to store the data read from flash
*/
void setFlashReadFilename(std::string filename);
/**
* @brief Set download FPGA image name
*/
void setDownloadFpgaImage(std::string filename);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
//! [EXPORT] : [COMMENT] SD card specified in path string not mounted
static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Specified path does not exist
static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Failed to create download image or read flash file
static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region
static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address
static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length
static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] Status field in reply signals error
static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type)
static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(0xA8);
// Size of one image part which can be sent per action request
static const size_t SIZE_IMAGE_PART = 1024;
class ImageDownload {
public:
static const uint32_t LAST_POSITION = 4095;
};
class FpgaDownload {
public:
static const uint16_t MAX_DATA = 1024;
static const uint8_t DATA_OFFSET = 10;
// Start position of fpga image part to download
uint32_t startPosition = 0;
// Length of image part to download
uint32_t length = 0;
// Path where downloaded FPGA image will be stored
std::string path;
// Name of file containing downloaded FPGA image
std::string fileName = "fpgaimage.bin";
};
FpgaDownload fpgaDownload;
class FpgaUpload {
public:
static const uint32_t MAX_DATA = 1024;
// Full name of file to upload
std::string uploadFile;
};
FpgaUpload fpgaUpload;
static const uint32_t MAX_POLLS = 10000;
static const uint8_t ACTION_DATA_OFFSET = 2;
static const uint8_t POS_OFFSET = 2;
static const uint8_t IMAGE_DATA_OFFSET = 5;
static const uint8_t FLASH_READ_DATA_OFFSET = 8;
static const uint8_t REGION_OFFSET = 2;
static const uint8_t ADDRESS_OFFSET = 3;
static const uint8_t LENGTH_OFFSET = 7;
static const size_t IMAGE_DATA_SIZE = 1024;
static const size_t MAX_FLASH_DATA = 1024;
static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3;
enum class InternalState {
IDLE,
UPLOAD_IMAGE,
DOWNLOAD_IMAGE,
FLASH_WRITE,
FLASH_READ,
DOWNLOAD_FPGA_IMAGE,
UPLOAD_FPGA_IMAGE
};
InternalState internalState = InternalState::IDLE;
ArcsecDatalinkLayer datalinkLayer;
BinarySemaphore semaphore;
class UploadImage {
public:
// Name including absolute path of image to upload
std::string uploadFile;
};
UploadImage uploadImage;
class DownloadImage {
public:
// Path where the downloaded image will be stored
std::string path;
// Default name of downloaded image, can be changed via command
std::string filename = "image.bin";
};
DownloadImage downloadImage;
class FlashWrite {
public:
// File which contains data to write when executing the flash write command
std::string fullname;
// Will be set with the flash write command
uint8_t region = 0;
// Will be set with the flash write command and specifies the start address where to write the
// flash data to
uint32_t address = 0;
};
FlashWrite flashWrite;
class FlashRead {
public:
// Path where the file containing the read data will be stored
std::string path = "";
// Default name of file containing the data read from flash, can be changed via command
std::string filename = "flashread.bin";
// Will be set with the flash read command
uint8_t region = 0;
// Will be set with the flash read command and specifies the start address of the flash section
// to read
uint32_t address = 0;
// Number of bytes to read from flash
uint32_t size = 0;
};
FlashRead flashRead;
SdCardManager* sdcMan = nullptr;
uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
bool terminate = false;
/**
* UART communication object responsible for low level access of star tracker
* Must be set by star tracker handler
*/
UartComIF* uartComIF = nullptr;
// Communication cookie. Must be set by the star tracker handler
CookieIF* comCookie = nullptr;
// Queue id of raw data receiver
MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE;
/**
* @brief Performs image uploading
*/
ReturnValue_t performImageUpload();
/**
* @brief Performs download of last taken image from the star tracker.
*
* @details Download is split over multiple packets transporting each a maximum of 1024 bytes.
* In case the download of one position fails, the same packet will be again
* requested. If the download of the packet fails CONFIG_MAX_DOWNLOAD_RETRIES times,
* the download will be stopped.
*/
ReturnValue_t performImageDownload();
/**
* @brief Handles flash write procedure
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t performFlashWrite();
/**
* @brief Sends a sequence of commands to the star tracker to read larger parts from the
* flash memory.
*/
ReturnValue_t performFlashRead();
/**
* @brief Performs the download of the FPGA image which requires to be slip over multiple
* action requests.
*/
ReturnValue_t performFpgaDownload();
/**
* @brief Performs upload of new FPGA image. Upload sequence split over multiple commands
* because one command can only transport 1024 bytes of image data.
*/
ReturnValue_t performFpgaUpload();
/**
* @brief Sends packet to the star tracker and reads reply by using the communication
* interface
*
* @param size Size of data beforehand written to the commandBuffer
* @param parameter Parameter 2 of trigger event function
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t sendAndRead(size_t size, uint32_t parameter);
/**
* @brief Checks the header (type id and status fields) of the action reply
*
* @return RETURN_OK if reply confirms success of packet transfer, otherwise REUTRN_FAILED
*/
ReturnValue_t checkActionReply();
/**
* @brief Checks the position field in a star tracker upload/download reply.
*
* @param expectedPosition Value of expected position
*
* @return RETURN_OK if received position matches expected position, otherwise RETURN_FAILED
*/
ReturnValue_t checkReplyPosition(uint32_t expectedPosition);
/**
* @brief Checks the region, address and length value of a flash write or read reply.
*
* @return RETURN_OK if values match expected values, otherwise appropriate error return
* value.
*/
ReturnValue_t checkFlashActionReply(uint8_t region_, uint32_t address_, uint16_t length_);
/**
* @brief Checks the reply to the fpga download and upload request
*
* @param expectedPosition The expected position value in the reply
* @param expectedLength The expected length field in the reply
*/
ReturnValue_t checkFpgaActionReply(uint32_t expectedPosition, uint32_t expectedLength);
/**
* @brief Checks if a path points to an sd card and whether the SD card is monuted.
*
* @return SD_NOT_MOUNTED id SD card is not mounted, otherwise RETURN_OK
*/
ReturnValue_t checkPath(std::string name);
};
#endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */

40
bsp_q7s/gpio/gpioCallbacks.cpp
View File

@ -1,18 +1,17 @@
#include "gpioCallbacks.h"
#include "busConf.h"
#include <devices/gpioIds.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include "busConf.h"
namespace gpioCallbacks {
GpioIF* gpioComInterface;
void initSpiCsDecoder(GpioIF* gpioComIF) {
ReturnValue_t result;
if (gpioComIF == nullptr) {
@ -42,11 +41,11 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
// gpio::OUT, gpio::LOW);
// spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
// /** Setting mux bit 2 to low disables IC1 on the TCS board */
// spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 2", gpio::OUT, gpio::HIGH);
// spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
// /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
// spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 3", gpio::OUT, gpio::LOW);
// spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
// spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 2",
// gpio::OUT, gpio::HIGH); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
// /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board
// */ spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit
// 3", gpio::OUT, gpio::LOW); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
/** The following gpios can take arbitrary initial values */
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 4",
@ -58,8 +57,8 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_6_PIN, "SPI Mux Bit 6",
gpio::DIR_OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit);
GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_CS,
"EN_RW_CS", gpio::DIR_OUT, gpio::HIGH);
GpiodRegularByLineName* enRwDecoder =
new GpiodRegularByLineName(q7s::gpioNames::EN_RW_CS, "EN_RW_CS", gpio::DIR_OUT, gpio::HIGH);
spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
result = gpioComInterface->addGpios(spiMuxGpios);
@ -71,7 +70,6 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
void* args) {
if (gpioComInterface == nullptr) {
sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder "
<< "to specify gpioComIF" << std::endl;
@ -220,8 +218,7 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev
default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
}
}
else if (value == gpio::LOW) {
} else if (value == gpio::LOW) {
switch (gpioId) {
case (gpioIds::RTD_IC_3): {
selectY7();
@ -391,8 +388,7 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev
default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
}
}
else {
} else {
sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl;
}
}
@ -446,13 +442,9 @@ void disableDecoderInterfaceBoardIc2() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
}
void enableRwDecoder() {
gpioComInterface->pullHigh(gpioIds::EN_RW_CS);
}
void enableRwDecoder() { gpioComInterface->pullHigh(gpioIds::EN_RW_CS); }
void disableRwDecoder() {
gpioComInterface->pullLow(gpioIds::EN_RW_CS);
}
void disableRwDecoder() { gpioComInterface->pullLow(gpioIds::EN_RW_CS); }
void selectY0() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
@ -509,4 +501,4 @@ void disableAllDecoder() {
gpioComInterface->pullLow(gpioIds::EN_RW_CS);
}
}
} // namespace gpioCallbacks

9
bsp_q7s/gpio/gpioCallbacks.h
View File

@ -1,9 +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>
namespace gpioCallbacks {
@ -17,8 +16,8 @@ namespace gpioCallbacks {
* @brief This function implements the decoding to multiply gpios by using the decoder
* chips SN74LVC138APWR on the TCS board and the interface board.
*/
void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp,
gpio::Levels value, void* args);
void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
void* args);
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
@ -69,6 +68,6 @@ namespace gpioCallbacks {
void selectY5();
void selectY6();
void selectY7();
}
} // namespace gpioCallbacks
#endif /* LINUX_GPIO_GPIOCALLBACKS_H_ */

3
bsp_q7s/main.cpp
View File

@ -12,8 +12,7 @@
* @brief This is the main program for the target hardware.
* @return
*/
int main(void)
{
int main(void) {
using namespace std;
#if Q7S_SIMPLE_MODE == 0
return obsw::obsw();

100
bsp_q7s/memory/FileSystemHandler.cpp
View File

@ -1,33 +1,29 @@
#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>
#include <fstream>
FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler):
SystemObject(fileSystemHandler) {
#include "bsp_q7s/core/CoreController.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/memory/GenericFileSystemMessage.h"
#include "fsfw/tasks/TaskFactory.h"
FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler)
: SystemObject(fileSystemHandler) {
mq = QueueFactory::instance()->createMessageQueue(FS_MAX_QUEUE_SIZE);
}
FileSystemHandler::~FileSystemHandler() {
QueueFactory::instance()->deleteMessageQueue(mq);
}
FileSystemHandler::~FileSystemHandler() { QueueFactory::instance()->deleteMessageQueue(mq); }
ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
while (true) {
try {
fileSystemHandlerLoop();
}
catch(std::bad_alloc& e) {
} catch (std::bad_alloc& e) {
// Restart OBSW, hints at a memory leak
sif::error << "Allocation error in FileSystemHandler::performOperation"
<< e.what() << std::endl;
sif::error << "Allocation error in FileSystemHandler::performOperation" << e.what()
<< std::endl;
// Set up an error file or a special flag in the scratch buffer for these cases
triggerEvent(CoreController::ALLOC_FAILURE, 0, 0);
CoreController::incrementAllocationFailureCount();
@ -35,7 +31,6 @@ ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
}
}
void FileSystemHandler::fileSystemHandlerLoop() {
CommandMessage filemsg;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
@ -48,10 +43,8 @@ void FileSystemHandler::fileSystemHandlerLoop() {
result = mq->receiveMessage(&filemsg);
if (result == MessageQueueIF::EMPTY) {
break;
}
else if(result != HasReturnvaluesIF::RETURN_FAILED) {
sif::warning << "FileSystemHandler::performOperation: Message reception failed!"
<< std::endl;
} else if (result != HasReturnvaluesIF::RETURN_FAILED) {
sif::warning << "FileSystemHandler::performOperation: Message reception failed!" << std::endl;
break;
}
Command_t command = filemsg.getCommand();
@ -78,26 +71,23 @@ void FileSystemHandler::fileSystemCheckup() {
sdcMan->getSdCardActiveStatus(statusPair);
sd::SdCard preferredSdCard;
sdcMan->getPreferredSdCard(preferredSdCard);
if((preferredSdCard == sd::SdCard::SLOT_0) and
(statusPair.first == sd::SdState::MOUNTED)) {
if ((preferredSdCard == sd::SdCard::SLOT_0) and (statusPair.first == sd::SdState::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
}
else if((preferredSdCard == sd::SdCard::SLOT_1) and
} else if ((preferredSdCard == sd::SdCard::SLOT_1) and
(statusPair.second == sd::SdState::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
}
else {
} else {
std::string sdString;
if (preferredSdCard == sd::SdCard::SLOT_0) {
sdString = "0";
}
else {
} else {
sdString = "1";
}
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;
"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(&statusPair, preferredSdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
@ -108,15 +98,13 @@ void FileSystemHandler::fileSystemCheckup() {
}
}
MessageQueueId_t FileSystemHandler::getCommandQueue() const {
return mq->getId();
}
MessageQueueId_t FileSystemHandler::getCommandQueue() const { return mq->getId(); }
ReturnValue_t FileSystemHandler::initialize() {
coreCtrl = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
if (coreCtrl == nullptr) {
sif::error << "FileSystemHandler::initialize: Could not retrieve core controller handle" <<
std::endl;
sif::error << "FileSystemHandler::initialize: Could not retrieve core controller handle"
<< std::endl;
}
sdcMan = SdCardManager::instance();
sd::SdCard preferredSdCard;
@ -126,15 +114,14 @@ ReturnValue_t FileSystemHandler::initialize() {
}
if (preferredSdCard == sd::SdCard::SLOT_0) {
currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
}
else if(preferredSdCard == sd::SdCard::SLOT_1) {
} else if (preferredSdCard == sd::SdCard::SLOT_1) {
currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::appendToFile(const char* repositoryPath,
const char* filename, const uint8_t* data, size_t size,
ReturnValue_t FileSystemHandler::appendToFile(const char* repositoryPath, const char* filename,
const uint8_t* data, size_t size,
uint16_t packetNumber, FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / filename;
if (not std::filesystem::exists(path)) {
@ -148,8 +135,9 @@ ReturnValue_t FileSystemHandler::appendToFile(const char* repositoryPath,
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::createFile(const char* repositoryPath,
const char* filename, const uint8_t* data, size_t size, FileSystemArgsIF* args) {
ReturnValue_t FileSystemHandler::createFile(const char* repositoryPath, const char* filename,
const uint8_t* data, size_t size,
FileSystemArgsIF* args) {
auto path = getInitPath(args) / filename;
if (std::filesystem::exists(path)) {
return FILE_ALREADY_EXISTS;
@ -162,8 +150,8 @@ ReturnValue_t FileSystemHandler::createFile(const char* repositoryPath,
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::removeFile(const char* repositoryPath,
const char* filename, FileSystemArgsIF* args) {
ReturnValue_t FileSystemHandler::removeFile(const char* repositoryPath, const char* filename,
FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / filename;
if (not std::filesystem::exists(path)) {
return FILE_DOES_NOT_EXIST;
@ -199,32 +187,28 @@ ReturnValue_t FileSystemHandler::removeDirectory(const char* repositoryPath, con
if (not deleteRecurively) {
if (std::filesystem::remove(path, err)) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
} 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;
"code "
<< err.value() << ": " << strerror(err.value()) << std::endl;
if (err.value() == ENOTEMPTY) {
return DIRECTORY_NOT_EMPTY;
}
else {
} else {
return GENERIC_FILE_ERROR;
}
}
}
else {
} else {
if (std::filesystem::remove_all(path, err)) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
} else {
sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
"code " << err.value() << ": " << strerror(err.value()) << std::endl;
"code "
<< err.value() << ": " << strerror(err.value()) << std::endl;
// Check error code
if (err.value() == ENOTEMPTY) {
return DIRECTORY_NOT_EMPTY;
}
else {
} else {
return GENERIC_FILE_ERROR;
}
}

42
bsp_q7s/memory/FileSystemHandler.h
View File

@ -1,22 +1,19 @@
#ifndef BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
#define BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
#include "SdCardManager.h"
#include "OBSWConfig.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/memory/HasFileSystemIF.h"
#include <string>
#include <filesystem>
#include <string>
#include "OBSWConfig.h"
#include "SdCardManager.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/memory/HasFileSystemIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
class CoreController;
class FileSystemHandler: public SystemObject,
public ExecutableObjectIF,
public HasFileSystemIF {
class FileSystemHandler : public SystemObject, public ExecutableObjectIF, public HasFileSystemIF {
public:
struct FsCommandCfg : public FileSystemArgsIF {
// Can be used to automatically use mount prefix of active SD card.
@ -36,18 +33,19 @@ public:
* @return MessageQueueId_t of the object
*/
MessageQueueId_t getCommandQueue() const override;
ReturnValue_t appendToFile(const char* repositoryPath,
const char* filename, const uint8_t* data, size_t size,
uint16_t packetNumber, FileSystemArgsIF* args = nullptr) override;
ReturnValue_t createFile(const char* repositoryPath,
const char* filename, const uint8_t* data = nullptr,
size_t size = 0, FileSystemArgsIF* args = nullptr) override;
ReturnValue_t removeFile(const char* repositoryPath,
const char* filename, FileSystemArgsIF* args = nullptr) override;
ReturnValue_t appendToFile(const char* repositoryPath, const char* filename, const uint8_t* data,
size_t size, uint16_t packetNumber,
FileSystemArgsIF* args = nullptr) override;
ReturnValue_t createFile(const char* repositoryPath, const char* filename,
const uint8_t* data = nullptr, size_t size = 0,
FileSystemArgsIF* args = nullptr) override;
ReturnValue_t removeFile(const char* repositoryPath, const char* filename,
FileSystemArgsIF* args = nullptr) override;
ReturnValue_t createDirectory(const char* repositoryPath, const char* dirname,
bool createParentDirs, FileSystemArgsIF* args = nullptr) override;
ReturnValue_t removeDirectory(const char* repositoryPath, const char* dirname,
bool deleteRecurively = false, FileSystemArgsIF* args = nullptr) override;
bool deleteRecurively = false,
FileSystemArgsIF* args = nullptr) override;
ReturnValue_t renameFile(const char* repositoryPath, const char* oldFilename,
const char* newFilename, FileSystemArgsIF* args = nullptr) override;
@ -66,6 +64,4 @@ private:
void parseCfg(FsCommandCfg* cfg, bool& useMountPrefix);
};
#endif /* BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_ */

121
bsp_q7s/memory/SdCardManager.cpp
View File

@ -1,25 +1,22 @@
#include "SdCardManager.h"
#include "scratchApi.h"
#include "linux/utility/utility.h"
#include "fsfw/ipc/MutexFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <unistd.h>
#include <cstring>
#include <filesystem>
#include <fstream>
#include <memory>
#include <filesystem>
#include <cstring>
#include "fsfw/ipc/MutexFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "linux/utility/utility.h"
#include "scratchApi.h"
SdCardManager* SdCardManager::factoryInstance = nullptr;
SdCardManager::SdCardManager(): cmdExecutor(256) {
}
SdCardManager::SdCardManager() : cmdExecutor(256) {}
SdCardManager::~SdCardManager() {
}
SdCardManager::~SdCardManager() {}
void SdCardManager::create() {
if (factoryInstance == nullptr) {
@ -39,7 +36,8 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
if (not blocking) {
sif::warning << "SdCardManager::switchOnSdCard: Two-step command but manager is"
" not configured for blocking operation. "
"Forcing blocking mode.." << std::endl;
"Forcing blocking mode.."
<< std::endl;
blocking = true;
}
}
@ -63,11 +61,9 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
sd::SdState currentState;
if (sdCard == sd::SdCard::SLOT_0) {
currentState = statusPair->first;
}
else if(sdCard == sd::SdCard::SLOT_1) {
} else if (sdCard == sd::SdCard::SLOT_1) {
currentState = statusPair->second;
}
else {
} else {
// Should not happen
currentState = sd::SdState::OFF;
}
@ -75,18 +71,14 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
if (currentState == sd::SdState::ON) {
if (not doMountSdCard) {
return ALREADY_ON;
}
else {
} else {
return mountSdCard(sdCard);
}
}
else if(currentState == sd::SdState::MOUNTED) {
} else if (currentState == sd::SdState::MOUNTED) {
result = ALREADY_MOUNTED;
}
else if(currentState == sd::SdState::OFF) {
} else if (currentState == sd::SdState::OFF) {
result = setSdCardState(sdCard, true);
}
else {
} else {
result = HasReturnvaluesIF::RETURN_FAILED;
}
@ -107,7 +99,8 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
if (doUnmountSdCard) {
if (not blocking) {
sif::warning << "SdCardManager::switchOffSdCard: Two-step command but manager is"
" not configured for blocking operation. Forcing blocking mode.." << std::endl;
" not configured for blocking operation. Forcing blocking mode.."
<< std::endl;
blocking = true;
}
}
@ -121,8 +114,7 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
if (active.first == sd::SdState::OFF) {
return ALREADY_OFF;
}
}
else if(sdCard == sd::SdCard::SLOT_1) {
} else if (sdCard == sd::SdCard::SLOT_1) {
if (active.second == sd::SdState::OFF) {
return ALREADY_OFF;
}
@ -147,15 +139,13 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
string statestring = "";
if (sdCard == sd::SdCard::SLOT_0) {
sdstring = "0";
}
else if(sdCard == sd::SdCard::SLOT_1) {
} else if (sdCard == sd::SdCard::SLOT_1) {
sdstring = "1";
}
if (on) {
currentOp = Operations::SWITCHING_ON;
statestring = "on";
}
else {
} else {
currentOp = Operations::SWITCHING_OFF;
statestring = "off";
}
@ -205,14 +195,14 @@ ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
if (sdCard == sd::SdCard::SLOT_0) {
mountDev = SD_0_DEV_NAME;
mountPoint = SD_0_MOUNT_POINT;
}
else if(sdCard == sd::SdCard::SLOT_1) {
} else if (sdCard == sd::SdCard::SLOT_1) {
mountDev = SD_1_DEV_NAME;
mountPoint = SD_1_MOUNT_POINT;
}
if (not filesystem::exists(mountDev)) {
sif::warning << "SdCardManager::mountSdCard: Device file does not exists. Make sure to"
" turn on the SD card" << std::endl;
" turn on the SD card"
<< std::endl;
return MOUNT_ERROR;
}
@ -241,13 +231,12 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
string mountPoint;
if (sdCard == sd::SdCard::SLOT_0) {
mountPoint = SD_0_MOUNT_POINT;
}
else if(sdCard == sd::SdCard::SLOT_1) {
} else if (sdCard == sd::SdCard::SLOT_1) {
mountPoint = SD_1_MOUNT_POINT;
}
if (not filesystem::exists(mountPoint)) {
sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint <<
"does not exist" << std::endl;
sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint
<< "does not exist" << std::endl;
return UNMOUNT_ERROR;
}
if (filesystem::is_empty(mountPoint)) {
@ -278,7 +267,8 @@ ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard p
}
if (prefSdCard == sd::SdCard::NONE) {
result = getPreferredSdCard(prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {}
if (result != HasReturnvaluesIF::RETURN_OK) {
}
}
if (statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>();
@ -325,16 +315,13 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState> &act
if (word == "on") {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::ON;
}
else {
} else {
active.second = sd::SdState::ON;
}
}
else if (word == "off") {
} else if (word == "off") {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::OFF;
}
else {
} else {
active.second = sd::SdState::OFF;
}
}
@ -343,15 +330,15 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState> &act
if (mountLine) {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::MOUNTED;
}
else {
} else {
active.second = sd::SdState::MOUNTED;
}
}
if (idx > 5) {
sif::warning << "SdCardManager::sdCardActive: /tmp/sd_status.txt has more than 6 "
"lines and might be invalid!" << std::endl;
"lines and might be invalid!"
<< std::endl;
}
}
idx++;
@ -397,8 +384,7 @@ std::string SdCardManager::getCurrentMountPrefix(sd::SdCard prefSdCard) {
}
if (prefSdCard == sd::SdCard::SLOT_0) {
return SD_0_MOUNT_POINT;
}
else {
} else {
return SD_1_MOUNT_POINT;
}
}
@ -446,12 +432,31 @@ SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations &currentOp) {
}
}
void SdCardManager::setBlocking(bool blocking) {
this->blocking = blocking;
void SdCardManager::setBlocking(bool blocking) { this->blocking = blocking; }
void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = print; }
bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
SdCardManager::SdStatePair active;
ReturnValue_t result = this->getSdCardActiveStatus(active);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "SdCardManager::isSdCardMounted: Failed to get SD card active state";
return false;
}
void SdCardManager::setPrintCommandOutput(bool print) {
this->printCmdOutput = print;
if (sdCard == sd::SLOT_0) {
if (active.first == sd::MOUNTED) {
return true;
} else {
return false;
}
} else if (sdCard == sd::SLOT_1) {
if (active.second == sd::MOUNTED) {
return true;
} else {
return false;
}
} else {
sif::debug << "SdCardManager::isSdCardMounted: Unknown SD card specified" << std::endl;
}
return false;
}

64
bsp_q7s/memory/SdCardManager.h
View File

@ -1,21 +1,20 @@
#ifndef BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_
#define BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_
#include "fsfw_hal/linux/CommandExecutor.h"
#include "definitions.h"
#include "returnvalues/classIds.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/events/Event.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <poll.h>
#include <cstdint>
#include <utility>
#include <string>
#include <optional>
#include <array>
#include <cstdint>
#include <optional>
#include <string>
#include <utility>
#include "definitions.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/events/Event.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw_hal/linux/CommandExecutor.h"
#include "returnvalues/classIds.h"
class MutexIF;
@ -25,41 +24,26 @@ class MutexIF;
*/
class SdCardManager {
friend class SdCardAccess;
public:
enum class Operations {
SWITCHING_ON,
SWITCHING_OFF,
MOUNTING,
UNMOUNTING,
IDLE
};
enum class OpStatus {
IDLE,
TIMEOUT,
ONGOING,
SUCCESS,
FAIL
};
public:
enum class Operations { SWITCHING_ON, SWITCHING_OFF, MOUNTING, UNMOUNTING, IDLE };
enum class OpStatus { IDLE, TIMEOUT, ONGOING, SUCCESS, FAIL };
using SdStatePair = std::pair<sd::SdState, sd::SdState>;
static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;
static constexpr ReturnValue_t OP_ONGOING =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
static constexpr ReturnValue_t ALREADY_ON =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
static constexpr ReturnValue_t OP_ONGOING = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
static constexpr ReturnValue_t ALREADY_ON = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
static constexpr ReturnValue_t ALREADY_MOUNTED =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
static constexpr ReturnValue_t ALREADY_OFF =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
static constexpr ReturnValue_t ALREADY_OFF = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
static constexpr ReturnValue_t STATUS_FILE_NEXISTS =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 10);
static constexpr ReturnValue_t STATUS_FILE_FORMAT_INVALID =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 11);
static constexpr ReturnValue_t MOUNT_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 12);
static constexpr ReturnValue_t MOUNT_ERROR = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 12);
static constexpr ReturnValue_t UNMOUNT_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 13);
static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
@ -195,6 +179,16 @@ public:
void setBlocking(bool blocking);
void setPrintCommandOutput(bool print);
/**
* @brief Checks if an SD card is mounted
*
* @param sdCard The SD crad to check
*
* @return true if mounted, otherwise false
*/
bool isSdCardMounted(sd::SdCard sdCard);
private:
CommandExecutor cmdExecutor;
Operations currentOp = Operations::IDLE;

11
bsp_q7s/memory/definitions.h
View File

@ -12,15 +12,8 @@ enum SdState: uint8_t {
MOUNTED = 2
};
enum SdCard: uint8_t {
SLOT_0 = 0,
SLOT_1 = 1,
BOTH,
NONE
};
}
enum SdCard : uint8_t { SLOT_0 = 0, SLOT_1 = 1, BOTH, NONE };
} // namespace sd
#endif /* BSP_Q7S_MEMORY_DEFINITIONS_H_ */

3
bsp_q7s/memory/scratchApi.cpp
View File

@ -28,7 +28,8 @@ ReturnValue_t scratch::readString(std::string key, std::string &string) {
size_t pos = line.find("=");
if (pos == std::string::npos) {
sif::warning << "scratch::readNumber: Output file format invalid, "
"no \"=\" found" << std::endl;
"no \"=\" found"
<< std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;

24
bsp_q7s/memory/scratchApi.h
View File

@ -1,17 +1,17 @@
#ifndef BSP_Q7S_MEMORY_SCRATCHAPI_H_
#define BSP_Q7S_MEMORY_SCRATCHAPI_H_
#include <cstdlib>
#include <fstream>
#include <iostream>
#include <sstream>
#include <type_traits>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "linux/utility/utility.h"
#include "returnvalues/classIds.h"
#include <iostream>
#include <fstream>
#include <sstream>
#include <type_traits>
#include <cstdlib>
/**
* @brief API for the scratch buffer
*/
@ -62,7 +62,6 @@ inline ReturnValue_t writeNumber(std::string key, T num) noexcept;
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 {
@ -81,8 +80,7 @@ ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& fil
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
}
else {
} else {
utility::handleSystemError(result, "scratch::readNumber");
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
@ -126,7 +124,8 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
size_t pos = line.find("=");
if (pos == string::npos) {
sif::warning << "scratch::readNumber: Output file format invalid, "
"no \"=\" found" << std::endl;
"no \"=\" found"
<< std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
@ -134,8 +133,7 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
std::string valueAsString = line.substr(pos + 1);
try {
num = std::stoi(valueAsString);
}
catch(std::invalid_argument& e) {
} catch (std::invalid_argument& e) {
sif::warning << "scratch::readNumber: stoi call failed with " << e.what() << std::endl;
}
@ -143,6 +141,6 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
return HasReturnvaluesIF::RETURN_OK;
}
}
} // namespace scratch
#endif /* BSP_Q7S_MEMORY_SCRATCHAPI_H_ */

6
bsp_q7s/simple/simple.cpp
View File

@ -1,4 +1,5 @@
#include "simple.h"
#include "q7sConfig.h"
#if Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST == 1
@ -8,9 +9,7 @@
int simple::simple() {
cout << "-- Q7S Simple Application --" << endl;
#if Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST == 1
{
FileSystemTest fileSystemTest;
}
{ FileSystemTest fileSystemTest; }
#endif
#if TE0720_GPIO_TEST
@ -18,4 +17,3 @@ int simple::simple() {
#endif
return 0;
}

8
bsp_q7s/spi/Q7sSpiComIF.cpp
View File

@ -1,9 +1,5 @@
#include <bsp_q7s/spi/Q7sSpiComIF.h>
Q7sSpiComIF::Q7sSpiComIF(object_id_t objectId, GpioIF* gpioComIF) :
SpiComIF(objectId, gpioComIF) {
}
Q7sSpiComIF::~Q7sSpiComIF() {
}
Q7sSpiComIF::Q7sSpiComIF(object_id_t objectId, GpioIF* gpioComIF) : SpiComIF(objectId, gpioComIF) {}
Q7sSpiComIF::~Q7sSpiComIF() {}

1
bsp_q7s/spi/Q7sSpiComIF.h
View File

@ -3,7 +3,6 @@
#include <fsfw_hal/linux/spi/SpiComIF.h>
/**
* @brief This additional communication interface is required because the SPI busses behind the
* devices "/dev/spi2.0" and "dev/spidev3.0" are multiplexed to one SPI interface.

5
common/config/commonClassIds.h
View File

@ -19,10 +19,13 @@ enum commonClassIds: uint8_t {
CCSDS_IP_CORE_BRIDGE, //IPCI
PTME, //PTME
PLOC_UPDATER, //PLUD
STR_HELPER, //STRHLP
GOM_SPACE_HANDLER, //GOMS
PLOC_MEMORY_DUMPER, //PLMEMDUMP
PDEC_HANDLER, //PDEC
CCSDS_HANDLER, //PDEC
CCSDS_HANDLER, //CCSDS
ARCSEC_JSON_BASE, //JSONBASE
NVM_PARAM_BASE, //NVMB
COMMON_CLASS_ID_END // [EXPORT] : [END]
};

8
common/config/commonObjects.h
View File

@ -79,18 +79,18 @@ enum commonObjects: uint32_t {
SUS_12 = 0x44120043,
SUS_13 = 0x44120044,
GPS0_HANDLER = 0x44130045,
GPS1_HANDLER = 0x44130146,
GPS_CONTROLLER = 0x44130045,
RW1 = 0x44120047,
RW2 = 0x44120148,
RW3 = 0x44120249,
RW4 = 0x44120350,
START_TRACKER = 0x44130001,
STAR_TRACKER = 0x44130001,
PLOC_UPDATER = 0x44330000,
PLOC_MEMORY_DUMPER = 0x44330001
PLOC_MEMORY_DUMPER = 0x44330001,
STR_HELPER = 0x44330002
};
}

1
common/config/commonSubsystemIds.h
View File

@ -18,6 +18,7 @@ enum: uint8_t {
PLOC_UPDATER = 117,
PLOC_MEMORY_DUMPER = 118,
PDEC_HANDLER = 119,
STR_HELPER = 120,
COMMON_SUBSYSTEM_ID_END
};
}

6
common/config/devConf.h
View File

@ -12,15 +12,15 @@ namespace spi {
// Default values, changing them is not supported for now
static constexpr uint32_t DEFAULT_LIS3_SPEED = 976'000;
static constexpr uint32_t LIS3_TRANSITION_DELAY = 10000;
static constexpr uint32_t LIS3_TRANSITION_DELAY = 5000;
static constexpr spi::SpiModes DEFAULT_LIS3_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_RM3100_SPEED = 976'000;
static constexpr uint32_t RM3100_TRANSITION_DELAY = 10000;
static constexpr uint32_t RM3100_TRANSITION_DELAY = 5000;
static constexpr spi::SpiModes DEFAULT_RM3100_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_L3G_SPEED = 976'000;
static constexpr uint32_t L3G_TRANSITION_DELAY = 10000;
static constexpr uint32_t L3G_TRANSITION_DELAY = 5000;
static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000;

2
fsfw

@ -1 +1 @@
Subproject commit a45fb1bb1ff839c487581e1b787db966a1cf80cb
Subproject commit c1e0bcee6db652d6c474c87a4099e61ecf86b694

260
generators/bsp_q7s_events.csv
View File

@ -1,120 +1,140 @@
2200;STORE_SEND_WRITE_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2201;STORE_WRITE_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2202;STORE_SEND_READ_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2203;STORE_READ_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2204;UNEXPECTED_MSG;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2205;STORING_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2206;TM_DUMP_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2207;STORE_INIT_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2208;STORE_INIT_EMPTY;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2209;STORE_CONTENT_CORRUPTED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2210;STORE_INITIALIZE;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2211;INIT_DONE;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2212;DUMP_FINISHED;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2213;DELETION_FINISHED;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2214;DELETION_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2215;AUTO_CATALOGS_SENDING_FAILED;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2600;GET_DATA_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h
2601;STORE_DATA_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h
2800;DEVICE_BUILDING_COMMAND_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2801;DEVICE_SENDING_COMMAND_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2802;DEVICE_REQUESTING_REPLY_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2803;DEVICE_READING_REPLY_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2804;DEVICE_INTERPRETING_REPLY_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2805;DEVICE_MISSED_REPLY;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2806;DEVICE_UNKNOWN_REPLY;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2807;DEVICE_UNREQUESTED_REPLY;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2808;INVALID_DEVICE_COMMAND;LOW;Indicates a SW bug in child class.;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2809;MONITORING_LIMIT_EXCEEDED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2810;MONITORING_AMBIGUOUS;HIGH;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
4201;FUSE_CURRENT_HIGH;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/Fuse.h
4202;FUSE_WENT_OFF;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/Fuse.h
4204;POWER_ABOVE_HIGH_LIMIT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/Fuse.h
4205;POWER_BELOW_LOW_LIMIT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/Fuse.h
4300;SWITCH_WENT_OFF;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/PowerSwitchIF.h
5000;HEATER_ON;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h
5001;HEATER_OFF;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h
5002;HEATER_TIMEOUT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h
5003;HEATER_STAYED_ON;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h
5004;HEATER_STAYED_OFF;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h
5200;TEMP_SENSOR_HIGH;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
5201;TEMP_SENSOR_LOW;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
5202;TEMP_SENSOR_GRADIENT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
5901;COMPONENT_TEMP_LOW;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
5902;COMPONENT_TEMP_HIGH;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
5903;COMPONENT_TEMP_OOL_LOW;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
5904;COMPONENT_TEMP_OOL_HIGH;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
5905;TEMP_NOT_IN_OP_RANGE;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
7101;FDIR_CHANGED_STATE;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
7102;FDIR_STARTS_RECOVERY;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
7103;FDIR_TURNS_OFF_DEVICE;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
7201;MONITOR_CHANGED_STATE;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
7202;VALUE_BELOW_LOW_LIMIT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
7203;VALUE_ABOVE_HIGH_LIMIT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
7204;VALUE_OUT_OF_RANGE;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
7301;SWITCHING_TM_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datapool/HkSwitchHelper.h
7400;CHANGING_MODE;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h
7401;MODE_INFO;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h
7402;FALLBACK_FAILED;HIGH;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h
7403;MODE_TRANSITION_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h
7404;CANT_KEEP_MODE;HIGH;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h
7405;OBJECT_IN_INVALID_MODE;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h
7406;FORCING_MODE;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h
7407;MODE_CMD_REJECTED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h
7506;HEALTH_INFO;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h
7507;CHILD_CHANGED_HEALTH;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h
7508;CHILD_PROBLEMS;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h
7509;OVERWRITING_HEALTH;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h
7510;TRYING_RECOVERY;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h
7511;RECOVERY_STEP;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h
7512;RECOVERY_DONE;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h
7900;RF_AVAILABLE;INFO;A RF available signal was detected. P1: raw RFA state, P2: 0;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
7901;RF_LOST;INFO;A previously found RF available signal was lost. P1: raw RFA state, P2: 0;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
7902;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
7903;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
7905;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
8900;CLOCK_SET;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h
8901;CLOCK_SET_FAILURE;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h
9700;TEST;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/pus/Service17Test.h
10600;CHANGE_OF_SETUP_PARAMETER;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
10900;GPIO_PULL_HIGH_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h
10901;GPIO_PULL_LOW_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h
10902;SWITCH_ALREADY_ON;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h
10903;SWITCH_ALREADY_OFF;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h
10904;MAIN_SWITCH_TIMEOUT;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h
11000;MAIN_SWITCH_ON_TIMEOUT;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h
11001;MAIN_SWITCH_OFF_TIMEOUT;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h
11002;DEPLOYMENT_FAILED;HIGH;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h
11003;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h
11004;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h
11101;MEMORY_READ_RPT_CRC_FAILURE;LOW;;/home/eive/EIVE/Robin/eive-obsw/mission/devices/PlocMPSoCHandler.h
11102;ACK_FAILURE;LOW;;/home/eive/EIVE/Robin/eive-obsw/mission/devices/PlocMPSoCHandler.h
11103;EXE_FAILURE;LOW;;/home/eive/EIVE/Robin/eive-obsw/mission/devices/PlocMPSoCHandler.h
11104;CRC_FAILURE_EVENT;LOW;;/home/eive/EIVE/Robin/eive-obsw/mission/devices/PlocMPSoCHandler.h
11201;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h
11202;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h
11203;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h
11204;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h
11205;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h
11206;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h
11207;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h
11208;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h
11301;ERROR_STATE;HIGH;Reaction wheel signals an error state;/home/eive/EIVE/Robin/eive-obsw/mission/devices/RwHandler.h
11501;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h
11502;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h
11503;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h
11504;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h
11600;SANITIZATION_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/memory/SdCardManager.h
11700;UPDATE_FILE_NOT_EXISTS;LOW;;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h
11701;ACTION_COMMANDING_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h
11702;UPDATE_AVAILABLE_FAILED;LOW;Supervisor handler replied action message indicating a command execution failure of the update available command;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h
11703;UPDATE_TRANSFER_FAILED;LOW;Supervisor handler failed to transfer an update space packet. P1: Parameter holds the number of update packets already sent (inclusive the failed packet);/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h
11704;UPDATE_VERIFY_FAILED;LOW;Supervisor failed to execute the update verify command.;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h
11705;UPDATE_FINISHED;INFO;MPSoC update successful completed;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h
11800;SEND_MRAM_DUMP_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocMemoryDumper.h
11801;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocMemoryDumper.h
11802;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocMemoryDumper.h
11901;INVALID_TC_FRAME;HIGH;;/home/eive/EIVE/Robin/eive-obsw/linux/obc/PdecHandler.h
11902;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;/home/eive/EIVE/Robin/eive-obsw/linux/obc/PdecHandler.h
11903;CARRIER_LOCK;INFO;Carrier lock detected;/home/eive/EIVE/Robin/eive-obsw/linux/obc/PdecHandler.h
11904;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);/home/eive/EIVE/Robin/eive-obsw/linux/obc/PdecHandler.h
2200;STORE_SEND_WRITE_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2201;STORE_WRITE_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2202;STORE_SEND_READ_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2203;STORE_READ_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2204;UNEXPECTED_MSG;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2205;STORING_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2206;TM_DUMP_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2207;STORE_INIT_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2208;STORE_INIT_EMPTY;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2209;STORE_CONTENT_CORRUPTED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2210;STORE_INITIALIZE;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2211;INIT_DONE;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2212;DUMP_FINISHED;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2213;DELETION_FINISHED;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2214;DELETION_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2215;AUTO_CATALOGS_SENDING_FAILED;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2600;GET_DATA_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h
2601;STORE_DATA_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h
2800;DEVICE_BUILDING_COMMAND_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2801;DEVICE_SENDING_COMMAND_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2802;DEVICE_REQUESTING_REPLY_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2803;DEVICE_READING_REPLY_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2804;DEVICE_INTERPRETING_REPLY_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2805;DEVICE_MISSED_REPLY;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2806;DEVICE_UNKNOWN_REPLY;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2807;DEVICE_UNREQUESTED_REPLY;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2808;INVALID_DEVICE_COMMAND;LOW;Indicates a SW bug in child class.;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2809;MONITORING_LIMIT_EXCEEDED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2810;MONITORING_AMBIGUOUS;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
4201;FUSE_CURRENT_HIGH;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
4202;FUSE_WENT_OFF;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
4204;POWER_ABOVE_HIGH_LIMIT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
4205;POWER_BELOW_LOW_LIMIT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
4300;SWITCH_WENT_OFF;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/PowerSwitchIF.h
5000;HEATER_ON;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
5001;HEATER_OFF;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
5002;HEATER_TIMEOUT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
5003;HEATER_STAYED_ON;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
5004;HEATER_STAYED_OFF;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
5200;TEMP_SENSOR_HIGH;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
5201;TEMP_SENSOR_LOW;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
5202;TEMP_SENSOR_GRADIENT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
5901;COMPONENT_TEMP_LOW;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
5902;COMPONENT_TEMP_HIGH;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
5903;COMPONENT_TEMP_OOL_LOW;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
5904;COMPONENT_TEMP_OOL_HIGH;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
5905;TEMP_NOT_IN_OP_RANGE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
7101;FDIR_CHANGED_STATE;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
7102;FDIR_STARTS_RECOVERY;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
7103;FDIR_TURNS_OFF_DEVICE;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
7201;MONITOR_CHANGED_STATE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
7202;VALUE_BELOW_LOW_LIMIT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
7203;VALUE_ABOVE_HIGH_LIMIT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
7204;VALUE_OUT_OF_RANGE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
7301;SWITCHING_TM_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datapool/HkSwitchHelper.h
7400;CHANGING_MODE;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
7401;MODE_INFO;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
7402;FALLBACK_FAILED;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
7403;MODE_TRANSITION_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
7404;CANT_KEEP_MODE;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
7405;OBJECT_IN_INVALID_MODE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
7406;FORCING_MODE;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
7407;MODE_CMD_REJECTED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
7506;HEALTH_INFO;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
7507;CHILD_CHANGED_HEALTH;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
7508;CHILD_PROBLEMS;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
7509;OVERWRITING_HEALTH;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
7510;TRYING_RECOVERY;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
7511;RECOVERY_STEP;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
7512;RECOVERY_DONE;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
7900;RF_AVAILABLE;INFO;A RF available signal was detected. P1: raw RFA state, P2: 0;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
7901;RF_LOST;INFO;A previously found RF available signal was lost. P1: raw RFA state, P2: 0;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
7902;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
7903;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
7905;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
8900;CLOCK_SET;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h
8901;CLOCK_SET_FAILURE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h
9700;TEST;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/pus/Service17Test.h
10600;CHANGE_OF_SETUP_PARAMETER;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
10900;GPIO_PULL_HIGH_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
10901;GPIO_PULL_LOW_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
10902;SWITCH_ALREADY_ON;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
10903;SWITCH_ALREADY_OFF;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
10904;MAIN_SWITCH_TIMEOUT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
11000;MAIN_SWITCH_ON_TIMEOUT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
11001;MAIN_SWITCH_OFF_TIMEOUT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
11002;DEPLOYMENT_FAILED;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
11003;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
11004;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
11101;MEMORY_READ_RPT_CRC_FAILURE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
11102;ACK_FAILURE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
11103;EXE_FAILURE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
11104;CRC_FAILURE_EVENT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
11201;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
11202;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
11203;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
11204;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
11205;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
11206;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
11207;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
11208;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
11301;ERROR_STATE;HIGH;Reaction wheel signals an error state;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/RwHandler.h
11501;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
11502;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
11503;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
11504;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
11600;SANITIZATION_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/memory/SdCardManager.h
11700;UPDATE_FILE_NOT_EXISTS;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
11701;ACTION_COMMANDING_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
11702;UPDATE_AVAILABLE_FAILED;LOW;Supervisor handler replied action message indicating a command execution failure of the update available command;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
11703;UPDATE_TRANSFER_FAILED;LOW;Supervisor handler failed to transfer an update space packet. P1: Parameter holds the number of update packets already sent (inclusive the failed packet);C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
11704;UPDATE_VERIFY_FAILED;LOW;Supervisor failed to execute the update verify command.;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
11705;UPDATE_FINISHED;INFO;MPSoC update successful completed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
11800;SEND_MRAM_DUMP_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h
11801;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h
11802;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h
11901;INVALID_TC_FRAME;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
11902;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
11903;CARRIER_LOCK;INFO;Carrier lock detected;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
11904;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
12000;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12001;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12002;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12003;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12004;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12005;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12006;FLASH_WRITE_FAILED;LOW;Flash write procedure failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12007;FLASH_READ_FAILED;LOW;Flash read procedure failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12008;FPGA_DOWNLOAD_SUCCESSFUL;LOW;Download of FPGA image successful;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12009;FPGA_DOWNLOAD_FAILED;LOW;Download of FPGA image failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12010;FPGA_UPLOAD_SUCCESSFUL;LOW;Upload of FPGA image successful;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12011;FPGA_UPLOAD_FAILED;LOW;Upload of FPGA image failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12012;STR_HELPER_READING_REPLY_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12013;STR_HELPER_COM_ERROR;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12014;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off)P1: Position of upload or download packet for which no reply was sent;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12015;STR_HELPER_DEC_ERROR;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12016;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12017;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not existP1: Internal state of str helper;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12018;STR_HELPER_SENDING_PACKET_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12019;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h

1 2200 STORE_SEND_WRITE_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2 2201 STORE_WRITE_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
3 2202 STORE_SEND_READ_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
4 2203 STORE_READ_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
5 2204 UNEXPECTED_MSG LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
6 2205 STORING_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
7 2206 TM_DUMP_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
8 2207 STORE_INIT_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
9 2208 STORE_INIT_EMPTY INFO /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
10 2209 STORE_CONTENT_CORRUPTED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
11 2210 STORE_INITIALIZE INFO /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
12 2211 INIT_DONE INFO /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
13 2212 DUMP_FINISHED INFO /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
14 2213 DELETION_FINISHED INFO /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
15 2214 DELETION_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
16 2215 AUTO_CATALOGS_SENDING_FAILED INFO /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
17 2600 GET_DATA_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h
18 2601 STORE_DATA_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h
19 2800 DEVICE_BUILDING_COMMAND_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
20 2801 DEVICE_SENDING_COMMAND_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
21 2802 DEVICE_REQUESTING_REPLY_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
22 2803 DEVICE_READING_REPLY_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
23 2804 DEVICE_INTERPRETING_REPLY_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
24 2805 DEVICE_MISSED_REPLY LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
25 2806 DEVICE_UNKNOWN_REPLY LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
26 2807 DEVICE_UNREQUESTED_REPLY LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
27 2808 INVALID_DEVICE_COMMAND LOW Indicates a SW bug in child class. /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
28 2809 MONITORING_LIMIT_EXCEEDED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
29 2810 MONITORING_AMBIGUOUS HIGH /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
30 4201 FUSE_CURRENT_HIGH LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/Fuse.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
31 4202 FUSE_WENT_OFF LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/Fuse.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
32 4204 POWER_ABOVE_HIGH_LIMIT LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/Fuse.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
33 4205 POWER_BELOW_LOW_LIMIT LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/Fuse.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
34 4300 SWITCH_WENT_OFF LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/PowerSwitchIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/PowerSwitchIF.h
35 5000 HEATER_ON INFO /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
36 5001 HEATER_OFF INFO /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
37 5002 HEATER_TIMEOUT LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
38 5003 HEATER_STAYED_ON LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
39 5004 HEATER_STAYED_OFF LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
40 5200 TEMP_SENSOR_HIGH LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
41 5201 TEMP_SENSOR_LOW LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
42 5202 TEMP_SENSOR_GRADIENT LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
43 5901 COMPONENT_TEMP_LOW LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
44 5902 COMPONENT_TEMP_HIGH LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
45 5903 COMPONENT_TEMP_OOL_LOW LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
46 5904 COMPONENT_TEMP_OOL_HIGH LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
47 5905 TEMP_NOT_IN_OP_RANGE LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
48 7101 FDIR_CHANGED_STATE INFO /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
49 7102 FDIR_STARTS_RECOVERY MEDIUM /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
50 7103 FDIR_TURNS_OFF_DEVICE MEDIUM /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
51 7201 MONITOR_CHANGED_STATE LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
52 7202 VALUE_BELOW_LOW_LIMIT LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
53 7203 VALUE_ABOVE_HIGH_LIMIT LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
54 7204 VALUE_OUT_OF_RANGE LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
55 7301 SWITCHING_TM_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datapool/HkSwitchHelper.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datapool/HkSwitchHelper.h
56 7400 CHANGING_MODE INFO /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
57 7401 MODE_INFO INFO /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
58 7402 FALLBACK_FAILED HIGH /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
59 7403 MODE_TRANSITION_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
60 7404 CANT_KEEP_MODE HIGH /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
61 7405 OBJECT_IN_INVALID_MODE LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
62 7406 FORCING_MODE MEDIUM /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
63 7407 MODE_CMD_REJECTED LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
64 7506 HEALTH_INFO INFO /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
65 7507 CHILD_CHANGED_HEALTH INFO /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
66 7508 CHILD_PROBLEMS LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
67 7509 OVERWRITING_HEALTH LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
68 7510 TRYING_RECOVERY MEDIUM /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
69 7511 RECOVERY_STEP MEDIUM /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
70 7512 RECOVERY_DONE MEDIUM /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
71 7900 RF_AVAILABLE INFO A RF available signal was detected. P1: raw RFA state, P2: 0 /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
72 7901 RF_LOST INFO A previously found RF available signal was lost. P1: raw RFA state, P2: 0 /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
73 7902 BIT_LOCK INFO A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0 /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
74 7903 BIT_LOCK_LOST INFO A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0 /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
75 7905 FRAME_PROCESSING_FAILED LOW The CCSDS Board could not interpret a TC /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
76 8900 CLOCK_SET INFO /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h
77 8901 CLOCK_SET_FAILURE LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h
78 9700 TEST INFO /home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/pus/Service17Test.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/pus/Service17Test.h
79 10600 CHANGE_OF_SETUP_PARAMETER LOW /home/eive/EIVE/Robin/eive-obsw/fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
80 10900 GPIO_PULL_HIGH_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
81 10901 GPIO_PULL_LOW_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
82 10902 SWITCH_ALREADY_ON LOW /home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
83 10903 SWITCH_ALREADY_OFF LOW /home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
84 10904 MAIN_SWITCH_TIMEOUT LOW /home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
85 11000 MAIN_SWITCH_ON_TIMEOUT LOW /home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
86 11001 MAIN_SWITCH_OFF_TIMEOUT LOW /home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
87 11002 DEPLOYMENT_FAILED HIGH /home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
88 11003 DEPL_SA1_GPIO_SWTICH_ON_FAILED HIGH /home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
89 11004 DEPL_SA2_GPIO_SWTICH_ON_FAILED HIGH /home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
90 11101 MEMORY_READ_RPT_CRC_FAILURE LOW /home/eive/EIVE/Robin/eive-obsw/mission/devices/PlocMPSoCHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
91 11102 ACK_FAILURE LOW /home/eive/EIVE/Robin/eive-obsw/mission/devices/PlocMPSoCHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
92 11103 EXE_FAILURE LOW /home/eive/EIVE/Robin/eive-obsw/mission/devices/PlocMPSoCHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
93 11104 CRC_FAILURE_EVENT LOW /home/eive/EIVE/Robin/eive-obsw/mission/devices/PlocMPSoCHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
94 11201 SELF_TEST_I2C_FAILURE LOW Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA /home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
95 11202 SELF_TEST_SPI_FAILURE LOW Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA /home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
96 11203 SELF_TEST_ADC_FAILURE LOW Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA /home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
97 11204 SELF_TEST_PWM_FAILURE LOW Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA /home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
98 11205 SELF_TEST_TC_FAILURE LOW Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA /home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
99 11206 SELF_TEST_MTM_RANGE_FAILURE LOW Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA /home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
100 11207 SELF_TEST_COIL_CURRENT_FAILURE LOW Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA /home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
101 11208 INVALID_ERROR_BYTE LOW Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC. /home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
102 11301 ERROR_STATE HIGH Reaction wheel signals an error state /home/eive/EIVE/Robin/eive-obsw/mission/devices/RwHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/RwHandler.h
103 11501 SUPV_MEMORY_READ_RPT_CRC_FAILURE LOW PLOC supervisor crc failure in telemetry packet /home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
104 11502 SUPV_ACK_FAILURE LOW PLOC supervisor received acknowledgment failure report /home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
105 11503 SUPV_EXE_FAILURE LOW PLOC received execution failure report /home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
106 11504 SUPV_CRC_FAILURE_EVENT LOW PLOC supervisor reply has invalid crc /home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
107 11600 SANITIZATION_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/bsp_q7s/memory/SdCardManager.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/memory/SdCardManager.h
108 11700 UPDATE_FILE_NOT_EXISTS LOW /home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
109 11701 ACTION_COMMANDING_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
110 11702 UPDATE_AVAILABLE_FAILED LOW Supervisor handler replied action message indicating a command execution failure of the update available command /home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
111 11703 UPDATE_TRANSFER_FAILED LOW Supervisor handler failed to transfer an update space packet. P1: Parameter holds the number of update packets already sent (inclusive the failed packet) /home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
112 11704 UPDATE_VERIFY_FAILED LOW Supervisor failed to execute the update verify command. /home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
113 11705 UPDATE_FINISHED INFO MPSoC update successful completed /home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
114 11800 SEND_MRAM_DUMP_FAILED LOW /home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocMemoryDumper.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h
115 11801 MRAM_DUMP_FAILED LOW Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command /home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocMemoryDumper.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h
116 11802 MRAM_DUMP_FINISHED LOW MRAM dump finished successfully /home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocMemoryDumper.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h
117 11901 INVALID_TC_FRAME HIGH /home/eive/EIVE/Robin/eive-obsw/linux/obc/PdecHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
118 11902 INVALID_FAR HIGH Read invalid FAR from PDEC after startup /home/eive/EIVE/Robin/eive-obsw/linux/obc/PdecHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
119 11903 CARRIER_LOCK INFO Carrier lock detected /home/eive/EIVE/Robin/eive-obsw/linux/obc/PdecHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
120 11904 BIT_LOCK_PDEC INFO Bit lock detected (data valid) /home/eive/EIVE/Robin/eive-obsw/linux/obc/PdecHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
121 12000 IMAGE_UPLOAD_FAILED LOW Image upload failed C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
122 12001 IMAGE_DOWNLOAD_FAILED LOW Image download failed C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
123 12002 IMAGE_UPLOAD_SUCCESSFUL LOW Uploading image to star tracker was successfulop C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
124 12003 IMAGE_DOWNLOAD_SUCCESSFUL LOW Image download was successful C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
125 12004 FLASH_WRITE_SUCCESSFUL LOW Finished flash write procedure successfully C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
126 12005 FLASH_READ_SUCCESSFUL LOW Finished flash read procedure successfully C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
127 12006 FLASH_WRITE_FAILED LOW Flash write procedure failed C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
128 12007 FLASH_READ_FAILED LOW Flash read procedure failed C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
129 12008 FPGA_DOWNLOAD_SUCCESSFUL LOW Download of FPGA image successful C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
130 12009 FPGA_DOWNLOAD_FAILED LOW Download of FPGA image failed C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
131 12010 FPGA_UPLOAD_SUCCESSFUL LOW Upload of FPGA image successful C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
132 12011 FPGA_UPLOAD_FAILED LOW Upload of FPGA image failed C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
133 12012 STR_HELPER_READING_REPLY_FAILED LOW C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
134 12013 STR_HELPER_COM_ERROR LOW C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
135 12014 STR_HELPER_NO_REPLY LOW Star tracker did not send replies (maybe device is powered off)P1: Position of upload or download packet for which no reply was sent C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
136 12015 STR_HELPER_DEC_ERROR LOW C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
137 12016 POSITION_MISMATCH LOW Position mismatch P1: The expected position and thus the position for which the image upload/download failed C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
138 12017 STR_HELPER_FILE_NOT_EXISTS LOW Specified file does not existP1: Internal state of str helper C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
139 12018 STR_HELPER_SENDING_PACKET_FAILED LOW C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
140 12019 STR_HELPER_REQUESTING_MSG_FAILED LOW C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h

3
generators/bsp_q7s_objects.csv
View File

@ -27,7 +27,7 @@
0x44120309;MGM_3_RM3100_HANDLER
0x44120313;GYRO_3_L3G_HANDLER
0x44120350;RW4
0x44130001;START_TRACKER
0x44130001;STAR_TRACKER
0x44130045;GPS0_HANDLER
0x44130146;GPS1_HANDLER
0x44140014;IMTQ_HANDLER
@ -39,6 +39,7 @@
0x443200A5;RAD_SENSOR
0x44330000;PLOC_UPDATER
0x44330001;PLOC_MEMORY_DUMPER
0x44330002;STR_HELPER
0x44330015;PLOC_MPSOC_HANDLER
0x44330016;PLOC_SUPERVISOR_HANDLER
0x444100A2;SOLAR_ARRAY_DEPL_HANDLER

1 0x00005060 P60DOCK_TEST_TASK
27 0x44120309 MGM_3_RM3100_HANDLER
28 0x44120313 GYRO_3_L3G_HANDLER
29 0x44120350 RW4
30 0x44130001 START_TRACKER STAR_TRACKER
31 0x44130045 GPS0_HANDLER
32 0x44130146 GPS1_HANDLER
33 0x44140014 IMTQ_HANDLER
39 0x443200A5 RAD_SENSOR
40 0x44330000 PLOC_UPDATER
41 0x44330001 PLOC_MEMORY_DUMPER
42 0x44330002 STR_HELPER
43 0x44330015 PLOC_MPSOC_HANDLER
44 0x44330016 PLOC_SUPERVISOR_HANDLER
45 0x444100A2 SOLAR_ARRAY_DEPL_HANDLER

64
generators/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 120 translations.
* @brief Auto-generated event translation file. Contains 140 translations.
* @details
* Generated on: 2021-11-25 14:09:00
* Generated on: 2021-12-29 20:24:08
*/
#include "translateEvents.h"
@ -125,6 +125,26 @@ const char *INVALID_TC_FRAME_STRING = "INVALID_TC_FRAME";
const char *INVALID_FAR_STRING = "INVALID_FAR";
const char *CARRIER_LOCK_STRING = "CARRIER_LOCK";
const char *BIT_LOCK_PDEC_STRING = "BIT_LOCK_PDEC";
const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
const char *IMAGE_DOWNLOAD_SUCCESSFUL_STRING = "IMAGE_DOWNLOAD_SUCCESSFUL";
const char *FLASH_WRITE_SUCCESSFUL_STRING = "FLASH_WRITE_SUCCESSFUL";
const char *FLASH_READ_SUCCESSFUL_STRING = "FLASH_READ_SUCCESSFUL";
const char *FLASH_WRITE_FAILED_STRING = "FLASH_WRITE_FAILED";
const char *FLASH_READ_FAILED_STRING = "FLASH_READ_FAILED";
const char *FPGA_DOWNLOAD_SUCCESSFUL_STRING = "FPGA_DOWNLOAD_SUCCESSFUL";
const char *FPGA_DOWNLOAD_FAILED_STRING = "FPGA_DOWNLOAD_FAILED";
const char *FPGA_UPLOAD_SUCCESSFUL_STRING = "FPGA_UPLOAD_SUCCESSFUL";
const char *FPGA_UPLOAD_FAILED_STRING = "FPGA_UPLOAD_FAILED";
const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET_FAILED";
const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
const char * translateEvents(Event event) {
switch( (event & 0xffff) ) {
@ -368,6 +388,46 @@ const char * translateEvents(Event event) {
return CARRIER_LOCK_STRING;
case(11904):
return BIT_LOCK_PDEC_STRING;
case(12000):
return IMAGE_UPLOAD_FAILED_STRING;
case(12001):
return IMAGE_DOWNLOAD_FAILED_STRING;
case(12002):
return IMAGE_UPLOAD_SUCCESSFUL_STRING;
case(12003):
return IMAGE_DOWNLOAD_SUCCESSFUL_STRING;
case(12004):
return FLASH_WRITE_SUCCESSFUL_STRING;
case(12005):
return FLASH_READ_SUCCESSFUL_STRING;
case(12006):
return FLASH_WRITE_FAILED_STRING;
case(12007):
return FLASH_READ_FAILED_STRING;
case(12008):
return FPGA_DOWNLOAD_SUCCESSFUL_STRING;
case(12009):
return FPGA_DOWNLOAD_FAILED_STRING;
case(12010):
return FPGA_UPLOAD_SUCCESSFUL_STRING;
case(12011):
return FPGA_UPLOAD_FAILED_STRING;
case(12012):
return STR_HELPER_READING_REPLY_FAILED_STRING;
case(12013):
return STR_HELPER_COM_ERROR_STRING;
case(12014):
return STR_HELPER_NO_REPLY_STRING;
case(12015):
return STR_HELPER_DEC_ERROR_STRING;
case(12016):
return POSITION_MISMATCH_STRING;
case(12017):
return STR_HELPER_FILE_NOT_EXISTS_STRING;
case(12018):
return STR_HELPER_SENDING_PACKET_FAILED_STRING;
case(12019):
return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
default:
return "UNKNOWN_EVENT";
}

11
generators/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 112 translations.
* Generated on: 2021-11-22 17:04:51
* Contains 113 translations.
* Generated on: 2021-12-21 17:21:23
*/
#include "translateObjects.h"
@ -35,7 +35,7 @@ const char *RW3_STRING = "RW3";
const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
const char *RW4_STRING = "RW4";
const char *START_TRACKER_STRING = "START_TRACKER";
const char *STAR_TRACKER_STRING = "STAR_TRACKER";
const char *GPS0_HANDLER_STRING = "GPS0_HANDLER";
const char *GPS1_HANDLER_STRING = "GPS1_HANDLER";
const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
@ -47,6 +47,7 @@ const char *ACU_HANDLER_STRING = "ACU_HANDLER";
const char *RAD_SENSOR_STRING = "RAD_SENSOR";
const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
const char *STR_HELPER_STRING = "STR_HELPER";
const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
@ -180,7 +181,7 @@ const char* translateObject(object_id_t object) {
case 0x44120350:
return RW4_STRING;
case 0x44130001:
return START_TRACKER_STRING;
return STAR_TRACKER_STRING;
case 0x44130045:
return GPS0_HANDLER_STRING;
case 0x44130146:
@ -203,6 +204,8 @@ const char* translateObject(object_id_t object) {
return PLOC_UPDATER_STRING;
case 0x44330001:
return PLOC_MEMORY_DUMPER_STRING;
case 0x44330002:
return STR_HELPER_STRING;
case 0x44330015:
return PLOC_MPSOC_HANDLER_STRING;
case 0x44330016:

12
linux/archive/gpio/GpioCookie.cpp
View File

@ -1,8 +1,8 @@
#include "GpioCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
GpioCookie::GpioCookie() {
}
GpioCookie::GpioCookie() {}
ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
if (gpioConfig == nullptr) {
@ -14,8 +14,8 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig){
auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
if (statusPair.second == false) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::error << "GpioCookie::addGpio: Failed to add GPIO " << gpioId <<
" to GPIO map" << std::endl;
sif::error << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
<< std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -27,8 +27,6 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig){
return HasReturnvaluesIF::RETURN_FAILED;
}
GpioMap GpioCookie::getGpioMap() const {
return gpioMap;
}
GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
GpioCookie::~GpioCookie() {}

6
linux/archive/gpio/GpioCookie.h
View File

@ -1,11 +1,12 @@
#ifndef LINUX_GPIO_GPIOCOOKIE_H_
#define LINUX_GPIO_GPIOCOOKIE_H_
#include "GpioIF.h"
#include "gpioDefinitions.h"
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "GpioIF.h"
#include "gpioDefinitions.h"
/**
* @brief Cookie for the GpioIF. Allows the GpioIF to determine which
* GPIOs to initialize and whether they should be configured as in- or
@ -18,7 +19,6 @@
*/
class GpioCookie : public CookieIF {
public:
GpioCookie();
virtual ~GpioCookie();

6
linux/archive/gpio/GpioIF.h
View File

@ -1,9 +1,10 @@
#ifndef LINUX_GPIO_GPIOIF_H_
#define LINUX_GPIO_GPIOIF_H_
#include "gpioDefinitions.h"
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "gpioDefinitions.h"
class GpioCookie;
@ -14,7 +15,6 @@ class GpioCookie;
*/
class GpioIF : public HasReturnvaluesIF {
public:
virtual ~GpioIF(){};
/**

73
linux/archive/gpio/LinuxLibgpioIF.cpp
View File

@ -1,13 +1,13 @@
#include "LinuxLibgpioIF.h"
#include "GpioCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <gpiod.h>
#include <linux/gpio/gpioDefinitions.h>
#include <unistd.h>
#include <utility>
#include <unistd.h>
#include <gpiod.h>
#include "GpioCookie.h"
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
struct gpiod_chip* chip = gpiod_chip_open_by_label("/amba_pl/gpio@42030000");
@ -15,8 +15,7 @@ LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
sif::debug << chip->name << std::endl;
}
LinuxLibgpioIF::~LinuxLibgpioIF() {
}
LinuxLibgpioIF::~LinuxLibgpioIF() {}
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
ReturnValue_t result;
@ -83,16 +82,16 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
chipname = regularGpio->chipname;
chip = gpiod_chip_open_by_name(chipname.c_str());
if (!chip) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open chip "
<< chipname << ". Gpio ID: " << gpioId << std::endl;
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open chip " << chipname
<< ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
lineNum = regularGpio->lineNum;
lineHandle = gpiod_chip_get_line(chip, lineNum);
if (!lineHandle) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line for GPIO with id "
<< gpioId << std::endl;
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line for GPIO with id " << gpioId
<< std::endl;
gpiod_chip_close(chip);
return RETURN_FAILED;
}
@ -102,11 +101,10 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
/* Configure direction and add a description to the GPIO */
switch (direction) {
case (gpio::OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(),
regularGpio->initValue);
result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio->initValue);
if (result < 0) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum <<
" from GPIO instance with ID: " << gpioId << std::endl;
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum
<< " from GPIO instance with ID: " << gpioId << std::endl;
gpiod_line_release(lineHandle);
return RETURN_FAILED;
}
@ -115,19 +113,17 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
case (gpio::IN): {
result = gpiod_line_request_input(lineHandle, consumer.c_str());
if (result < 0) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
<< lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum
<< " from GPIO instance with ID: " << gpioId << std::endl;
gpiod_line_release(lineHandle);
return RETURN_FAILED;
}
break;
}
default: {
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
<< std::endl;
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
return GPIO_INVALID_INSTANCE;
}
}
/**
* Write line handle to GPIO configuration instance so it can later be used to set or
@ -146,14 +142,13 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
}
else {
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
1, gpioCallback->callbackArgs);
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, 1,
gpioCallback->callbackArgs);
}
return GPIO_TYPE_FAILURE;
}
@ -167,28 +162,27 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
}
else {
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
0, gpioCallback->callbackArgs);
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, 0,
gpioCallback->callbackArgs);
}
return GPIO_TYPE_FAILURE;
}
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
GpiodRegular* regularGpio, unsigned int logicLevel) {
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio,
unsigned int logicLevel) {
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
if (result < 0) {
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
" to logic level " << logicLevel << std::endl;
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
<< " to logic level " << logicLevel << std::endl;
return DRIVE_GPIO_FAILURE;
}
@ -208,11 +202,8 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
return GPIO_TYPE_FAILURE;
}
*gpioState = gpiod_line_get_value(regularGpio->lineHandle);
} else {
}
else {
}
return RETURN_OK;
}
@ -247,22 +238,22 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
break;
}
default: {
}
}
}
return status;
}
ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
GpiodRegular* gpioToCheck, GpioMap& mapToAdd) {
GpiodRegular* gpioToCheck,
GpioMap& mapToAdd) {
/* Cross check with private map */
gpioMapIter = gpioMap.find(gpioIdToCheck);
if (gpioMapIter != gpioMap.end()) {
if (gpioMapIter->second->gpioType != gpio::GpioTypes::GPIOD_REGULAR) {
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
"GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
"GPIO type"
<< gpioIdToCheck << ". Removing duplicate." << std::endl;
mapToAdd.erase(gpioIdToCheck);
return HasReturnvaluesIF::RETURN_OK;
}
@ -281,13 +272,15 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToChec
}
ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck,
GpioCallback *callbackGpio, GpioMap& mapToAdd) {
GpioCallback* callbackGpio,
GpioMap& mapToAdd) {
/* Cross check with private map */
gpioMapIter = gpioMap.find(gpioIdToCheck);
if (gpioMapIter != gpioMap.end()) {
if (gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) {
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
"GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
"GPIO type"
<< gpioIdToCheck << ". Removing duplicate." << std::endl;
mapToAdd.erase(gpioIdToCheck);
return HasReturnvaluesIF::RETURN_OK;
}

6
linux/archive/gpio/LinuxLibgpioIF.h
View File

@ -1,9 +1,9 @@
#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
#define LINUX_GPIO_LINUXLIBGPIOIF_H_
#include <linux/gpio/GpioIF.h>
#include <fsfwconfig/returnvalues/classIds.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfwconfig/returnvalues/classIds.h>
#include <linux/gpio/GpioIF.h>
class GpioCookie;
@ -16,7 +16,6 @@ class GpioCookie;
*/
class LinuxLibgpioIF : public GpioIF, public SystemObject {
public:
static const uint8_t gpioRetvalId = CLASS_ID::LINUX_LIBGPIO_IF;
static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
@ -71,7 +70,6 @@ private:
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
*/
ReturnValue_t configureGpios(GpioMap& mapToAdd);
};
#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

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