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read module cfg and read hk from p60 dock, intermediate state

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This commit is contained in:
Jakob Meier 2020-12-09 12:00:24 +01:00
parent c0ce686478
commit c82cdf96db
11 changed files with 126 additions and 23 deletions
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21
bsp_linux/InitMission.cpp
View File

@ -11,6 +11,7 @@
#include <fsfw/tasks/TaskFactory.h>
#include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/OBSWConfig.h>
#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
#include <iostream>
@ -129,14 +130,15 @@ void InitMission::initTasks(){
sif::error << "Object add component failed" << std::endl;
}
/* Device Handler */
PeriodicTaskIF* DeviceHandler = TaskFactory::instance()->
createPeriodicTask("Device Handler", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
1, nullptr);
result = DeviceHandler->addComponent(objects::P60DOCK_HANDLER);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
FixedTimeslotTaskIF* GomSpacePstTask = TaskFactory::instance()->
createFixedTimeslotTask("GS_PST_TASK", 10,
PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 1.0, nullptr);
result = pst::gomspacePstInit(GomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization "
<< "failed!" << std::endl;
}
#if ADD_TEST_CODE == 1
// FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()->
@ -163,13 +165,14 @@ void InitMission::initTasks(){
UdpBridgeTask->startTask();
UdpPollingTask->startTask();
GomSpacePstTask->startTask();
PusVerification->startTask();
PusEvents->startTask();
PusHighPrio->startTask();
PusMedPrio->startTask();
PusLowPrio->startTask();
DeviceHandler->startTask();
#if ADD_TEST_CODE == 1
// TestTimeslotTask->startTask();
P60DockTestTask->startTask();

39
bsp_linux/comIF/P60DockComIF.cpp
View File

@ -86,7 +86,14 @@ ReturnValue_t P60DockComIF::requestReceiveMessage(CookieIF *cookie,
ReturnValue_t P60DockComIF::readReceivedMessage(CookieIF *cookie,
uint8_t** buffer, size_t* size) {
if(cookie == NULL){
return HasReturnvaluesIF::RETURN_FAILED;
}
P60DockCookie* p60DockCookie = dynamic_cast<P60DockCookie*> (cookie);
if(p60DockCookie == NULL){
return HasReturnvaluesIF::RETURN_FAILED;
}
MessageType_t messageType = p60DockCookie->getMessageType();
switch(messageType){
@ -95,10 +102,10 @@ ReturnValue_t P60DockComIF::readReceivedMessage(CookieIF *cookie,
uint8_t p60dockAddress = p60DockCookie->getCspAddress();
gs_param_table_instance_t moduleConfig;
moduleConfig.rows = (gs_param_table_row_t*)p60dock_config;
moduleConfig.id = p60dockAddress;
moduleConfig.id = moduleCfgTableNum;
moduleConfig.row_count = p60dock_config_count;
moduleConfig.memory_size = moduleCfgTableSize;
moduleConfig.memory = *buffer;
moduleConfig.memory_size = p60dock_config_size;
moduleConfig.memory = replyBuffer;
/* Read complete module configuration table from P60 Dock and store data
* in buffer */
int result = gs_rparam_get_full_table(&moduleConfig, p60dockAddress,
@ -106,8 +113,30 @@ ReturnValue_t P60DockComIF::readReceivedMessage(CookieIF *cookie,
*size = moduleCfgTableSize;
if (result != GS_OK) {
sif::info
<< "Failed retrieving module configuration from P60 dock with error code "
<< result << std::endl;
<< "Failed retrieving module configuration from P60 dock "
<< "with error code " << result << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
break;
}
case(P60DockCookie::READ_HK):{
uint32_t timeout = 1000;
uint8_t p60dockAddress = p60DockCookie->getCspAddress();
gs_param_table_instance_t tmData;
tmData.rows = (gs_param_table_row_t*)p60dock_hk;
tmData.id = tmTableNum;
tmData.row_count = p60dock_hk_count;
tmData.memory_size = tmTableSize;
tmData.memory = replyBuffer;
/* Read complete module configuration table from P60 Dock and store data
* in buffer */
int result = gs_rparam_get_full_table(&tmData, p60dockAddress,
tmData.id, GS_RPARAM_MAGIC_CHECKSUM, timeout);
*size = tmTableSize;
if (result != GS_OK) {
sif::info
<< "Failed retrieving telemetry from P60 dock with error "
<< "code " << result << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
break;

14
bsp_linux/comIF/P60DockComIF.h
View File

@ -25,6 +25,8 @@
*/
class P60DockComIF: public DeviceCommunicationIF, public SystemObject {
public:
static const uint8_t maxReplyLength = 188;
P60DockComIF(object_id_t objectId);
virtual ~P60DockComIF();
@ -42,12 +44,14 @@ private:
csp_iface_t csp_if;
/* Table definitions. According to gomspace software documentation there
* exist four tables each identified by a number*/
uint8_t boardConfigTable = 0;
uint8_t moduleConfigTable = 1;
uint8_t calibrationParamTable = 2;
uint8_t tmDataTable = 4;
uint8_t boardConfigTableNum = 0;
uint8_t moduleCfgTableNum = 1;
uint8_t calibrationParamTableNum = 2;
uint8_t tmTableNum = 4;
unsigned int moduleConfigTableRows = 32;
uint16_t moduleCfgTableSize = 412;
uint8_t moduleCfgTableSize = 188;
uint8_t tmTableSize = 188;
uint8_t replyBuffer[P60DockComIF::maxReplyLength];
};

4
bsp_linux/comIF/cookies/P60DockCookie.cpp
View File

@ -33,6 +33,10 @@ void P60DockCookie::setReadModuleCfgMessage(){
nextMessage = READ_MODULE_CONFIG;
}
void P60DockCookie::setReadHkMessage(){
nextMessage = READ_HK;
}
MessageType_t P60DockCookie::getMessageType(){
return nextMessage;
}

2
bsp_linux/comIF/cookies/P60DockCookie.h
View File

@ -27,6 +27,7 @@ public:
void setPingMessage();
void setRebootMessage();
void setReadModuleCfgMessage();
void setReadHkMessage();
MessageType_t getMessageType();
/* Message type defines the type of the next data transfer between the
@ -35,6 +36,7 @@ public:
static const MessageType_t PING = 0x1;
static const MessageType_t REBOOT = 0x4;
static const MessageType_t READ_MODULE_CONFIG = 0x71;
static const MessageType_t READ_HK = 0x74;
private:

22
fsfwconfig/pollingsequence/PollingSequenceFactory.cpp
View File

@ -28,3 +28,25 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
}
}
ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.25, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.5, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.75, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
sif::error << "Initialization of GomSpace PST failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}

7
fsfwconfig/pollingsequence/PollingSequenceFactory.h
View File

@ -26,6 +26,13 @@ namespace pst {
/* 0.4 second period init*/
ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
/**
* @brief This function creates the PST for all gomspace devices. They are
* scheduled in a separate PST because the gomspace library uses
* blocking calls when requesting data from devices.
*/
ReturnValue_t gomspacePstInit(FixedTimeslotTaskIF *thisSequence);
}
#endif /* POLLINGSEQUENCEINIT_H_ */

1
gomspace/p60-dock_client/include/gs/p60-dock/param/p60dock_hk.h
View File

@ -47,5 +47,6 @@
extern const param_table_t p60dock_hk[];
extern const int p60dock_hk_count;
extern const int p60dock_config_size;
#endif /* P60DOCK_HK_H_ */

1
gomspace/p60-dock_client/src/p60dock_client.c
View File

@ -64,6 +64,7 @@ const param_table_t p60dock_config[] = {
};
const int p60dock_config_count = sizeof(p60dock_config) / sizeof(p60dock_config[0]);
const int p60dock_config_size = sizeof(p60dock_config);
/**
* Setup info about calibration parameters

27
mission/devices/P60DockHandler.cpp
View File

@ -6,6 +6,14 @@
P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF,
CookieIF * comCookie):DeviceHandlerBase(objectId, comIF, comCookie) {
mode = MODE_NORMAL;
if(comCookie == NULL){
sif::error << "P60DockHandler invalid com cookie" << std::endl;
}
p60DockCookie = dynamic_cast<P60DockCookie*> (comCookie);
if(p60DockCookie == NULL){
sif::error << "P60DockHandler failed to get P60DockCookie" << std::endl;
}
}
P60DockHandler::~P60DockHandler() {
@ -13,7 +21,6 @@ P60DockHandler::~P60DockHandler() {
void P60DockHandler::doStartUp(){
}
void P60DockHandler::doShutDown(){
@ -34,7 +41,15 @@ ReturnValue_t P60DockHandler::buildCommandFromCommand(
size_t commandDataLen) {
switch(deviceCommand) {
case(READ_MODULE_CFG):{
p60DockCookie->setReadModuleCfgMessage();
internalState = InternalStates::READ_MODULE_CFG;
this->pstStep = GET_READ;
break;
}
case(READ_HK):{
p60DockCookie->setReadHkMessage();
internalState = InternalStates::READ_HK;
this->pstStep = GET_READ;
break;
}
case(PING): {
@ -48,6 +63,7 @@ ReturnValue_t P60DockHandler::buildCommandFromCommand(
void P60DockHandler::fillCommandAndReplyMap(){
this->insertInCommandAndReplyMap(READ_MODULE_CFG, 3);
this->insertInCommandAndReplyMap(READ_HK, 3);
}
ReturnValue_t P60DockHandler::scanForReply(const uint8_t *start,
@ -58,6 +74,11 @@ ReturnValue_t P60DockHandler::scanForReply(const uint8_t *start,
*foundLen = moduleCfgTableSize;
break;
}
case(InternalStates::READ_HK): {
*foundId = READ_HK;
*foundLen = hkTableSize;
break;
}
default:
return IGNORE_REPLY_DATA;
}
@ -71,6 +92,10 @@ ReturnValue_t P60DockHandler::interpretDeviceReply(DeviceCommandId_t id,
handleDeviceTM((SerializeIF*)packet, id, true, true);
break;
}
case(READ_HK): {
handleDeviceTM((SerializeIF*)packet, id, true, true);
break;
}
default:
break;
}

11
mission/devices/P60DockHandler.h
View File

@ -2,6 +2,7 @@
#define MISSION_DEVICES_P60DOCKHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <bsp_linux/comIF/cookies/P60DockCookie.h>
class P60DockHandler: public DeviceHandlerBase {
public:
@ -26,15 +27,19 @@ protected:
private:
static const DeviceCommandId_t PING = 0x1; //!< [EXPORT] : [COMMAND]
static const DeviceCommandId_t READ_MODULE_CFG = 0xE; //!< [EXPORT] : [COMMAND]
static const DeviceCommandId_t READ_MODULE_CFG = 0x71; //!< [EXPORT] : [COMMAND]
static const DeviceCommandId_t READ_HK = 0x72; //!< [EXPORT] : [COMMAND]
enum class InternalStates {
STATE_NONE,
READ_MODULE_CFG
READ_MODULE_CFG,
READ_HK
};
InternalStates internalState = InternalStates::STATE_NONE;
uint8_t moduleCfgTableSize = 188;
uint8_t hkTableSize = 188;
size_t moduleCfgTableSize = 188;
P60DockCookie* p60DockCookie;
};
#endif /* MISSION_DEVICES_P60DOCKHANDLER_H_ */