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Merge remote-tracking branch 'origin/develop' into flipped-tmtctest-preproc-define
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This commit is contained in:
Robin Müller 2022-01-19 18:10:12 +01:00
commit c88371b37a
206 changed files with 29214 additions and 30589 deletions
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214
bsp_hosted/InitMission.cpp
View File

@ -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");
@ -27,133 +26,132 @@ ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif
ObjectManagerIF *objectManager = nullptr;
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);
sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize();
sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize();
/* This function creates and starts all tasks */
initTasks();
/* This function creates and starts all tasks */
initTasks();
}
void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
if(factory == nullptr) {
/* Should never happen ! */
return;
}
TaskFactory* factory = TaskFactory::instance();
if (factory == nullptr) {
/* Should never happen ! */
return;
}
#if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else
void (*missedDeadlineFunc) (void) = nullptr;
void (*missedDeadlineFunc)(void) = nullptr;
#endif
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
ReturnValue_t result = tmTcDistributor->addComponent(
objects::CCSDS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
ReturnValue_t result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
/* UDP bridge */
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TMTC_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
}
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
/* UDP bridge */
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TMTC_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
}
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
/* PUS Services */
PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
/* PUS Services */
PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK){
initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
}
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
}
PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
}
PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
}
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
}
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
}
PeriodicTaskIF* testTask = factory->createPeriodicTask(
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
PeriodicTaskIF* testTask = factory->createPeriodicTask(
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
#if OBSW_ADD_TEST_CODE == 1
result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
result = testTask->addComponent(objects::TEST_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#endif /* OBSW_ADD_TEST_CODE == 1 */
sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask();
tmtcBridgeTask->startTask();
tmtcPollingTask->startTask();
sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask();
tmtcBridgeTask->startTask();
tmtcPollingTask->startTask();
pusVerification->startTask();
pusEvents->startTask();
pusHighPrio->startTask();
pusMedPrio->startTask();
pusLowPrio->startTask();
pusVerification->startTask();
pusEvents->startTask();
pusHighPrio->startTask();
pusMedPrio->startTask();
pusLowPrio->startTask();
#if OBSW_ADD_TEST_CODE == 1
testTask->startTask();
testTask->startTask();
#endif /* OBSW_ADD_TEST_CODE == 1 */
sif::info << "Tasks started.." << std::endl;
sif::info << "Tasks started.." << std::endl;
}

2
bsp_hosted/InitMission.h
View File

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

41
bsp_hosted/ObjectFactory.cpp
View File

@ -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"
@ -20,29 +20,28 @@
#include <fsfw/tmtcpacket/pus/tm.h>
#if OBSW_ADD_TEST_CODE == 1
#include <test/testtasks/TestTask.h>
#endif
void Factory::setStaticFrameworkObjectIds(){
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
// No storage object for now.
TmFunnel::storageDestination = objects::NO_OBJECT;
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
// No storage object for now.
TmFunnel::storageDestination = objects::NO_OBJECT;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
}
void ObjectFactory::produce(void* args){
Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects();
void ObjectFactory::produce(void* args) {
Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects();
new TestTask(objects::TEST_TASK);
new TestTask(objects::TEST_TASK);
}

7
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);
};
void setStatics();
void produce(void* args);
}; // namespace ObjectFactory
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */

4
bsp_hosted/boardconfig/etl_profile.h
View File

@ -32,7 +32,7 @@ SOFTWARE.
#define ETL_CHECK_PUSH_POP
#define ETL_CPP11_SUPPORTED 1
#define ETL_NO_NULLPTR_SUPPORT 0
#define ETL_CPP11_SUPPORTED 1
#define ETL_NO_NULLPTR_SUPPORT 0
#endif

5
bsp_hosted/boardconfig/gcov.h
View File

@ -6,8 +6,9 @@
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;
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
"coverage information is desired.\n"
<< std::flush;
}
#endif

14
bsp_hosted/boardconfig/print.c
View File

@ -3,13 +3,9 @@
#include <stdio.h>
void printChar(const char* character, bool errStream) {
if(errStream) {
putc(*character, stderr);
return;
}
putc(*character, stdout);
if (errStream) {
putc(*character, stderr);
return;
}
putc(*character, stdout);
}

539
bsp_hosted/comIF/ArduinoComIF.cpp
View File

@ -1,376 +1,351 @@
#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);
initialized = false;
serialPort = ::open("/dev/ttyUSB0", O_RDWR);
if (serialPort < 0) {
//configuration error
printf("Error %i from open: %s\n", errno, strerror(errno));
return;
}
if (serialPort < 0) {
// configuration error
printf("Error %i from open: %s\n", errno, strerror(errno));
return;
}
struct termios tty;
memset(&tty, 0, sizeof tty);
struct termios tty;
memset(&tty, 0, sizeof tty);
// Read in existing settings, and handle any error
if (tcgetattr(serialPort, &tty) != 0) {
printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
return;
}
// Read in existing settings, and handle any error
if (tcgetattr(serialPort, &tty) != 0) {
printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
return;
}
tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
tty.c_cflag |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_lflag &= ~ICANON; //Disable Canonical Mode
tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
tty.c_cc[VTIME] = 0; // Non Blocking
tty.c_cc[VMIN] = 0;
tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
tty.c_cflag |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_lflag &= ~ICANON; // Disable Canonical Mode
tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
tty.c_cc[VTIME] = 0; // Non Blocking
tty.c_cc[VMIN] = 0;
cfsetispeed(&tty, B9600); //Baudrate
cfsetispeed(&tty, B9600); // Baudrate
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
//printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
return;
}
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
// printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
return;
}
initialized = true;
initialized = true;
#elif WIN32
DCB serialParams = { 0 };
DCB serialParams = {0};
// we need to ask the COM port from the user.
if(promptComIF) {
sif::info << "Please enter the COM port (c to cancel): " << std::flush;
std::string comPort;
while(hCom == INVALID_HANDLE_VALUE) {
// we need to ask the COM port from the user.
if (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;
}
const TCHAR *pcCommPort = comPort.c_str();
hCom = CreateFileA(pcCommPort, // port name
GENERIC_READ | GENERIC_WRITE, // Read/Write
0, // No Sharing
NULL, // No Security
OPEN_EXISTING, // Open existing port only
0, // Non Overlapped I/O
NULL); // Null for Comm Devices
std::getline(std::cin, comPort);
if(comPort[0] == 'c') {
break;
}
const TCHAR *pcCommPort = comPort.c_str();
hCom = CreateFileA(pcCommPort, //port name
GENERIC_READ | GENERIC_WRITE, //Read/Write
0, // No Sharing
NULL, // No Security
OPEN_EXISTING,// Open existing port only
0, // Non Overlapped I/O
NULL); // Null for Comm Devices
if (hCom == INVALID_HANDLE_VALUE) {
if (GetLastError() == 2) {
sif::error << "COM Port does not found!" << std::endl;
} else {
TCHAR err[128];
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::error << err << std::flush;
}
sif::info << "Please enter a valid COM port: " << std::flush;
}
}
}
if (hCom == INVALID_HANDLE_VALUE)
{
if(GetLastError() == 2) {
sif::error << "COM Port does not found!" << std::endl;
}
else {
TCHAR err[128];
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::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 {
serialParams.BaudRate = baudRate;
}
}
serialParams.ByteSize = 8;
serialParams.Parity = NOPARITY;
serialParams.StopBits = ONESTOPBIT;
SetCommState(hCom, &serialParams);
serialParams.DCBlength = sizeof(serialParams);
if(baudRate == 9600) {
serialParams.BaudRate = CBR_9600;
}
if(baudRate == 115200) {
serialParams.BaudRate = CBR_115200;
}
else {
serialParams.BaudRate = baudRate;
}
serialParams.ByteSize = 8;
serialParams.Parity = NOPARITY;
serialParams.StopBits = ONESTOPBIT;
SetCommState(hCom, &serialParams);
COMMTIMEOUTS timeout = { 0 };
// This will set the read operation to be blocking until data is received
// and then read continuously until there is a gap of one millisecond.
timeout.ReadIntervalTimeout = 1;
timeout.ReadTotalTimeoutConstant = 0;
timeout.ReadTotalTimeoutMultiplier = 0;
timeout.WriteTotalTimeoutConstant = 0;
timeout.WriteTotalTimeoutMultiplier = 0;
SetCommTimeouts(hCom, &timeout);
// Serial port should now be read for operations.
COMMTIMEOUTS timeout = {0};
// This will set the read operation to be blocking until data is received
// and then read continuously until there is a gap of one millisecond.
timeout.ReadIntervalTimeout = 1;
timeout.ReadTotalTimeoutConstant = 0;
timeout.ReadTotalTimeoutMultiplier = 0;
timeout.WriteTotalTimeoutConstant = 0;
timeout.WriteTotalTimeoutMultiplier = 0;
SetCommTimeouts(hCom, &timeout);
// Serial port should now be read for operations.
#endif
}
ArduinoComIF::~ArduinoComIF() {
#ifdef LINUX
::close(serialPort);
::close(serialPort);
#elif WIN32
CloseHandle(hCom);
CloseHandle(hCom);
#endif
}
ReturnValue_t ArduinoComIF::initializeInterface(CookieIF * cookie) {
return HasReturnvaluesIF::RETURN_OK;
ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) {
return HasReturnvaluesIF::RETURN_OK;
}
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;
}
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) {
return RETURN_OK;
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) {
handleSerialPortRx();
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
if (arduinoCookie == nullptr) {
return INVALID_COOKIE_TYPE;
}
*buffer = arduinoCookie->replyBuffer.data();
*size = arduinoCookie->receivedDataLen;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) {
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;
}
handleSerialPortRx();
// being conservative here
uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
if (arduinoCookie == nullptr) {
return INVALID_COOKIE_TYPE;
}
sendBuffer[0] = DleEncoder::STX_CHAR;
*buffer = arduinoCookie->replyBuffer.data();
*size = arduinoCookie->receivedDataLen;
return HasReturnvaluesIF::RETURN_OK;
}
uint8_t *currentPosition = sendBuffer + 1;
size_t remainingLen = sizeof(sendBuffer) - 1;
size_t encodedLen = 0;
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;
}
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
//being conservative here
uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
sendBuffer[0] = DleEncoder::STX_CHAR;
uint8_t temporaryBuffer[2];
uint8_t *currentPosition = sendBuffer + 1;
size_t remainingLen = sizeof(sendBuffer) - 1;
size_t encodedLen = 0;
// note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
temporaryBuffer[0] = dataLen >> 8; // we checked dataLen above
temporaryBuffer[1] = dataLen;
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(temporaryBuffer, 2, 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);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
// encoding the actual data
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
uint8_t temporaryBuffer[2];
uint16_t crc = CRC::crc16ccitt(&command, 1);
crc = CRC::crc16ccitt(&address, 1, crc);
// fortunately the length is still there
crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
crc = CRC::crc16ccitt(data, dataLen, crc);
//note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
temporaryBuffer[0] = dataLen >> 8; //we checked dataLen above
temporaryBuffer[1] = dataLen;
temporaryBuffer[0] = crc >> 8;
temporaryBuffer[1] = crc;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
result =
DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
//encoding the actual data
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen,
&encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
if (remainingLen > 0) {
*currentPosition = DleEncoder::ETX_CHAR;
}
remainingLen -= 1;
uint16_t crc = CRC::crc16ccitt(&command, 1);
crc = CRC::crc16ccitt(&address, 1, crc);
//fortunately the length is still there
crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
crc = CRC::crc16ccitt(data, dataLen, crc);
temporaryBuffer[0] = crc >> 8;
temporaryBuffer[1] = crc;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
if (remainingLen > 0) {
*currentPosition = DleEncoder::ETX_CHAR;
}
remainingLen -= 1;
encodedLen = sizeof(sendBuffer) - remainingLen;
encodedLen = sizeof(sendBuffer) - remainingLen;
#ifdef LINUX
ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen);
if (writtenlen < 0) {
//we could try to find out what happened...
return RETURN_FAILED;
}
if (writtenlen != encodedLen) {
//the OS failed us, we do not try to block until everything is written, as
//we can not block the whole system here
return RETURN_FAILED;
}
return RETURN_OK;
ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen);
if (writtenlen < 0) {
// we could try to find out what happened...
return RETURN_FAILED;
}
if (writtenlen != encodedLen) {
// the OS failed us, we do not try to block until everything is written, as
// we can not block the whole system here
return RETURN_FAILED;
}
return RETURN_OK;
#elif WIN32
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
#endif
}
void ArduinoComIF::handleSerialPortRx() {
#ifdef LINUX
uint32_t availableSpace = rxBuffer.availableWriteSpace();
uint32_t availableSpace = rxBuffer.availableWriteSpace();
uint8_t dataFromSerial[availableSpace];
uint8_t dataFromSerial[availableSpace];
ssize_t bytesRead = read(serialPort, dataFromSerial,
sizeof(dataFromSerial));
ssize_t bytesRead = read(serialPort, dataFromSerial, sizeof(dataFromSerial));
if (bytesRead < 0) {
return;
}
if (bytesRead < 0) {
return;
}
rxBuffer.writeData(dataFromSerial, bytesRead);
rxBuffer.writeData(dataFromSerial, bytesRead);
uint8_t dataReceivedSoFar[rxBuffer.getMaxSize()];
uint8_t dataReceivedSoFar[rxBuffer.getMaxSize()];
uint32_t dataLenReceivedSoFar = 0;
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)) {
firstSTXinRawData++;
}
// look for STX
size_t firstSTXinRawData = 0;
while ((firstSTXinRawData < dataLenReceivedSoFar) &&
(dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) {
firstSTXinRawData++;
}
if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR) {
//there is no STX in our data, throw it away...
rxBuffer.deleteData(dataLenReceivedSoFar);
return;
}
if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR) {
// there is no STX in our data, throw it away...
rxBuffer.deleteData(dataLenReceivedSoFar);
return;
}
uint8_t packet[MAX_PACKET_SIZE];
size_t packetLen = 0;
uint8_t packet[MAX_PACKET_SIZE];
size_t packetLen = 0;
size_t readSize = 0;
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) {
handlePacket(packet, packetLen);
size_t toDelete = firstSTXinRawData;
if (result == HasReturnvaluesIF::RETURN_OK) {
handlePacket(packet, packetLen);
// after handling the packet, we can delete it from the raw stream,
// it has been copied to packet
toDelete += readSize;
}
// after handling the packet, we can delete it from the raw stream,
// it has been copied to packet
toDelete += readSize;
}
//remove Data which was processed
rxBuffer.deleteData(toDelete);
// remove Data which was processed
rxBuffer.deleteData(toDelete);
#elif WIN32
#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);
if (crc != 0) {
//CRC error
return;
}
uint16_t crc = CRC::crc16ccitt(packet, packetLen);
if (crc != 0) {
// CRC error
return;
}
uint8_t command = packet[0];
uint8_t address = packet[1];
uint8_t command = packet[0];
uint8_t address = packet[1];
uint16_t size = (packet[2] << 8) + packet[3];
uint16_t size = (packet[2] << 8) + packet[3];
if (size != packetLen - 6) {
//Invalid Length
return;
}
if (size != packetLen - 6) {
// Invalid Length
return;
}
switch (command) {
case ArduinoCookie::SPI: {
//ArduinoCookie **itsComplicated;
auto findIter = spiMap.find(address);
if (findIter == spiMap.end()) {
//we do no know this address
return;
}
ArduinoCookie& cookie = findIter->second;
if (packetLen > cookie.maxReplySize + 6) {
packetLen = cookie.maxReplySize + 6;
}
std::memcpy(cookie.replyBuffer.data(), packet + 4, packetLen - 6);
cookie.receivedDataLen = packetLen - 6;
}
break;
default:
return;
}
switch (command) {
case ArduinoCookie::SPI: {
// ArduinoCookie **itsComplicated;
auto findIter = spiMap.find(address);
if (findIter == spiMap.end()) {
// we do no know this address
return;
}
ArduinoCookie &cookie = findIter->second;
if (packetLen > cookie.maxReplySize + 6) {
packetLen = cookie.maxReplySize + 6;
}
std::memcpy(cookie.replyBuffer.data(), packet + 4, packetLen - 6);
cookie.receivedDataLen = packetLen - 6;
} break;
default:
return;
}
}

71
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>
@ -14,56 +14,53 @@
#include <windows.h>
#endif
//Forward declaration, so users don't peek
// Forward declaration, so users don't peek
class ArduinoCookie;
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;
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;
static const uint8_t COMMAND_INVALID = -1;
static const uint8_t COMMAND_SPI = 1;
static const uint8_t COMMAND_INVALID = -1;
static const uint8_t COMMAND_SPI = 1;
ArduinoComIF(object_id_t setObjectId, bool promptComIF = false,
const char *serialDevice = nullptr);
void setBaudrate(uint32_t baudRate);
ArduinoComIF(object_id_t setObjectId, bool promptComIF = false,
const char *serialDevice = nullptr);
void setBaudrate(uint32_t baudRate);
virtual ~ArduinoComIF();
virtual ~ArduinoComIF();
/** 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 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;
/** 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 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;
private:
private:
#ifdef LINUX
#elif WIN32
HANDLE hCom = INVALID_HANDLE_VALUE;
HANDLE hCom = INVALID_HANDLE_VALUE;
#endif
// remembering if the initialization in the ctor worked
// if not, all calls are disabled
bool initialized = false;
int serialPort = 0;
// Default baud rate is 9600 for now.
uint32_t baudRate = 9600;
// remembering if the initialization in the ctor worked
// if not, all calls are disabled
bool initialized = false;
int serialPort = 0;
// Default baud rate is 9600 for now.
uint32_t baudRate = 9600;
//used to know where to put the data if a reply is received
std::map<uint8_t, ArduinoCookie> spiMap;
// used to know where to put the data if a reply is received
std::map<uint8_t, ArduinoCookie> spiMap;
SimpleRingBuffer rxBuffer;
SimpleRingBuffer rxBuffer;
ReturnValue_t sendMessage(uint8_t command, uint8_t address,
const uint8_t *data, size_t dataLen);
void handleSerialPortRx();
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);
void handlePacket(uint8_t *packet, size_t packetLen);
};
#endif /* MISSION_ARDUINOCOMMINTERFACE_H_ */

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) {}

27
bsp_hosted/comIF/ArduinoCookie.h
View File

@ -2,26 +2,21 @@
#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
};
class ArduinoCookie : public CookieIF {
public:
enum Protocol_t : uint8_t { INVALID, SPI, I2C };
ArduinoCookie(Protocol_t protocol, uint8_t address,
const size_t maxReplySize);
Protocol_t protocol;
uint8_t command;
uint8_t address;
std::vector<uint8_t> replyBuffer;
size_t receivedDataLen = 0;
size_t maxReplySize;
ArduinoCookie(Protocol_t protocol, uint8_t address, const size_t maxReplySize);
Protocol_t protocol;
uint8_t command;
uint8_t address;
std::vector<uint8_t> replyBuffer;
size_t receivedDataLen = 0;
size_t maxReplySize;
};
#endif /* MISSION_ARDUINO_ARDUINOCOOKIE_H_ */

89
bsp_hosted/fsfwconfig/devices/gpioIds.h
View File

@ -2,56 +2,53 @@
#define FSFWCONFIG_DEVICES_GPIOIDS_H_
namespace gpioIds {
enum gpioId_t {
HEATER_0,
HEATER_1,
HEATER_2,
HEATER_3,
HEATER_4,
HEATER_5,
HEATER_6,
HEATER_7,
DEPLSA1,
DEPLSA2,
enum gpioId_t {
HEATER_0,
HEATER_1,
HEATER_2,
HEATER_3,
HEATER_4,
HEATER_5,
HEATER_6,
HEATER_7,
DEPLSA1,
DEPLSA2,
MGM_0_LIS3_CS,
MGM_1_RM3100_CS,
GYRO_0_ADIS_CS,
GYRO_1_L3G_CS,
GYRO_2_L3G_CS,
MGM_2_LIS3_CS,
MGM_3_RM3100_CS,
MGM_0_LIS3_CS,
MGM_1_RM3100_CS,
GYRO_0_ADIS_CS,
GYRO_1_L3G_CS,
GYRO_2_L3G_CS,
MGM_2_LIS3_CS,
MGM_3_RM3100_CS,
TEST_ID_0,
TEST_ID_1,
TEST_ID_0,
TEST_ID_1,
RTD_IC_3,
RTD_IC_4,
RTD_IC_5,
RTD_IC_6,
RTD_IC_7,
RTD_IC_8,
RTD_IC_9,
RTD_IC_10,
RTD_IC_11,
RTD_IC_12,
RTD_IC_13,
RTD_IC_14,
RTD_IC_15,
RTD_IC_16,
RTD_IC_17,
RTD_IC_18,
RTD_IC_3,
RTD_IC_4,
RTD_IC_5,
RTD_IC_6,
RTD_IC_7,
RTD_IC_8,
RTD_IC_9,
RTD_IC_10,
RTD_IC_11,
RTD_IC_12,
RTD_IC_13,
RTD_IC_14,
RTD_IC_15,
RTD_IC_16,
RTD_IC_17,
RTD_IC_18,
SPI_MUX_BIT_1,
SPI_MUX_BIT_2,
SPI_MUX_BIT_3,
SPI_MUX_BIT_4,
SPI_MUX_BIT_5,
SPI_MUX_BIT_6
};
SPI_MUX_BIT_1,
SPI_MUX_BIT_2,
SPI_MUX_BIT_3,
SPI_MUX_BIT_4,
SPI_MUX_BIT_5,
SPI_MUX_BIT_6
};
}
#endif /* FSFWCONFIG_DEVICES_GPIOIDS_H_ */

89
bsp_hosted/fsfwconfig/devices/powerSwitcherList.h
View File

@ -4,55 +4,54 @@
#include <OBSWConfig.h>
namespace pcduSwitches {
/* Switches are uint8_t datatype and go from 0 to 255 */
enum SwitcherList {
Q7S,
PAYLOAD_PCDU_CH1,
RW,
TCS_BOARD_8V_HEATER_IN,
SUS_REDUNDANT,
DEPLOYMENT_MECHANISM,
PAYLOAD_PCDU_CH6,
ACS_BOARD_SIDE_B,
PAYLOAD_CAMERA,
TCS_BOARD_3V3,
SYRLINKS,
STAR_TRACKER,
MGT,
SUS_NOMINAL,
SOLAR_CELL_EXP,
PLOC,
ACS_BOARD_SIDE_A,
NUMBER_OF_SWITCHES
};
/* Switches are uint8_t datatype and go from 0 to 255 */
enum SwitcherList {
Q7S,
PAYLOAD_PCDU_CH1,
RW,
TCS_BOARD_8V_HEATER_IN,
SUS_REDUNDANT,
DEPLOYMENT_MECHANISM,
PAYLOAD_PCDU_CH6,
ACS_BOARD_SIDE_B,
PAYLOAD_CAMERA,
TCS_BOARD_3V3,
SYRLINKS,
STAR_TRACKER,
MGT,
SUS_NOMINAL,
SOLAR_CELL_EXP,
PLOC,
ACS_BOARD_SIDE_A,
NUMBER_OF_SWITCHES
};
static const uint8_t ON = 1;
static const uint8_t OFF = 0;
static const uint8_t ON = 1;
static const uint8_t OFF = 0;
/* Output states after reboot of the PDUs */
static const uint8_t INIT_STATE_Q7S = ON;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
static const uint8_t INIT_STATE_RW = OFF;
/* Output states after reboot of the PDUs */
static const uint8_t INIT_STATE_Q7S = ON;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
static const uint8_t INIT_STATE_RW = OFF;
#if BOARD_TE0720 == 1
/* Because the TE0720 is not connected to the PCDU, this switch is always on */
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
/* Because the TE0720 is not connected to the PCDU, this switch is always on */
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
#else
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
#endif
static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
static const uint8_t INIT_STATE_SYRLINKS = OFF;
static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
static const uint8_t INIT_STATE_MGT = OFF;
static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
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;
}
static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
static const uint8_t INIT_STATE_SYRLINKS = OFF;
static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
static const uint8_t INIT_STATE_MGT = OFF;
static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
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_ */

344
bsp_hosted/fsfwconfig/events/translateEvents.cpp
View File

@ -89,176 +89,176 @@ const char *ACK_FAILURE_STRING = "ACK_FAILURE";
const char *EXE_FAILURE_STRING = "EXE_FAILURE";
const char *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT";
const char * translateEvents(Event event) {
switch( (event & 0xffff) ) {
case(2200):
return STORE_SEND_WRITE_FAILED_STRING;
case(2201):
return STORE_WRITE_FAILED_STRING;
case(2202):
return STORE_SEND_READ_FAILED_STRING;
case(2203):
return STORE_READ_FAILED_STRING;
case(2204):
return UNEXPECTED_MSG_STRING;
case(2205):
return STORING_FAILED_STRING;
case(2206):
return TM_DUMP_FAILED_STRING;
case(2207):
return STORE_INIT_FAILED_STRING;
case(2208):
return STORE_INIT_EMPTY_STRING;
case(2209):
return STORE_CONTENT_CORRUPTED_STRING;
case(2210):
return STORE_INITIALIZE_STRING;
case(2211):
return INIT_DONE_STRING;
case(2212):
return DUMP_FINISHED_STRING;
case(2213):
return DELETION_FINISHED_STRING;
case(2214):
return DELETION_FAILED_STRING;
case(2215):
return AUTO_CATALOGS_SENDING_FAILED_STRING;
case(2600):
return GET_DATA_FAILED_STRING;
case(2601):
return STORE_DATA_FAILED_STRING;
case(2800):
return DEVICE_BUILDING_COMMAND_FAILED_STRING;
case(2801):
return DEVICE_SENDING_COMMAND_FAILED_STRING;
case(2802):
return DEVICE_REQUESTING_REPLY_FAILED_STRING;
case(2803):
return DEVICE_READING_REPLY_FAILED_STRING;
case(2804):
return DEVICE_INTERPRETING_REPLY_FAILED_STRING;
case(2805):
return DEVICE_MISSED_REPLY_STRING;
case(2806):
return DEVICE_UNKNOWN_REPLY_STRING;
case(2807):
return DEVICE_UNREQUESTED_REPLY_STRING;
case(2808):
return INVALID_DEVICE_COMMAND_STRING;
case(2809):
return MONITORING_LIMIT_EXCEEDED_STRING;
case(2810):
return MONITORING_AMBIGUOUS_STRING;
case(4201):
return FUSE_CURRENT_HIGH_STRING;
case(4202):
return FUSE_WENT_OFF_STRING;
case(4204):
return POWER_ABOVE_HIGH_LIMIT_STRING;
case(4205):
return POWER_BELOW_LOW_LIMIT_STRING;
case(4300):
return SWITCH_WENT_OFF_STRING;
case(5000):
return HEATER_ON_STRING;
case(5001):
return HEATER_OFF_STRING;
case(5002):
return HEATER_TIMEOUT_STRING;
case(5003):
return HEATER_STAYED_ON_STRING;
case(5004):
return HEATER_STAYED_OFF_STRING;
case(5200):
return TEMP_SENSOR_HIGH_STRING;
case(5201):
return TEMP_SENSOR_LOW_STRING;
case(5202):
return TEMP_SENSOR_GRADIENT_STRING;
case(5901):
return COMPONENT_TEMP_LOW_STRING;
case(5902):
return COMPONENT_TEMP_HIGH_STRING;
case(5903):
return COMPONENT_TEMP_OOL_LOW_STRING;
case(5904):
return COMPONENT_TEMP_OOL_HIGH_STRING;
case(5905):
return TEMP_NOT_IN_OP_RANGE_STRING;
case(7101):
return FDIR_CHANGED_STATE_STRING;
case(7102):
return FDIR_STARTS_RECOVERY_STRING;
case(7103):
return FDIR_TURNS_OFF_DEVICE_STRING;
case(7201):
return MONITOR_CHANGED_STATE_STRING;
case(7202):
return VALUE_BELOW_LOW_LIMIT_STRING;
case(7203):
return VALUE_ABOVE_HIGH_LIMIT_STRING;
case(7204):
return VALUE_OUT_OF_RANGE_STRING;
case(7301):
return SWITCHING_TM_FAILED_STRING;
case(7400):
return CHANGING_MODE_STRING;
case(7401):
return MODE_INFO_STRING;
case(7402):
return FALLBACK_FAILED_STRING;
case(7403):
return MODE_TRANSITION_FAILED_STRING;
case(7404):
return CANT_KEEP_MODE_STRING;
case(7405):
return OBJECT_IN_INVALID_MODE_STRING;
case(7406):
return FORCING_MODE_STRING;
case(7407):
return MODE_CMD_REJECTED_STRING;
case(7506):
return HEALTH_INFO_STRING;
case(7507):
return CHILD_CHANGED_HEALTH_STRING;
case(7508):
return CHILD_PROBLEMS_STRING;
case(7509):
return OVERWRITING_HEALTH_STRING;
case(7510):
return TRYING_RECOVERY_STRING;
case(7511):
return RECOVERY_STEP_STRING;
case(7512):
return RECOVERY_DONE_STRING;
case(7900):
return RF_AVAILABLE_STRING;
case(7901):
return RF_LOST_STRING;
case(7902):
return BIT_LOCK_STRING;
case(7903):
return BIT_LOCK_LOST_STRING;
case(7905):
return FRAME_PROCESSING_FAILED_STRING;
case(8900):
return CLOCK_SET_STRING;
case(8901):
return CLOCK_SET_FAILURE_STRING;
case(9700):
return TEST_STRING;
case(10600):
return CHANGE_OF_SETUP_PARAMETER_STRING;
case(11101):
return MEMORY_READ_RPT_CRC_FAILURE_STRING;
case(11102):
return ACK_FAILURE_STRING;
case(11103):
return EXE_FAILURE_STRING;
case(11104):
return CRC_FAILURE_EVENT_STRING;
default:
return "UNKNOWN_EVENT";
}
return 0;
const char *translateEvents(Event event) {
switch ((event & 0xffff)) {
case (2200):
return STORE_SEND_WRITE_FAILED_STRING;
case (2201):
return STORE_WRITE_FAILED_STRING;
case (2202):
return STORE_SEND_READ_FAILED_STRING;
case (2203):
return STORE_READ_FAILED_STRING;
case (2204):
return UNEXPECTED_MSG_STRING;
case (2205):
return STORING_FAILED_STRING;
case (2206):
return TM_DUMP_FAILED_STRING;
case (2207):
return STORE_INIT_FAILED_STRING;
case (2208):
return STORE_INIT_EMPTY_STRING;
case (2209):
return STORE_CONTENT_CORRUPTED_STRING;
case (2210):
return STORE_INITIALIZE_STRING;
case (2211):
return INIT_DONE_STRING;
case (2212):
return DUMP_FINISHED_STRING;
case (2213):
return DELETION_FINISHED_STRING;
case (2214):
return DELETION_FAILED_STRING;
case (2215):
return AUTO_CATALOGS_SENDING_FAILED_STRING;
case (2600):
return GET_DATA_FAILED_STRING;
case (2601):
return STORE_DATA_FAILED_STRING;
case (2800):
return DEVICE_BUILDING_COMMAND_FAILED_STRING;
case (2801):
return DEVICE_SENDING_COMMAND_FAILED_STRING;
case (2802):
return DEVICE_REQUESTING_REPLY_FAILED_STRING;
case (2803):
return DEVICE_READING_REPLY_FAILED_STRING;
case (2804):
return DEVICE_INTERPRETING_REPLY_FAILED_STRING;
case (2805):
return DEVICE_MISSED_REPLY_STRING;
case (2806):
return DEVICE_UNKNOWN_REPLY_STRING;
case (2807):
return DEVICE_UNREQUESTED_REPLY_STRING;
case (2808):
return INVALID_DEVICE_COMMAND_STRING;
case (2809):
return MONITORING_LIMIT_EXCEEDED_STRING;
case (2810):
return MONITORING_AMBIGUOUS_STRING;
case (4201):
return FUSE_CURRENT_HIGH_STRING;
case (4202):
return FUSE_WENT_OFF_STRING;
case (4204):
return POWER_ABOVE_HIGH_LIMIT_STRING;
case (4205):
return POWER_BELOW_LOW_LIMIT_STRING;
case (4300):
return SWITCH_WENT_OFF_STRING;
case (5000):
return HEATER_ON_STRING;
case (5001):
return HEATER_OFF_STRING;
case (5002):
return HEATER_TIMEOUT_STRING;
case (5003):
return HEATER_STAYED_ON_STRING;
case (5004):
return HEATER_STAYED_OFF_STRING;
case (5200):
return TEMP_SENSOR_HIGH_STRING;
case (5201):
return TEMP_SENSOR_LOW_STRING;
case (5202):
return TEMP_SENSOR_GRADIENT_STRING;
case (5901):
return COMPONENT_TEMP_LOW_STRING;
case (5902):
return COMPONENT_TEMP_HIGH_STRING;
case (5903):
return COMPONENT_TEMP_OOL_LOW_STRING;
case (5904):
return COMPONENT_TEMP_OOL_HIGH_STRING;
case (5905):
return TEMP_NOT_IN_OP_RANGE_STRING;
case (7101):
return FDIR_CHANGED_STATE_STRING;
case (7102):
return FDIR_STARTS_RECOVERY_STRING;
case (7103):
return FDIR_TURNS_OFF_DEVICE_STRING;
case (7201):
return MONITOR_CHANGED_STATE_STRING;
case (7202):
return VALUE_BELOW_LOW_LIMIT_STRING;
case (7203):
return VALUE_ABOVE_HIGH_LIMIT_STRING;
case (7204):
return VALUE_OUT_OF_RANGE_STRING;
case (7301):
return SWITCHING_TM_FAILED_STRING;
case (7400):
return CHANGING_MODE_STRING;
case (7401):
return MODE_INFO_STRING;
case (7402):
return FALLBACK_FAILED_STRING;
case (7403):
return MODE_TRANSITION_FAILED_STRING;
case (7404):
return CANT_KEEP_MODE_STRING;
case (7405):
return OBJECT_IN_INVALID_MODE_STRING;
case (7406):
return FORCING_MODE_STRING;
case (7407):
return MODE_CMD_REJECTED_STRING;
case (7506):
return HEALTH_INFO_STRING;
case (7507):
return CHILD_CHANGED_HEALTH_STRING;
case (7508):
return CHILD_PROBLEMS_STRING;
case (7509):
return OVERWRITING_HEALTH_STRING;
case (7510):
return TRYING_RECOVERY_STRING;
case (7511):
return RECOVERY_STEP_STRING;
case (7512):
return RECOVERY_DONE_STRING;
case (7900):
return RF_AVAILABLE_STRING;
case (7901):
return RF_LOST_STRING;
case (7902):
return BIT_LOCK_STRING;
case (7903):
return BIT_LOCK_LOST_STRING;
case (7905):
return FRAME_PROCESSING_FAILED_STRING;
case (8900):
return CLOCK_SET_STRING;
case (8901):
return CLOCK_SET_FAILURE_STRING;
case (9700):
return TEST_STRING;
case (10600):
return CHANGE_OF_SETUP_PARAMETER_STRING;
case (11101):
return MEMORY_READ_RPT_CRC_FAILURE_STRING;
case (11102):
return ACK_FAILURE_STRING;
case (11103):
return EXE_FAILURE_STRING;
case (11104):
return CRC_FAILURE_EVENT_STRING;
default:
return "UNKNOWN_EVENT";
}
return 0;
}

2
bsp_hosted/fsfwconfig/events/translateEvents.h
View File

@ -3,6 +3,6 @@
#include <fsfw/events/Event.h>
const char * translateEvents(Event event);
const char* translateEvents(Event event);
#endif /* FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_ */

11
bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.cpp
View File

@ -1,11 +1,10 @@
#include "MissionMessageTypes.h"
#include <fsfw/ipc/CommandMessage.h>
void messagetypes::clearMissionMessage(CommandMessage* message) {
switch(message->getMessageType()) {
default:
break;
}
switch (message->getMessageType()) {
default:
break;
}
}

4
bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.h
View File

@ -13,10 +13,10 @@ class CommandMessage;
*/
namespace messagetypes {
enum MESSAGE_TYPE {
MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT,
MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT,
};
void clearMissionMessage(CommandMessage* message);
}
} // namespace messagetypes
#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */

33
bsp_hosted/fsfwconfig/objects/systemObjectList.h
View File

@ -1,31 +1,32 @@
#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 {
enum sourceObjects : uint32_t {
PUS_SERVICE_3 = 0x51000300,
PUS_SERVICE_5 = 0x51000400,
PUS_SERVICE_6 = 0x51000500,
PUS_SERVICE_8 = 0x51000800,
PUS_SERVICE_23 = 0x51002300,
PUS_SERVICE_201 = 0x51020100,
PUS_SERVICE_3 = 0x51000300,
PUS_SERVICE_5 = 0x51000400,
PUS_SERVICE_6 = 0x51000500,
PUS_SERVICE_8 = 0x51000800,
PUS_SERVICE_23 = 0x51002300,
PUS_SERVICE_201 = 0x51020100,
TM_FUNNEL = 0x52000002,
TM_FUNNEL = 0x52000002,
/* Test Task */
/* Test Task */
TEST_TASK = 0x42694269,
DUMMY_INTERFACE = 0xCAFECAFE,
DUMMY_HANDLER = 0x4400AFFE,
TEST_TASK = 0x42694269,
DUMMY_INTERFACE = 0xCAFECAFE,
DUMMY_HANDLER = 0x4400AFFE,
/* 0x49 ('I') for Communication Interfaces **/
ARDUINO_COM_IF = 0x49000001
};
/* 0x49 ('I') for Communication Interfaces **/
ARDUINO_COM_IF = 0x49000001
};
}
#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */

138
bsp_hosted/fsfwconfig/objects/translateObjects.cpp
View File

@ -1,4 +1,4 @@
/**
/**
* @brief Auto-generated object translation file.
* @details
* Contains 31 translations.
@ -38,72 +38,72 @@ const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
const char *NO_OBJECT_STRING = "NO_OBJECT";
const char* translateObject(object_id_t object) {
switch( (object & 0xFFFFFFFF) ) {
case 0x42694269:
return TEST_TASK_STRING;
case 0x4400AFFE:
return DUMMY_HANDLER_STRING;
case 0x49000001:
return ARDUINO_COM_IF_STRING;
case 0x51000300:
return PUS_SERVICE_3_STRING;
case 0x51000400:
return PUS_SERVICE_5_STRING;
case 0x51000500:
return PUS_SERVICE_6_STRING;
case 0x51000800:
return PUS_SERVICE_8_STRING;
case 0x51002300:
return PUS_SERVICE_23_STRING;
case 0x51020100:
return PUS_SERVICE_201_STRING;
case 0x52000002:
return TM_FUNNEL_STRING;
case 0x53000000:
return FSFW_OBJECTS_START_STRING;
case 0x53000001:
return PUS_SERVICE_1_VERIFICATION_STRING;
case 0x53000002:
return PUS_SERVICE_2_DEVICE_ACCESS_STRING;
case 0x53000003:
return PUS_SERVICE_3_HOUSEKEEPING_STRING;
case 0x53000005:
return PUS_SERVICE_5_EVENT_REPORTING_STRING;
case 0x53000008:
return PUS_SERVICE_8_FUNCTION_MGMT_STRING;
case 0x53000009:
return PUS_SERVICE_9_TIME_MGMT_STRING;
case 0x53000017:
return PUS_SERVICE_17_TEST_STRING;
case 0x53000020:
return PUS_SERVICE_20_PARAMETERS_STRING;
case 0x53000200:
return PUS_SERVICE_200_MODE_MGMT_STRING;
case 0x53010000:
return HEALTH_TABLE_STRING;
case 0x53010100:
return MODE_STORE_STRING;
case 0x53030000:
return EVENT_MANAGER_STRING;
case 0x53040000:
return INTERNAL_ERROR_REPORTER_STRING;
case 0x534f0100:
return TC_STORE_STRING;
case 0x534f0200:
return TM_STORE_STRING;
case 0x534f0300:
return IPC_STORE_STRING;
case 0x53500010:
return TIME_STAMPER_STRING;
case 0x53ffffff:
return FSFW_OBJECTS_END_STRING;
case 0xCAFECAFE:
return DUMMY_INTERFACE_STRING;
case 0xFFFFFFFF:
return NO_OBJECT_STRING;
default:
return "UNKNOWN_OBJECT";
}
return 0;
const char *translateObject(object_id_t object) {
switch ((object & 0xFFFFFFFF)) {
case 0x42694269:
return TEST_TASK_STRING;
case 0x4400AFFE:
return DUMMY_HANDLER_STRING;
case 0x49000001:
return ARDUINO_COM_IF_STRING;
case 0x51000300:
return PUS_SERVICE_3_STRING;
case 0x51000400:
return PUS_SERVICE_5_STRING;
case 0x51000500:
return PUS_SERVICE_6_STRING;
case 0x51000800:
return PUS_SERVICE_8_STRING;
case 0x51002300:
return PUS_SERVICE_23_STRING;
case 0x51020100:
return PUS_SERVICE_201_STRING;
case 0x52000002:
return TM_FUNNEL_STRING;
case 0x53000000:
return FSFW_OBJECTS_START_STRING;
case 0x53000001:
return PUS_SERVICE_1_VERIFICATION_STRING;
case 0x53000002:
return PUS_SERVICE_2_DEVICE_ACCESS_STRING;
case 0x53000003:
return PUS_SERVICE_3_HOUSEKEEPING_STRING;
case 0x53000005:
return PUS_SERVICE_5_EVENT_REPORTING_STRING;
case 0x53000008:
return PUS_SERVICE_8_FUNCTION_MGMT_STRING;
case 0x53000009:
return PUS_SERVICE_9_TIME_MGMT_STRING;
case 0x53000017:
return PUS_SERVICE_17_TEST_STRING;
case 0x53000020:
return PUS_SERVICE_20_PARAMETERS_STRING;
case 0x53000200:
return PUS_SERVICE_200_MODE_MGMT_STRING;
case 0x53010000:
return HEALTH_TABLE_STRING;
case 0x53010100:
return MODE_STORE_STRING;
case 0x53030000:
return EVENT_MANAGER_STRING;
case 0x53040000:
return INTERNAL_ERROR_REPORTER_STRING;
case 0x534f0100:
return TC_STORE_STRING;
case 0x534f0200:
return TM_STORE_STRING;
case 0x534f0300:
return IPC_STORE_STRING;
case 0x53500010:
return TIME_STAMPER_STRING;
case 0x53ffffff:
return FSFW_OBJECTS_END_STRING;
case 0xCAFECAFE:
return DUMMY_INTERFACE_STRING;
case 0xFFFFFFFF:
return NO_OBJECT_STRING;
default:
return "UNKNOWN_OBJECT";
}
return 0;
}

6
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
@ -11,9 +12,8 @@
*/
namespace CLASS_ID {
enum {
CLASS_ID_START = COMMON_CLASS_ID_END,
CLASS_ID_START = COMMON_CLASS_ID_END,
};
}
#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */

3
bsp_hosted/fsfwconfig/tmtc/apid.h
View File

@ -12,8 +12,7 @@
* APID is a 11 bit number
*/
namespace apid {
static const uint16_t EIVE_OBSW = 0x65;
static const uint16_t EIVE_OBSW = 0x65;
}
#endif /* FSFWCONFIG_TMTC_APID_H_ */

30
bsp_hosted/fsfwconfig/tmtc/pusIds.h
View File

@ -2,21 +2,21 @@
#define CONFIG_TMTC_PUSIDS_HPP_
namespace pus {
enum Ids{
PUS_SERVICE_1 = 1,
PUS_SERVICE_2 = 2,
PUS_SERVICE_3 = 3,
PUS_SERVICE_3_PSB = 3,
PUS_SERVICE_5 = 5,
PUS_SERVICE_6 = 6,
PUS_SERVICE_8 = 8,
PUS_SERVICE_9 = 9,
PUS_SERVICE_17 = 17,
PUS_SERVICE_19 = 19,
PUS_SERVICE_20 = 20,
PUS_SERVICE_23 = 23,
PUS_SERVICE_200 = 200,
PUS_SERVICE_201 = 201,
enum Ids {
PUS_SERVICE_1 = 1,
PUS_SERVICE_2 = 2,
PUS_SERVICE_3 = 3,
PUS_SERVICE_3_PSB = 3,
PUS_SERVICE_5 = 5,
PUS_SERVICE_6 = 6,
PUS_SERVICE_8 = 8,
PUS_SERVICE_9 = 9,
PUS_SERVICE_17 = 17,
PUS_SERVICE_19 = 19,
PUS_SERVICE_20 = 20,
PUS_SERVICE_23 = 23,
PUS_SERVICE_200 = 200,
PUS_SERVICE_201 = 201,
};
};

32
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
@ -17,21 +16,18 @@ static const char* COMPILE_PRINTOUT = "unknown OS";
* Linux and Windows.
* @return
*/
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 << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
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 << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
initmission::initMission();
initmission::initMission();
for(;;) {
// suspend main thread by sleeping it.
TaskFactory::delayTask(5000);
}
for (;;) {
// suspend main thread by sleeping it.
TaskFactory::delayTask(5000);
}
}

363
bsp_linux_board/InitMission.cpp
View File

@ -1,247 +1,244 @@
#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");
ServiceInterfaceStream sif::error("ERROR");
ObjectManagerIF *objectManager = nullptr;
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);
sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize();
sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize();
/* This function creates and starts all tasks */
initTasks();
/* This function creates and starts all tasks */
initTasks();
}
void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(factory == nullptr) {
/* Should never happen ! */
return;
}
TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if (factory == nullptr) {
/* Should never happen ! */
return;
}
#if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else
void (*missedDeadlineFunc) (void) = nullptr;
void (*missedDeadlineFunc)(void) = nullptr;
#endif
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
/* UDP bridge */
PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
}
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
/* UDP bridge */
PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
}
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
/* PUS Services */
std::vector<PeriodicTaskIF*> pusTasks;
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
/* PUS Services */
std::vector<PeriodicTaskIF*> pusTasks;
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
std::vector<PeriodicTaskIF*> pstTasks;
createPstTasks(*factory, missedDeadlineFunc, pstTasks);
std::vector<PeriodicTaskIF*> pstTasks;
createPstTasks(*factory, missedDeadlineFunc, pstTasks);
#if OBSW_ADD_TEST_CODE == 1
std::vector<PeriodicTaskIF*> testTasks;
createTestTasks(*factory, missedDeadlineFunc, pstTasks);
std::vector<PeriodicTaskIF*> testTasks;
createTestTasks(*factory, missedDeadlineFunc, pstTasks);
#endif /* OBSW_ADD_TEST_CODE == 1 */
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
for(const auto& task: taskVector) {
if(task != nullptr) {
task->startTask();
}
else {
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
}
}
};
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
for (const auto& task : taskVector) {
if (task != nullptr) {
task->startTask();
} else {
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
}
}
};
sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask();
udpBridgeTask->startTask();
udpPollingTask->startTask();
sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask();
udpBridgeTask->startTask();
udpPollingTask->startTask();
taskStarter(pusTasks, "PUS Tasks");
taskStarter(pusTasks, "PUS Tasks");
#if OBSW_ADD_TEST_CODE == 1
taskStarter(testTasks, "Test Tasks");
taskStarter(testTasks, "Test Tasks");
#endif /* OBSW_ADD_TEST_CODE == 1 */
taskStarter(pstTasks, "PST Tasks");
taskStarter(pstTasks, "PST Tasks");
#if OBSW_ADD_TEST_PST == 1
if(startTestPst) {
pstTestTask->startTask();
}
if (startTestPst) {
pstTestTask->startTask();
}
#endif /* RPI_TEST_ACS_BOARD == 1 */
sif::info << "Tasks started.." << std::endl;
sif::info << "Tasks started.." << std::endl;
}
void initmission::createPusTasks(TaskFactory& factory,
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);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
taskVec.push_back(pusVerification);
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);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
taskVec.push_back(pusVerification);
PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
result = pusEvents->addComponent(objects::EVENT_MANAGER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
taskVec.push_back(pusEvents);
PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
result = pusEvents->addComponent(objects::EVENT_MANAGER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
taskVec.push_back(pusEvents);
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
}
taskVec.push_back(pusMedPrio);
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
}
taskVec.push_back(pusMedPrio);
PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
}
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("INT_ERR_RPRT",
objects::INTERNAL_ERROR_REPORTER);
}
taskVec.push_back(pusLowPrio);
PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
}
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
}
taskVec.push_back(pusLowPrio);
}
void initmission::createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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);
result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
taskVec.push_back(spiPst);
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"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;
}
taskVec.push_back(spiPst);
#endif
}
void initmission::createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*> &taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = testTask->addComponent(objects::TEST_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#if RPI_ADD_SPI_TEST == 1
result = testTask->addComponent(objects::SPI_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
}
result = testTask->addComponent(objects::SPI_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
}
#endif /* RPI_ADD_SPI_TEST == 1 */
#if RPI_ADD_GPIO_TEST == 1
result = testTask->addComponent(objects::LIBGPIOD_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
}
result = testTask->addComponent(objects::LIBGPIOD_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
}
#endif /* RPI_ADD_GPIO_TEST == 1 */
#if RPI_ADD_UART_TEST == 1
result = testTask->addComponent(objects::UART_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
}
result = testTask->addComponent(objects::UART_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
}
#endif /* RPI_ADD_GPIO_TEST == 1 */
bool startTestPst = true;
static_cast<void>(startTestPst);
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);
result = pst::pstTest(pstTestTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
startTestPst = false;
}
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 */
}

17
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,
std::vector<PeriodicTaskIF*> &taskVec);
void createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*> &taskVec);
void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
};
std::vector<PeriodicTaskIF*>& taskVec);
}; // namespace initmission
#endif /* BSP_LINUX_INITMISSION_H_ */

319
bsp_linux_board/ObjectFactory.cpp
View File

@ -1,236 +1,241 @@
#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/utility/TmFunnel.h"
#include <mission/devices/GPSHyperionHandler.h>
#include "mission/devices/GyroADIS1650XHandler.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 "mission/utility/TmFunnel.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;
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
// No storage object for now.
TmFunnel::storageDestination = objects::NO_OBJECT;
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
// No storage object for now.
TmFunnel::storageDestination = objects::NO_OBJECT;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
}
void ObjectFactory::produce(void* args){
Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects();
void ObjectFactory::produce(void* args) {
Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects();
#if OBSW_USE_TMTC_TCP_BRIDGE == 1
auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
tmtcBridge->setMaxNumberOfPacketsStored(50);
new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
tmtcBridge->setMaxNumberOfPacketsStored(50);
new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#else
auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
tmtcBridge->setMaxNumberOfPacketsStored(50);
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
tmtcBridge->setMaxNumberOfPacketsStored(50);
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#endif
GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
GpioCookie* gpioCookie = nullptr;
static_cast<void>(gpioCookie);
GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
GpioCookie* gpioCookie = nullptr;
static_cast<void>(gpioCookie);
new SpiComIF(objects::SPI_COM_IF, gpioIF);
new SpiComIF(objects::SPI_COM_IF, gpioIF);
std::string spiDev;
SpiCookie* spiCookie = nullptr;
static_cast<void>(spiCookie);
std::string spiDev;
SpiCookie* spiCookie = nullptr;
static_cast<void>(spiCookie);
#if OBSW_ADD_ACS_BOARD == 1
if(gpioCookie == nullptr) {
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_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_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_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);
gpioIF->addGpios(gpioCookie);
if (gpioCookie == nullptr) {
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_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_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_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);
gpioIF->addGpios(gpioCookie);
spiDev = "/dev/spidev0.1";
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);
mgmLis3Handler->setStartUpImmediately();
spiDev = "/dev/spidev0.1";
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);
mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler->setToGoToNormalMode(true);
mgmLis3Handler->setToGoToNormalMode(true);
#endif
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);
mgmRm3100Handler->setStartUpImmediately();
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);
mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true);
mgmRm3100Handler->setToGoToNormalMode(true);
#endif
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->setStartUpImmediately();
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->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler->setToGoToNormalMode(true);
mgmLis3Handler->setToGoToNormalMode(true);
#endif
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->setStartUpImmediately();
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->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true);
mgmRm3100Handler->setToGoToNormalMode(true);
#endif
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);
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);
gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
gyroL3gHandler->setToGoToNormalMode(true);
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);
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);
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,
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->setStartUpImmediately();
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->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);
gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
gyroL3gHandler->setToGoToNormalMode(true);
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);
#endif
#endif /* RPI_TEST_ACS_BOARD == 1 */
#if OBSW_ADD_TEST_CODE == 1
createTestTasks();
createTestTasks();
#endif /* OBSW_ADD_TEST_CODE == 1 */
}
void ObjectFactory::createTestTasks() {
new TestTask(objects::TEST_TASK);
new TestTask(objects::TEST_TASK);
#if RPI_ADD_SPI_TEST == 1
new SpiTestClass(objects::SPI_TEST, gpioIF);
new SpiTestClass(objects::SPI_TEST, gpioIF);
#endif
#if RPI_ADD_UART_TEST == 1
new UartTestClass(objects::UART_TEST);
new UartTestClass(objects::UART_TEST);
#else
new UartComIF(objects::UART_COM_IF);
new UartComIF(objects::UART_COM_IF);
#endif
#if RPI_LOOPBACK_TEST_GPIO == 1
GpioCookie* gpioCookieLoopback = new GpioCookie();
/* Loopback pins. Adapt according to setup */
gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
int bcmPinSender = 26;
gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
int bcmPinReader = 16;
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
gpio::Direction::OUT, 0);
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
gpio::Direction::IN, 0);
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
GpioCookie* gpioCookieLoopback = new GpioCookie();
/* Loopback pins. Adapt according to setup */
gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
int bcmPinSender = 26;
gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
int bcmPinReader = 16;
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
gpio::Direction::OUT, 0);
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
gpio::Direction::IN, 0);
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
#endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
#if RPI_TEST_ADIS16507 == 1
if(gpioCookie == nullptr) {
gpioCookie = new GpioCookie();
}
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
gpioIF->addGpios(gpioCookie);
if (gpioCookie == nullptr) {
gpioCookie = new GpioCookie();
}
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
gpioIF->addGpios(gpioCookie);
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);
adisGyroHandler->setStartUpImmediately();
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);
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->setToFlushInput(true);
uartCookie->setReadCycles(6);
GPSHyperionHandler* gpsHandler = new GPSHyperionHandler(objects::GPS0_HANDLER,
objects::UART_COM_IF, uartCookie, false);
gpsHandler->setStartUpImmediately();
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);
gpsHandler->setStartUpImmediately();
#endif
}

9
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 setStatics();
void produce(void* args);
void createTestTasks();
};
void createTestTasks();
}; // namespace ObjectFactory
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */

4
bsp_linux_board/boardconfig/etl_profile.h
View File

@ -32,7 +32,7 @@ SOFTWARE.
#define ETL_CHECK_PUSH_POP
#define ETL_CPP11_SUPPORTED 1
#define ETL_NO_NULLPTR_SUPPORT 0
#define ETL_CPP11_SUPPORTED 1
#define ETL_NO_NULLPTR_SUPPORT 0
#endif

5
bsp_linux_board/boardconfig/gcov.h
View File

@ -6,8 +6,9 @@
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;
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
"coverage information is desired.\n"
<< std::flush;
}
#endif

14
bsp_linux_board/boardconfig/print.c
View File

@ -2,13 +2,9 @@
#include <stdio.h>
void printChar(const char* character, bool errStream) {
if(errStream) {
putc(*character, stderr);
return;
}
putc(*character, stdout);
if (errStream) {
putc(*character, stderr);
return;
}
putc(*character, stdout);
}

32
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)
@ -19,21 +18,18 @@ 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)
{
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 << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
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 << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
initmission::initMission();
initmission::initMission();
for(;;) {
/* Suspend main thread by sleeping it. */
TaskFactory::delayTask(5000);
}
for (;;) {
/* Suspend main thread by sleeping it. */
TaskFactory::delayTask(5000);
}
}

106
bsp_q7s/boardconfig/busConf.h
View File

@ -19,58 +19,58 @@ static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
namespace gpioNames {
static constexpr char GYRO_0_ADIS_CS[] = "gyro_0_adis_chip_select";
static constexpr char GYRO_1_L3G_CS[] = "gyro_1_l3g_chip_select";
static constexpr char GYRO_2_ADIS_CS[] = "gyro_2_adis_chip_select";
static constexpr char GYRO_3_L3G_CS[] = "gyro_3_l3g_chip_select";
static constexpr char MGM_0_CS[] = "mgm_0_lis3_chip_select";
static constexpr char MGM_1_CS[] = "mgm_1_rm3100_chip_select";
static constexpr char MGM_2_CS[] = "mgm_2_lis3_chip_select";
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 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";
static constexpr char HEATER_3[] = "heater3";
static constexpr char HEATER_4[] = "heater4";
static constexpr char HEATER_5[] = "heater5";
static constexpr char HEATER_6[] = "heater6";
static constexpr char HEATER_7[] = "heater7";
static constexpr char SA_DPL_PIN_0[] = "sa_dpl_0";
static constexpr char SA_DPL_PIN_1[] = "sa_dpl_1";
static constexpr char SPI_MUX_BIT_1_PIN[] = "spi_mux_bit_1";
static constexpr char SPI_MUX_BIT_2_PIN[] = "spi_mux_bit_2";
static constexpr char SPI_MUX_BIT_3_PIN[] = "spi_mux_bit_3";
static constexpr char SPI_MUX_BIT_4_PIN[] = "spi_mux_bit_4";
static constexpr char SPI_MUX_BIT_5_PIN[] = "spi_mux_bit_5";
static constexpr char SPI_MUX_BIT_6_PIN[] = "spi_mux_bit_6";
static constexpr char EN_RW_CS[] = "en_rw_cs";
static constexpr char EN_RW_1[] = "enable_rw_1";
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 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";
static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1";
static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1";
static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872";
static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872";
static constexpr char RS485_EN_RX_CLOCK[] = "rx_clock_enable_ltc2872";
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";
}
}
static constexpr char GYRO_0_ADIS_CS[] = "gyro_0_adis_chip_select";
static constexpr char GYRO_1_L3G_CS[] = "gyro_1_l3g_chip_select";
static constexpr char GYRO_2_ADIS_CS[] = "gyro_2_adis_chip_select";
static constexpr char GYRO_3_L3G_CS[] = "gyro_3_l3g_chip_select";
static constexpr char MGM_0_CS[] = "mgm_0_lis3_chip_select";
static constexpr char MGM_1_CS[] = "mgm_1_rm3100_chip_select";
static constexpr char MGM_2_CS[] = "mgm_2_lis3_chip_select";
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 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";
static constexpr char HEATER_3[] = "heater3";
static constexpr char HEATER_4[] = "heater4";
static constexpr char HEATER_5[] = "heater5";
static constexpr char HEATER_6[] = "heater6";
static constexpr char HEATER_7[] = "heater7";
static constexpr char SA_DPL_PIN_0[] = "sa_dpl_0";
static constexpr char SA_DPL_PIN_1[] = "sa_dpl_1";
static constexpr char SPI_MUX_BIT_1_PIN[] = "spi_mux_bit_1";
static constexpr char SPI_MUX_BIT_2_PIN[] = "spi_mux_bit_2";
static constexpr char SPI_MUX_BIT_3_PIN[] = "spi_mux_bit_3";
static constexpr char SPI_MUX_BIT_4_PIN[] = "spi_mux_bit_4";
static constexpr char SPI_MUX_BIT_5_PIN[] = "spi_mux_bit_5";
static constexpr char SPI_MUX_BIT_6_PIN[] = "spi_mux_bit_6";
static constexpr char EN_RW_CS[] = "en_rw_cs";
static constexpr char EN_RW_1[] = "enable_rw_1";
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 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";
static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1";
static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1";
static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872";
static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872";
static constexpr char RS485_EN_RX_CLOCK[] = "rx_clock_enable_ltc2872";
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_ */

4
bsp_q7s/boardconfig/etl_profile.h
View File

@ -32,7 +32,7 @@ SOFTWARE.
#define ETL_CHECK_PUSH_POP
#define ETL_CPP11_SUPPORTED 1
#define ETL_NO_NULLPTR_SUPPORT 0
#define ETL_CPP11_SUPPORTED 1
#define ETL_NO_NULLPTR_SUPPORT 0
#endif

5
bsp_q7s/boardconfig/gcov.h
View File

@ -6,8 +6,9 @@
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;
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
"coverage information is desired.\n"
<< std::flush;
}
#endif

14
bsp_q7s/boardconfig/print.c
View File

@ -2,13 +2,9 @@
#include <stdio.h>
void printChar(const char* character, bool errStream) {
if(errStream) {
putc(*character, stderr);
return;
}
putc(*character, stdout);
if (errStream) {
putc(*character, stderr);
return;
}
putc(*character, stdout);
}

35
bsp_q7s/boardtest/FileSystemTest.cpp
View File

@ -1,26 +1,23 @@
#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;
SdCard sdCard = SdCard::SDC0;
cout << "SD Card Test for SD card " << static_cast<int>(sdCard) << std::endl;
//Stopwatch stopwatch;
std::system("q7hw sd info all > /tmp/sd_status.txt");
//stopwatch.stop(true);
std::system("q7hw sd set 0 on > /tmp/sd_set.txt");
//stopwatch.stop(true);
std::system("q7hw sd set 0 off > /tmp/sd_set.txt");
//stopwatch.stop(true);
using namespace std;
SdCard sdCard = SdCard::SDC0;
cout << "SD Card Test for SD card " << static_cast<int>(sdCard) << std::endl;
// Stopwatch stopwatch;
std::system("q7hw sd info all > /tmp/sd_status.txt");
// stopwatch.stop(true);
std::system("q7hw sd set 0 on > /tmp/sd_set.txt");
// stopwatch.stop(true);
std::system("q7hw sd set 0 off > /tmp/sd_set.txt");
// stopwatch.stop(true);
}
FileSystemTest::~FileSystemTest() {
}
FileSystemTest::~FileSystemTest() {}

11
bsp_q7s/boardtest/FileSystemTest.h
View File

@ -2,12 +2,11 @@
#define BSP_Q7S_BOARDTEST_FILESYSTEMTEST_H_
class FileSystemTest {
public:
FileSystemTest();
virtual~ FileSystemTest();
private:
public:
FileSystemTest();
virtual ~FileSystemTest();
private:
};
#endif /* BSP_Q7S_BOARDTEST_FILESYSTEMTEST_H_ */

685
bsp_q7s/boardtest/Q7STestTask.cpp
View File

@ -1,414 +1,397 @@
#include "Q7STestTask.h"
#include <bsp_q7s/core/CoreController.h>
#include <bsp_q7s/memory/FileSystemHandler.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include "Q7STestTask.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "bsp_q7s/memory/scratchApi.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/tasks/TaskFactory.h"
#include "test/DummyParameter.h"
#include <nlohmann/json.hpp>
#include <gps.h>
#include <libgpsmm.h>
#include <ctime>
#include <iostream>
#include <iomanip>
#include <fstream>
#include <cstdio>
#include <ctime>
#include <fstream>
#include <iomanip>
#include <iostream>
#include <nlohmann/json.hpp>
Q7STestTask::Q7STestTask(object_id_t objectId): TestTask(objectId) {
doTestSdCard = false;
doTestScratchApi = false;
doTestGps = false;
#include "bsp_q7s/memory/SdCardManager.h"
#include "bsp_q7s/memory/scratchApi.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "test/DummyParameter.h"
Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
doTestSdCard = false;
doTestScratchApi = false;
doTestGps = false;
}
ReturnValue_t Q7STestTask::performOneShotAction() {
if (doTestSdCard) {
testSdCard();
}
if (doTestScratchApi) {
testScratchApi();
}
//testJsonLibDirect();
//testDummyParams();
//testProtHandler();
FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
testFileSystemHandlerDirect(opCode);
return TestTask::performOneShotAction();
if (doTestSdCard) {
testSdCard();
}
if (doTestScratchApi) {
testScratchApi();
}
// testJsonLibDirect();
// testDummyParams();
// testProtHandler();
FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
testFileSystemHandlerDirect(opCode);
return TestTask::performOneShotAction();
}
ReturnValue_t Q7STestTask::performPeriodicAction() {
if(doTestGps) {
testGpsDaemon();
}
return TestTask::performPeriodicAction();
if (doTestGps) {
testGpsDaemon();
}
return TestTask::performPeriodicAction();
}
void Q7STestTask::testSdCard() {
using namespace std;
Stopwatch stopwatch;
int result = std::system("q7hw sd info all > /tmp/sd_status.txt");
if(result != 0) {
sif::debug << "system call failed with " << result << endl;
using namespace std;
Stopwatch stopwatch;
int result = std::system("q7hw sd info all > /tmp/sd_status.txt");
if (result != 0) {
sif::debug << "system call failed with " << result << endl;
}
ifstream sdStatus("/tmp/sd_status.txt");
string line;
uint8_t idx = 0;
while (std::getline(sdStatus, line)) {
std::istringstream iss(line);
string word;
while (iss >> word) {
if (word == "on") {
sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl;
} else if (word == "off") {
sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl;
}
}
ifstream sdStatus("/tmp/sd_status.txt");
string line;
uint8_t idx = 0;
while (std::getline(sdStatus, line)) {
std::istringstream iss(line);
string word;
while(iss >> word) {
if(word == "on") {
sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl;
}
else if(word == "off") {
sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl;
}
}
idx++;
}
std::remove("/tmp/sd_status.txt");
idx++;
}
std::remove("/tmp/sd_status.txt");
}
void Q7STestTask::fileTests() {
using namespace std;
ofstream testFile("/tmp/test.txt");
testFile << "Hallo Welt" << endl;
testFile.close();
using namespace std;
ofstream testFile("/tmp/test.txt");
testFile << "Hallo Welt" << endl;
testFile.close();
system("echo \"Hallo Welt\" > /tmp/test2.txt");
system("echo \"Hallo Welt\"");
system("echo \"Hallo Welt\" > /tmp/test2.txt");
system("echo \"Hallo Welt\"");
}
void Q7STestTask::testScratchApi() {
ReturnValue_t result = scratch::writeNumber("TEST", 1);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Writing number failed" << std::endl;
}
int number = 0;
result = scratch::readNumber("TEST", number);
sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST\": " << number << std::endl;
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
}
ReturnValue_t result = scratch::writeNumber("TEST", 1);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Writing number failed" << std::endl;
}
int number = 0;
result = scratch::readNumber("TEST", number);
sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST\": " << number << std::endl;
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
}
result = scratch::writeString("TEST2", "halloWelt");
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Writing string failed" << std::endl;
}
std::string string;
result = scratch::readString("TEST2", string);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
}
sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST2\": " << string << std::endl;
result = scratch::writeString("TEST2", "halloWelt");
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Writing string failed" << std::endl;
}
std::string string;
result = scratch::readString("TEST2", string);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
}
sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST2\": " << string << std::endl;
result = scratch::clearValue("TEST");
result = scratch::clearValue("TEST2");
result = scratch::clearValue("TEST");
result = scratch::clearValue("TEST2");
}
void Q7STestTask::testJsonLibDirect() {
Stopwatch stopwatch;
// for convenience
using json = nlohmann::json;
json helloTest;
// add a number that is stored as double (note the implicit conversion of j to an object)
helloTest["pi"] = 3.141;
std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
std::string fileName = mntPrefix + "/pretty.json";
std::ofstream o(fileName);
o << std::setw(4) << helloTest << std::endl;
Stopwatch stopwatch;
// for convenience
using json = nlohmann::json;
json helloTest;
// add a number that is stored as double (note the implicit conversion of j to an object)
helloTest["pi"] = 3.141;
std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
std::string fileName = mntPrefix + "/pretty.json";
std::ofstream o(fileName);
o << std::setw(4) << helloTest << std::endl;
}
void Q7STestTask::testDummyParams() {
std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
DummyParameter param(mntPrefix, "dummy_json.txt");
param.printKeys();
param.print();
if(not param.getJsonFileExists()) {
param.writeJsonFile();
}
ReturnValue_t result = param.readJsonFile();
if(result != HasReturnvaluesIF::RETURN_OK) {
}
param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
param.setValue(DummyParameter::DUMMY_KEY_PARAM_2, "blirb");
std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
DummyParameter param(mntPrefix, "dummy_json.txt");
param.printKeys();
param.print();
if (not param.getJsonFileExists()) {
param.writeJsonFile();
param.print();
}
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;
ReturnValue_t result = param.readJsonFile();
if (result != HasReturnvaluesIF::RETURN_OK) {
}
param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
param.setValue(DummyParameter::DUMMY_KEY_PARAM_2, "blirb");
param.writeJsonFile();
param.print();
int test = 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;
}
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;
}
return TestTask::initialize();
coreController = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
if (coreController == nullptr) {
sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object"
<< std::endl;
}
return TestTask::initialize();
}
void Q7STestTask::testProtHandler() {
bool opPerformed = false;
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);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
bool opPerformed = false;
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);
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);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
if(not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
}
int retval = std::system("print-chip-prot-status.sh");
if(retval != 0) {
utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
}
// unlock own copy
result = coreController->setBootCopyProtection(
CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, false, opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
if (not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
}
int retval = std::system("print-chip-prot-status.sh");
if (retval != 0) {
utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
}
// lock own copy
result = coreController->setBootCopyProtection(
CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, true,
opPerformed, true);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
if(not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
}
retval = std::system("print-chip-prot-status.sh");
if(retval != 0) {
utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
}
// lock own copy
result = coreController->setBootCopyProtection(
CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, true, opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
if (not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
}
retval = std::system("print-chip-prot-status.sh");
if (retval != 0) {
utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
}
// unlock specific copy
result = coreController->setBootCopyProtection(
CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, false,
opPerformed, true);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
if(not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
}
retval = std::system("print-chip-prot-status.sh");
if(retval != 0) {
utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
}
// unlock specific copy
result = coreController->setBootCopyProtection(
CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, false, opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
if (not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
}
retval = std::system("print-chip-prot-status.sh");
if (retval != 0) {
utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
}
// lock specific copy
result = coreController->setBootCopyProtection(
CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, true,
opPerformed, true);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
if(not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
}
retval = std::system("print-chip-prot-status.sh");
if(retval != 0) {
utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
}
// lock specific copy
result = coreController->setBootCopyProtection(
CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, true, opPerformed, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
}
if (not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
}
retval = std::system("print-chip-prot-status.sh");
if (retval != 0) {
utility::handleSystemError(retval, "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;
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);
if(fsHandler == nullptr) {
sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
<< std::endl;
}
FileSystemHandler::FsCommandCfg cfg = {};
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
if (fsHandler == nullptr) {
sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
<< std::endl;
}
FileSystemHandler::FsCommandCfg cfg = {};
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// Lambda for common code
auto createNonEmptyTmpDir = [&]() {
if(not std::filesystem::exists("/tmp/test")) {
result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
// Creating sample files
sif::info << "Creating sample files in directory" << std::endl;
result = fsHandler->createFile("/tmp/test", "test1.txt", nullptr, 0, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = fsHandler->createFile("/tmp/test", "test2.txt", nullptr, 0, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
// Lambda for common code
auto createNonEmptyTmpDir = [&]() {
if (not std::filesystem::exists("/tmp/test")) {
result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
};
}
}
// Creating sample files
sif::info << "Creating sample files in directory" << std::endl;
result = fsHandler->createFile("/tmp/test", "test1.txt", nullptr, 0, &cfg);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = fsHandler->createFile("/tmp/test", "test2.txt", nullptr, 0, &cfg);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
};
switch(opCode) {
case(FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
sif::info << "Creating empty file in /tmp folder" << std::endl;
// Do not delete file, user can check existence in shell
switch (opCode) {
case (FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
sif::info << "Creating empty file in /tmp folder" << std::endl;
// Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
break;
}
case (FsOpCodes::REMOVE_TMP_FILE): {
sif::info << "Deleting /tmp/test.txt sample file" << std::endl;
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if (not std::filesystem::exists("/tmp/test.txt")) {
// Creating sample file
sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl;
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
break;
}
result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "File removed successfully" << std::endl;
} else {
sif::warning << "File removal failed!" << std::endl;
}
break;
}
case(FsOpCodes::REMOVE_TMP_FILE): {
sif::info << "Deleting /tmp/test.txt sample file" << std::endl;
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if(not std::filesystem::exists("/tmp/test.txt")) {
// Creating sample file
sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl;
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
}
result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "File removed successfully" << std::endl;
}
else {
sif::warning << "File removal failed!" << std::endl;
}
break;
case (FsOpCodes::CREATE_DIR_IN_TMP): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
sif::info << "Creating empty file in /tmp folder" << std::endl;
// Do not delete file, user can check existence in shell
ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg);
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory created successfully" << std::endl;
} else {
sif::warning << "Directory creation failed!" << std::endl;
}
break;
}
case(FsOpCodes::CREATE_DIR_IN_TMP): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
sif::info << "Creating empty file in /tmp folder" << std::endl;
// Do not delete file, user can check existence in shell
ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory created successfully" << std::endl;
}
else {
sif::warning << "Directory creation failed!" << std::endl;
}
break;
case (FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if (not std::filesystem::exists("/tmp/test")) {
result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
} else {
// Delete any leftover files to regular dir removal works
std::remove("/tmp/test/*");
}
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed successfully" << std::endl;
} else {
sif::warning << "Directory removal failed!" << std::endl;
}
break;
}
case(FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if(not std::filesystem::exists("/tmp/test")) {
result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
}
else {
// Delete any leftover files to regular dir removal works
std::remove("/tmp/test/*");
}
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed successfully" << std::endl;
}
else {
sif::warning << "Directory removal failed!" << std::endl;
}
break;
case (FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
result = createNonEmptyTmpDir();
if (result != HasReturnvaluesIF::RETURN_OK) {
return;
}
result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg);
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed recursively successfully" << std::endl;
} else {
sif::warning << "Recursive directory removal failed!" << std::endl;
}
break;
}
case(FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
result = createNonEmptyTmpDir();
if(result != HasReturnvaluesIF::RETURN_OK) {
return;
}
result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed recursively successfully" << std::endl;
}
else {
sif::warning << "Recursive directory removal failed!" << std::endl;
}
break;
case (FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): {
result = createNonEmptyTmpDir();
if (result != HasReturnvaluesIF::RETURN_OK) {
return;
}
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removal attempt failed as expected" << std::endl;
} else {
sif::warning << "Directory removal worked when it should not have!" << std::endl;
}
break;
}
case(FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): {
result = createNonEmptyTmpDir();
if(result != HasReturnvaluesIF::RETURN_OK) {
return;
}
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removal attempt failed as expected" << std::endl;
}
else {
sif::warning << "Directory removal worked when it should not have!" << std::endl;
}
break;
}
case(FsOpCodes::RENAME_FILE): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if(std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl;
// Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg);
break;
}
case(FsOpCodes::APPEND_TO_FILE): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if(std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
if(std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl;
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);
case (FsOpCodes::RENAME_FILE): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl;
// Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg);
break;
}
case (FsOpCodes::APPEND_TO_FILE): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl;
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);
}
}
}

60
bsp_q7s/boardtest/Q7STestTask.h
View File

@ -5,42 +5,42 @@
class CoreController;
class Q7STestTask: public TestTask {
public:
Q7STestTask(object_id_t objectId);
class Q7STestTask : public TestTask {
public:
Q7STestTask(object_id_t objectId);
ReturnValue_t initialize() override;
private:
bool doTestSdCard = false;
bool doTestScratchApi = false;
bool doTestGps = false;
ReturnValue_t initialize() override;
CoreController* coreController = nullptr;
ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
private:
bool doTestSdCard = false;
bool doTestScratchApi = false;
bool doTestGps = false;
void testGpsDaemon();
CoreController* coreController = nullptr;
ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
void testSdCard();
void fileTests();
void testGpsDaemon();
void testScratchApi();
void testJsonLibDirect();
void testDummyParams();
void testProtHandler();
void testSdCard();
void fileTests();
enum FsOpCodes {
CREATE_EMPTY_FILE_IN_TMP,
REMOVE_TMP_FILE,
CREATE_DIR_IN_TMP,
REMOVE_EMPTY_DIR_IN_TMP,
ATTEMPT_DIR_REMOVAL_NON_EMPTY,
REMOVE_FILLED_DIR_IN_TMP,
RENAME_FILE,
APPEND_TO_FILE,
};
void testFileSystemHandlerDirect(FsOpCodes opCode);
void testScratchApi();
void testJsonLibDirect();
void testDummyParams();
void testProtHandler();
enum FsOpCodes {
CREATE_EMPTY_FILE_IN_TMP,
REMOVE_TMP_FILE,
CREATE_DIR_IN_TMP,
REMOVE_EMPTY_DIR_IN_TMP,
ATTEMPT_DIR_REMOVAL_NON_EMPTY,
REMOVE_FILLED_DIR_IN_TMP,
RENAME_FILE,
APPEND_TO_FILE,
};
void testFileSystemHandlerDirect(FsOpCodes opCode);
};
#endif /* BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ */

39
bsp_q7s/callbacks/gnssCallback.cpp
View File

@ -1,26 +1,25 @@
#include "gnssCallback.h"
#include "devices/gpioIds.h"
#include "devices/gpioIds.h"
#include "fsfw/tasks/TaskFactory.h"
ReturnValue_t gps::triggerGpioResetPin(void *args) {
ResetArgs* resetArgs = reinterpret_cast<ResetArgs*>(args);
if(args == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if (resetArgs->gpioComIF == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
gpioId_t gpioId;
if(resetArgs->gnss1) {
gpioId = gpioIds::GNSS_1_NRESET;
ReturnValue_t gps::triggerGpioResetPin(void* args) {
ResetArgs* resetArgs = reinterpret_cast<ResetArgs*>(args);
if (args == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if (resetArgs->gpioComIF == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
gpioId_t gpioId;
if (resetArgs->gnss1) {
gpioId = gpioIds::GNSS_1_NRESET;
}
else {
gpioId = gpioIds::GNSS_0_NRESET;
}
resetArgs->gpioComIF->pullLow(gpioId);
TaskFactory::delayTask(resetArgs->waitPeriodMs);
resetArgs->gpioComIF->pullHigh(gpioId);
return HasReturnvaluesIF::RETURN_OK;
} else {
gpioId = gpioIds::GNSS_0_NRESET;
}
resetArgs->gpioComIF->pullLow(gpioId);
TaskFactory::delayTask(resetArgs->waitPeriodMs);
resetArgs->gpioComIF->pullHigh(gpioId);
return HasReturnvaluesIF::RETURN_OK;
}

8
bsp_q7s/callbacks/gnssCallback.h
View File

@ -1,13 +1,13 @@
#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;
LinuxLibgpioIF* gpioComIF = nullptr;
uint32_t waitPeriodMs = 100;
bool gnss1 = false;
LinuxLibgpioIF* gpioComIF = nullptr;
uint32_t waitPeriodMs = 100;
};
namespace gps {

412
bsp_q7s/callbacks/rwSpiCallback.cpp
View File

@ -1,238 +1,232 @@
#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 spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
size_t sendLen, void* args) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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;
return HasReturnvaluesIF::RETURN_FAILED;
}
RwHandler* handler = reinterpret_cast<RwHandler*>(args);
if(handler == nullptr) {
sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
uint8_t writeBuffer[2];
uint8_t writeSize = 0;
gpioId_t gpioId = cookie->getChipSelectPin();
GpioIF* gpioIF = comIf->getGpioInterface();
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0;
MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
if (mutex == nullptr or gpioIF == nullptr) {
sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
int fileDescriptor = 0;
std::string device = cookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback");
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
return SpiComIF::OPENING_FILE_FAILED;
}
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
uint32_t spiSpeed = 0;
cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
return result;
}
/** Sending frame start sign */
writeBuffer[0] = 0x7E;
writeSize = 1;
// Pull SPI CS low. For now, no support for active high given
if (gpioId != gpio::NO_GPIO) {
if (gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
}
}
uint8_t writeBuffer[2];
uint8_t writeSize = 0;
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
}
gpioId_t gpioId = cookie->getChipSelectPin();
GpioIF* gpioIF = comIf->getGpioInterface();
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0;
MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
if(mutex == nullptr or gpioIF == nullptr) {
sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
int fileDescriptor = 0;
std::string device = cookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
return SpiComIF::OPENING_FILE_FAILED;
/** Encoding and sending command */
size_t idx = 0;
while (idx < sendLen) {
switch (*(sendData + idx)) {
case 0x7E:
writeBuffer[0] = 0x7D;
writeBuffer[1] = 0x5E;
writeSize = 2;
break;
case 0x7D:
writeBuffer[0] = 0x7D;
writeBuffer[1] = 0x5D;
writeSize = 2;
break;
default:
writeBuffer[0] = *(sendData + idx);
writeSize = 1;
break;
}
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
uint32_t spiSpeed = 0;
cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
return result;
}
/** Sending frame start sign */
writeBuffer[0] = 0x7E;
writeSize = 1;
// Pull SPI CS low. For now, no support for active high given
if(gpioId != gpio::NO_GPIO) {
if(gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
}
}
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
}
idx++;
}
/** Sending frame end sign */
writeBuffer[0] = 0x7E;
writeSize = 1;
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
}
uint8_t* rxBuf = nullptr;
result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
if (result != HasReturnvaluesIF::RETURN_OK) {
closeSpi(gpioId, gpioIF, mutex);
return result;
}
size_t replyBufferSize = cookie->getMaxBufferSize();
/** There must be a delay of at least 20 ms after sending the command */
usleep(RwDefinitions::SPI_REPLY_DELAY);
/**
* The reaction wheel responds with empty frames while preparing the reply data.
* However, receiving more than 5 empty frames will be interpreted as an error.
*/
uint8_t byteRead = 0;
for (int idx = 0; idx < 10; idx++) {
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_READ_FAILURE;
}
if (idx == 0) {
if (byteRead != FLAG_BYTE) {
sif::error << "Invalid data, expected start marker" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
return RwHandler::NO_START_MARKER;
}
}
/** Encoding and sending command */
size_t idx = 0;
while(idx < sendLen) {
switch(*(sendData + idx)) {
case 0x7E:
writeBuffer[0] = 0x7D;
writeBuffer[1] = 0x5E;
writeSize = 2;
break;
case 0x7D:
writeBuffer[0] = 0x7D;
writeBuffer[1] = 0x5D;
writeSize = 2;
break;
default:
writeBuffer[0] = *(sendData + idx);
writeSize = 1;
break;
}
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
}
idx++;
if (byteRead != FLAG_BYTE) {
break;
}
/** Sending frame end sign */
writeBuffer[0] = 0x7E;
writeSize = 1;
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
}
uint8_t* rxBuf = nullptr;
result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
if(result != HasReturnvaluesIF::RETURN_OK) {
closeSpi(gpioId, gpioIF, mutex);
return result;
}
size_t replyBufferSize = cookie->getMaxBufferSize();
/** There must be a delay of at least 20 ms after sending the command */
usleep(RwDefinitions::SPI_REPLY_DELAY);
/**
* The reaction wheel responds with empty frames while preparing the reply data.
* However, receiving more than 5 empty frames will be interpreted as an error.
*/
uint8_t byteRead = 0;
for (int idx = 0; idx < 10; idx++) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_READ_FAILURE;
}
if(idx == 0) {
if(byteRead != FLAG_BYTE) {
sif::error << "Invalid data, expected start marker" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::NO_START_MARKER;
}
}
if (byteRead != FLAG_BYTE) {
break;
}
if (idx == 9) {
sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::NO_REPLY;
}
if (idx == 9) {
sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::NO_REPLY;
}
}
#if FSFW_HAL_SPI_WIRETAPPING == 1
sif::info << "RW start marker detected" << std::endl;
sif::info << "RW start marker detected" << std::endl;
#endif
size_t decodedFrameLen = 0;
while(decodedFrameLen < replyBufferSize) {
/** First byte already read in */
if (decodedFrameLen != 0) {
byteRead = 0;
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
}
}
if (byteRead == FLAG_BYTE) {
/** Reached end of frame */
break;
}
else if (byteRead == 0x7D) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
}
if (byteRead == 0x5E) {
*(rxBuf + decodedFrameLen) = 0x7E;
decodedFrameLen++;
continue;
}
else if (byteRead == 0x5D) {
*(rxBuf + decodedFrameLen) = 0x7D;
decodedFrameLen++;
continue;
}
else {
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
result = RwHandler::INVALID_SUBSTITUTE;
break;
}
}
else {
*(rxBuf + decodedFrameLen) = byteRead;
decodedFrameLen++;
continue;
}
/**
* There might be the unlikely case that each byte in a get-telemetry reply has been
* replaced by its substitute. Than the next byte must correspond to the end sign 0x7E.
* Otherwise there might be something wrong.
*/
if (decodedFrameLen == replyBufferSize) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
}
if (byteRead != 0x7E) {
sif::error << "rwSpiCallback::spiCallback: Missing end sign 0x7E" << std::endl;
decodedFrameLen--;
result = RwHandler::MISSING_END_SIGN;
break;
}
}
result = HasReturnvaluesIF::RETURN_OK;
size_t decodedFrameLen = 0;
while (decodedFrameLen < replyBufferSize) {
/** First byte already read in */
if (decodedFrameLen != 0) {
byteRead = 0;
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
}
}
cookie->setTransferSize(decodedFrameLen);
closeSpi(gpioId, gpioIF, mutex);
return result;
}
void closeSpi (gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
if(gpioId != gpio::NO_GPIO) {
if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
}
if (byteRead == FLAG_BYTE) {
/** Reached end of frame */
break;
} else if (byteRead == 0x7D) {
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
}
if (byteRead == 0x5E) {
*(rxBuf + decodedFrameLen) = 0x7E;
decodedFrameLen++;
continue;
} else if (byteRead == 0x5D) {
*(rxBuf + decodedFrameLen) = 0x7D;
decodedFrameLen++;
continue;
} else {
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
result = RwHandler::INVALID_SUBSTITUTE;
break;
}
} else {
*(rxBuf + decodedFrameLen) = byteRead;
decodedFrameLen++;
continue;
}
if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;;
/**
* There might be the unlikely case that each byte in a get-telemetry reply has been
* replaced by its substitute. Than the next byte must correspond to the end sign 0x7E.
* Otherwise there might be something wrong.
*/
if (decodedFrameLen == replyBufferSize) {
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
}
if (byteRead != 0x7E) {
sif::error << "rwSpiCallback::spiCallback: Missing end sign 0x7E" << std::endl;
decodedFrameLen--;
result = RwHandler::MISSING_END_SIGN;
break;
}
}
result = HasReturnvaluesIF::RETURN_OK;
}
cookie->setTransferSize(decodedFrameLen);
closeSpi(gpioId, gpioIF, mutex);
return result;
}
void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
if (gpioId != gpio::NO_GPIO) {
if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
}
}
if (mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;
;
}
}
} // namespace rwSpiCallback

9
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 {
@ -31,8 +30,8 @@ static constexpr uint8_t FLAG_BYTE = 0x7E;
* To switch between the to SPI peripherals, an EMIO is used which will also be controlled
* by this function.
*/
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData,
size_t sendLen, void* args);
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
size_t sendLen, void* args);
/**
* @brief This function closes a spi session. Pulls the chip select to high an releases the
@ -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_ */

1850
bsp_q7s/core/CoreController.cpp
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File diff suppressed because it is too large Load Diff

274
bsp_q7s/core/CoreController.h
View File

@ -2,183 +2,167 @@
#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
};
class CoreController : public ExtendedControllerBase {
public:
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";
static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
static constexpr char VERSION_FILE[] = "/conf/sd_status";
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";
static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
static constexpr char VERSION_FILE[] = "/conf/sd_status";
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
static constexpr ActionId_t REBOOT_OBC = 32;
static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
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 uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
CoreController(object_id_t objectId);
virtual ~CoreController();
ReturnValue_t initialize() override;
CoreController(object_id_t objectId);
virtual~ CoreController();
ReturnValue_t initializeAfterTaskCreation() override;
ReturnValue_t initialize() override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
ReturnValue_t initializeAfterTaskCreation() override;
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) override;
/**
* Generate a file containing the chip lock/unlock states inside /tmp/chip_prot_status.txt
* @return
*/
static ReturnValue_t generateChipStateFile();
static ReturnValue_t incrementAllocationFailureCount();
static void getCurrentBootCopy(Chip& chip, Copy& copy);
ReturnValue_t handleCommandMessage(CommandMessage *message) override;
void performControlOperation() override;
ReturnValue_t updateProtInfo(bool regenerateChipStateFile = true);
/**
* Generate a file containing the chip lock/unlock states inside /tmp/chip_prot_status.txt
* @return
*/
static ReturnValue_t generateChipStateFile();
static ReturnValue_t incrementAllocationFailureCount();
static void getCurrentBootCopy(Chip& chip, Copy& copy);
/**
* Checks whether the target chip and copy are write protected and protect set them to a target
* state where applicable.
* @param targetChip
* @param targetCopy
* @param protect Target state
* @param protOperationPerformed [out] Can be used to determine whether any operation
* was performed
* @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 updateProtInfo(bool regenerateChipStateFile = true);
bool sdInitFinished() const;
/**
* Checks whether the target chip and copy are write protected and protect set them to a target
* state where applicable.
* @param targetChip
* @param targetCopy
* @param protect Target state
* @param protOperationPerformed [out] Can be used to determine whether any operation
* was performed
* @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);
private:
static Chip CURRENT_CHIP;
static Copy CURRENT_COPY;
bool sdInitFinished() const;
// Designated value for rechecking FIFO open
static constexpr int RETRY_FIFO_OPEN = -2;
int watchdogFifoFd = 0;
private:
static Chip CURRENT_CHIP;
static Copy CURRENT_COPY;
// States for SD state machine, which is used in non-blocking mode
enum class SdStates {
NONE,
START,
GET_INFO,
SET_STATE_SELF,
MOUNT_SELF,
// Determine operations for other SD card, depending on redundancy configuration
DETERMINE_OTHER,
SET_STATE_OTHER,
// Mount or unmount other
MOUNT_UNMOUNT_OTHER,
// Skip period because the shell command used to generate the info file sometimes is
// missing the last performed operation if executed too early
SKIP_CYCLE_BEFORE_INFO_UPDATE,
UPDATE_INFO,
// SD initialization done
IDLE,
// Used if SD switches or mount commands are issued via telecommand
SET_STATE_FROM_COMMAND,
};
static constexpr bool BLOCKING_SD_INIT = false;
// Designated value for rechecking FIFO open
static constexpr int RETRY_FIFO_OPEN = -2;
int watchdogFifoFd = 0;
SdCardManager* sdcMan = nullptr;
// States for SD state machine, which is used in non-blocking mode
enum class SdStates {
NONE,
START,
GET_INFO,
SET_STATE_SELF,
MOUNT_SELF,
// Determine operations for other SD card, depending on redundancy configuration
DETERMINE_OTHER,
SET_STATE_OTHER,
// Mount or unmount other
MOUNT_UNMOUNT_OTHER,
// Skip period because the shell command used to generate the info file sometimes is
// missing the last performed operation if executed too early
SKIP_CYCLE_BEFORE_INFO_UPDATE,
UPDATE_INFO,
// SD initialization done
IDLE,
// Used if SD switches or mount commands are issued via telecommand
SET_STATE_FROM_COMMAND,
};
static constexpr bool BLOCKING_SD_INIT = false;
struct SdInfo {
sd::SdCard pref = sd::SdCard::NONE;
sd::SdState prefState = sd::SdState::OFF;
sd::SdCard other = sd::SdCard::NONE;
sd::SdState otherState = sd::SdState::OFF;
std::string prefChar = "0";
std::string otherChar = "1";
SdStates state = SdStates::START;
// Used to track whether a command was executed
bool commandExecuted = true;
bool initFinished = false;
SdCardManager::SdStatePair currentState;
uint16_t cycleCount = 0;
// These two flags are related to external commanding
bool commandIssued = false;
bool commandFinished = false;
sd::SdState currentlyCommandedState = sd::SdState::OFF;
sd::SdCard commandedCard = sd::SdCard::NONE;
sd::SdState commandedState = sd::SdState::OFF;
};
SdInfo sdInfo;
SdCardManager* sdcMan = nullptr;
/**
* Index 0: Chip 0 Copy 0
* Index 1: Chip 0 Copy 1
* Index 2: Chip 1 Copy 0
* Index 3: Chip 1 Copy 1
*/
std::array<bool, 4> protArray;
PeriodicOperationDivider opDivider;
struct SdInfo {
sd::SdCard pref = sd::SdCard::NONE;
sd::SdState prefState = sd::SdState::OFF;
sd::SdCard other = sd::SdCard::NONE;
sd::SdState otherState = sd::SdState::OFF;
std::string prefChar = "0";
std::string otherChar = "1";
SdStates state = SdStates::START;
// Used to track whether a command was executed
bool commandExecuted = true;
bool initFinished = false;
SdCardManager::SdStatePair currentState;
uint16_t cycleCount = 0;
// These two flags are related to external commanding
bool commandIssued = false;
bool commandFinished = false;
sd::SdState currentlyCommandedState = sd::SdState::OFF;
sd::SdCard commandedCard = sd::SdCard::NONE;
sd::SdState commandedState = sd::SdState::OFF;
};
SdInfo sdInfo;
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);
/**
* Index 0: Chip 0 Copy 0
* Index 1: Chip 0 Copy 1
* Index 2: Chip 1 Copy 0
* Index 3: Chip 1 Copy 1
*/
std::array<bool, 4> protArray;
PeriodicOperationDivider opDivider;
ReturnValue_t initVersionFile();
ReturnValue_t initBootCopy();
ReturnValue_t initWatchdogFifo();
ReturnValue_t initSdCardBlocking();
void initPrint();
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 sdStateMachine();
void updateSdInfoOther();
ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
bool printOutput = true);
ReturnValue_t sdColdRedundantBlockingInit();
void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
void determinePreferredSdCard();
void executeNextExternalSdCommand();
void checkExternalSdCommandStatus();
ReturnValue_t initVersionFile();
ReturnValue_t initBootCopy();
ReturnValue_t initWatchdogFifo();
ReturnValue_t initSdCardBlocking();
void initPrint();
ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
ReturnValue_t actionPerformReboot(const uint8_t* data, size_t size);
ReturnValue_t sdStateMachine();
void updateSdInfoOther();
ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
bool printOutput = true);
ReturnValue_t sdColdRedundantBlockingInit();
void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
void determinePreferredSdCard();
void executeNextExternalSdCommand();
void checkExternalSdCommandStatus();
void performWatchdogControlOperation();
ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size);
ReturnValue_t actionPerformReboot(const uint8_t *data, size_t size);
void performWatchdogControlOperation();
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);
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);
};
#endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */

538
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");
@ -30,344 +29,343 @@ ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif
ObjectManagerIF *objectManager = nullptr;
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);
sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize();
sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize();
/* This function creates and starts all tasks */
initTasks();
/* This function creates and starts all tasks */
initTasks();
}
void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(factory == nullptr) {
/* Should never happen ! */
return;
}
TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if (factory == nullptr) {
/* Should never happen ! */
return;
}
#if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else
void (*missedDeadlineFunc) (void) = nullptr;
void (*missedDeadlineFunc)(void) = nullptr;
#endif
#if BOARD_TE0720 == 0
PeriodicTaskIF* coreController = factory->createPeriodicTask(
"CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = coreController->addComponent(objects::CORE_CONTROLLER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
}
PeriodicTaskIF* coreController = factory->createPeriodicTask(
"CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = coreController->addComponent(objects::CORE_CONTROLLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
}
#endif
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
}
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
}
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
}
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
}
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
}
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
}
#if OBSW_ADD_TCPIP_BRIDGE == 1
// TMTC bridge
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UDP_BRIDGE", objects::TMTC_BRIDGE);
}
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
}
// TMTC bridge
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UDP_BRIDGE", objects::TMTC_BRIDGE);
}
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
}
#endif
#if OBSW_USE_CCSDS_IP_CORE == 1
PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
"CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
}
PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
"CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
}
// Minimal distance between two received TCs amounts to 0.6 seconds
// If a command has not been read before the next one arrives, the old command will be
// overwritten by the PDEC.
PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
"PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
}
// Minimal distance between two received TCs amounts to 0.6 seconds
// If a command has not been read before the next one arrives, the old command will be
// overwritten by the PDEC.
PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
"PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
}
#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);
}
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
PeriodicTaskIF* fsTask = factory->createPeriodicTask(
"FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
}
#if 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
PeriodicTaskIF* fsTask = factory->createPeriodicTask(
"FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
}
#if 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);
}
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
PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
"PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
}
PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
"PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
}
#endif
std::vector<PeriodicTaskIF*> pusTasks;
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
std::vector<PeriodicTaskIF*> pstTasks;
createPstTasks(*factory, missedDeadlineFunc, pstTasks);
std::vector<PeriodicTaskIF*> pusTasks;
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
std::vector<PeriodicTaskIF*> pstTasks;
createPstTasks(*factory, missedDeadlineFunc, pstTasks);
#if OBSW_ADD_TEST_CODE == 1
std::vector<PeriodicTaskIF*> testTasks;
createTestTasks(*factory, missedDeadlineFunc, testTasks);
std::vector<PeriodicTaskIF*> testTasks;
createTestTasks(*factory, missedDeadlineFunc, testTasks);
#endif
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
for(const auto& task: taskVector) {
if(task != nullptr) {
task->startTask();
}
else {
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
}
}
};
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
for (const auto& task : taskVector) {
if (task != nullptr) {
task->startTask();
} else {
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
}
}
};
sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask();
sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask();
#if OBSW_ADD_TCPIP_BRIDGE == 1
tmtcBridgeTask->startTask();
tmtcPollingTask->startTask();
tmtcBridgeTask->startTask();
tmtcPollingTask->startTask();
#endif
#if OBSW_USE_CCSDS_IP_CORE == 1
ccsdsHandlerTask->startTask();
pdecHandlerTask->startTask();
ccsdsHandlerTask->startTask();
pdecHandlerTask->startTask();
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
#if BOARD_TE0720 == 0
coreController->startTask();
coreController->startTask();
#endif
taskStarter(pstTasks, "PST task vector");
taskStarter(pusTasks, "PUS task vector");
taskStarter(pstTasks, "PST task vector");
taskStarter(pusTasks, "PUS task vector");
#if OBSW_ADD_TEST_CODE == 1
taskStarter(testTasks, "Test task vector");
taskStarter(testTasks, "Test task vector");
#endif
#if OBSW_TEST_CCSDS_BRIDGE == 1
ptmeTestTask->startTask();
ptmeTestTask->startTask();
#endif
#if BOARD_TE0720 == 0
fsTask->startTask();
fsTask->startTask();
#if OBSW_ADD_STAR_TRACKER == 1
strImgLoaderTask->startTask();
strImgLoaderTask->startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#endif
acsCtrl->startTask();
acsCtrl->startTask();
sif::info << "Tasks started.." << std::endl;
sif::info << "Tasks started.." << std::endl;
}
void initmission::createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if BOARD_TE0720 == 0
/* Polling Sequence Table Default */
/* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"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 {
taskVec.push_back(spiPst);
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"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 {
taskVec.push_back(spiPst);
}
#endif
FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
"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, 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, 0.2, missedDeadlineFunc);
result = pst::pstI2c(i2cPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
"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, 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, 0.2, missedDeadlineFunc);
result = pst::pstI2c(i2cPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
result = pst::pstGompaceCan(gomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
}
taskVec.push_back(gomSpacePstTask);
#else /* BOARD_TE7020 == 0 */
FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask(
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
missedDeadlineFunc);
result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
}
taskVec.push_back(pollingSequenceTaskTE0720);
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
result = pst::pstGompaceCan(gomSpacePstTask);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
}
taskVec.push_back(gomSpacePstTask);
#else /* BOARD_TE7020 == 0 */
FixedTimeslotTaskIF* pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask(
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, missedDeadlineFunc);
result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
}
taskVec.push_back(pollingSequenceTaskTE0720);
#endif /* BOARD_TE7020 == 1 */
}
void initmission::createPusTasks(TaskFactory &factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
/* PUS Services */
PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
}
taskVec.push_back(pusVerification);
void initmission::createPusTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
/* PUS Services */
PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
}
taskVec.push_back(pusVerification);
PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
result = pusEvents->addComponent(objects::EVENT_MANAGER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
taskVec.push_back(pusEvents);
PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
result = pusEvents->addComponent(objects::EVENT_MANAGER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
taskVec.push_back(pusEvents);
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
}
taskVec.push_back(pusMedPrio);
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
}
taskVec.push_back(pusMedPrio);
PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
}
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
}
taskVec.push_back(pusLowPrio);
PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
}
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
}
taskVec.push_back(pusLowPrio);
}
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)
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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)
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#endif
PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
#if OBSW_ADD_TEST_TASK == 1
result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
result = testTask->addComponent(objects::TEST_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#endif /* OBSW_ADD_TEST_TASK == 1 */
#if OBSW_ADD_SPI_TEST_CODE == 1
result = testTask->addComponent(objects::SPI_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
}
result = testTask->addComponent(objects::SPI_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
}
#endif
#if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
result = testTask->addComponent(objects::LIBGPIOD_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
}
result = testTask->addComponent(objects::LIBGPIOD_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
}
#endif /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */
taskVec.push_back(testTask);
taskVec.push_back(testTask);
}

11
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;
@ -12,11 +13,11 @@ void initMission();
void initTasks();
void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
std::vector<PeriodicTaskIF*>& taskVec);
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
std::vector<PeriodicTaskIF*>& taskVec);
void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
};
std::vector<PeriodicTaskIF*>& taskVec);
}; // namespace initmission
#endif /* BSP_Q7S_INITMISSION_H_ */

1703
bsp_q7s/core/ObjectFactory.cpp
View File

File diff suppressed because it is too large Load Diff

6
bsp_q7s/core/ObjectFactory.h
View File

@ -11,7 +11,7 @@ void setStatics();
void produce(void* args);
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
SpiComIF** spiComIF);
SpiComIF** spiComIF);
void createTmpComponents();
void createPcduComponents();
void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
@ -22,9 +22,9 @@ void createSolarArrayDeploymentComponents();
void createSyrlinksComponents();
void createRtdComponents(LinuxLibgpioIF* gpioComIF);
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
void createCcsdsComponents(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; }

18
bsp_q7s/core/ParameterHandler.h
View File

@ -4,19 +4,17 @@
#include <nlohmann/json.hpp>
#include <string>
class ParameterHandler {
public:
ParameterHandler(std::string mountPrefix);
public:
ParameterHandler(std::string mountPrefix);
void setMountPrefix(std::string prefix);
void setMountPrefix(std::string prefix);
void setUpDummyParameter();
private:
std::string mountPrefix;
DummyParameter dummyParam;
void setUpDummyParameter();
private:
std::string mountPrefix;
DummyParameter dummyParam;
};
#endif /* BSP_Q7S_CORE_PARAMETERHANDLER_H_ */

57
bsp_q7s/core/obsw.cpp
View File

@ -1,43 +1,44 @@
#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;
int obsw::obsw() {
std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- EIVE OBSW --" << std::endl;
#if BOARD_TE0720 == 0
std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
#else
std::cout << "-- Compiled for Linux (TE0720) --" << std::endl;
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 << "-- " << __DATE__ << " " << __TIME__ << " --" << 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. Check if obsw systemd service has been stopped." << std::endl;
return OBSW_ALREADY_RUNNING;
}
// 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. Check if obsw systemd service has been stopped."
<< std::endl;
return OBSW_ALREADY_RUNNING;
}
#endif
initmission::initMission();
initmission::initMission();
for(;;) {
/* Suspend main thread by sleeping it. */
TaskFactory::delayTask(5000);
}
return 0;
for (;;) {
/* Suspend main thread by sleeping it. */
TaskFactory::delayTask(5000);
}
return 0;
}

282
bsp_q7s/devices/PlocMemoryDumper.cpp
View File

@ -1,206 +1,192 @@
#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) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
#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;
}
result = commandActionHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = actionHelper.initialize(commandQueue);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
ReturnValue_t result = SystemObject::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commandActionHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = actionHelper.initialize(commandQueue);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocMemoryDumper::performOperation(uint8_t operationCode) {
readCommandQueue();
doStateMachine();
return HasReturnvaluesIF::RETURN_OK;
readCommandQueue();
doStateMachine();
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;
}
if (state != State::IDLE) {
return IS_BUSY;
}
switch (actionId) {
switch (actionId) {
case DUMP_MRAM: {
size_t deserializeSize = sizeof(mram.startAddress) + sizeof(mram.endAddress);
SerializeAdapter::deSerialize(&mram.startAddress, &data, &deserializeSize,
SerializeIF::Endianness::BIG);
SerializeAdapter::deSerialize(&mram.endAddress, &data, &deserializeSize,
SerializeIF::Endianness::BIG);
if (mram.endAddress > MAX_MRAM_ADDRESS) {
return MRAM_ADDRESS_TOO_HIGH;
}
if (mram.endAddress <= mram.startAddress) {
return MRAM_INVALID_ADDRESS_COMBINATION;
}
state = State::COMMAND_FIRST_MRAM_DUMP;
break;
size_t deserializeSize = sizeof(mram.startAddress) + sizeof(mram.endAddress);
SerializeAdapter::deSerialize(&mram.startAddress, &data, &deserializeSize,
SerializeIF::Endianness::BIG);
SerializeAdapter::deSerialize(&mram.endAddress, &data, &deserializeSize,
SerializeIF::Endianness::BIG);
if (mram.endAddress > MAX_MRAM_ADDRESS) {
return MRAM_ADDRESS_TOO_HIGH;
}
if (mram.endAddress <= mram.startAddress) {
return MRAM_INVALID_ADDRESS_COMBINATION;
}
state = State::COMMAND_FIRST_MRAM_DUMP;
break;
}
default: {
sif::warning << "PlocMemoryDumper::executeAction: Received command with invalid action id"
<< std::endl;
return INVALID_ACTION_ID;
}
sif::warning << "PlocMemoryDumper::executeAction: Received command with invalid action id"
<< std::endl;
return INVALID_ACTION_ID;
}
}
return EXECUTION_FINISHED;
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;
ReturnValue_t result;
CommandMessage message;
ReturnValue_t result;
for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
result = commandQueue->receiveMessage(&message)) {
if (result != RETURN_OK) {
continue;
}
result = actionHelper.handleActionMessage(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
result = commandActionHelper.handleReply(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
sif::debug << "PlocMemoryDumper::readCommandQueue: Received message with invalid format"
<< std::endl;
for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
result = commandQueue->receiveMessage(&message)) {
if (result != RETURN_OK) {
continue;
}
result = actionHelper.handleActionMessage(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
result = commandActionHelper.handleReply(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
sif::debug << "PlocMemoryDumper::readCommandQueue: Received message with invalid format"
<< std::endl;
}
}
void PlocMemoryDumper::doStateMachine() {
switch (state) {
switch (state) {
case State::IDLE:
break;
break;
case State::COMMAND_FIRST_MRAM_DUMP:
commandNextMramDump(PLOC_SPV::FIRST_MRAM_DUMP);
break;
commandNextMramDump(PLOC_SPV::FIRST_MRAM_DUMP);
break;
case State::COMMAND_CONSECUTIVE_MRAM_DUMP:
commandNextMramDump(PLOC_SPV::CONSECUTIVE_MRAM_DUMP);
break;
commandNextMramDump(PLOC_SPV::CONSECUTIVE_MRAM_DUMP);
break;
case State::EXECUTING_MRAM_DUMP:
break;
break;
default:
sif::debug << "PlocMemoryDumper::doStateMachine: Invalid state" << std::endl;
break;
}
sif::debug << "PlocMemoryDumper::doStateMachine: Invalid state" << std::endl;
break;
}
}
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) {
switch (pendingCommand) {
case (PLOC_SPV::FIRST_MRAM_DUMP):
case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
if (mram.endAddress == mram.startAddress) {
triggerEvent(MRAM_DUMP_FINISHED);
state = State::IDLE;
}
else {
state = State::COMMAND_CONSECUTIVE_MRAM_DUMP;
}
break;
default:
sif::debug << "PlocMemoryDumper::completionSuccessfulReceived: Invalid pending command"
<< std::endl;
if (mram.endAddress == mram.startAddress) {
triggerEvent(MRAM_DUMP_FINISHED);
state = State::IDLE;
break;
}
} else {
state = State::COMMAND_CONSECUTIVE_MRAM_DUMP;
}
break;
default:
sif::debug << "PlocMemoryDumper::completionSuccessfulReceived: Invalid pending command"
<< std::endl;
state = State::IDLE;
break;
}
}
void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId,
ReturnValue_t returnCode) {
switch(pendingCommand) {
case(PLOC_SPV::FIRST_MRAM_DUMP):
case(PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
triggerEvent(MRAM_DUMP_FAILED, mram.lastStartAddress);
break;
void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
switch (pendingCommand) {
case (PLOC_SPV::FIRST_MRAM_DUMP):
case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
triggerEvent(MRAM_DUMP_FAILED, mram.lastStartAddress);
break;
default:
sif::debug << "PlocMemoryDumper::completionFailedReceived: Invalid pending command "
<< std::endl;
break;
}
state = State::IDLE;
sif::debug << "PlocMemoryDumper::completionFailedReceived: Invalid pending command "
<< std::endl;
break;
}
state = State::IDLE;
}
void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
ReturnValue_t result = RETURN_OK;
ReturnValue_t result = RETURN_OK;
uint32_t tempStartAddress = 0;
uint32_t tempEndAddress = 0;
uint32_t tempStartAddress = 0;
uint32_t tempEndAddress = 0;
if (mram.endAddress - mram.startAddress > MAX_MRAM_DUMP_SIZE) {
tempStartAddress = mram.startAddress;
tempEndAddress = mram.startAddress + MAX_MRAM_DUMP_SIZE;
mram.startAddress += MAX_MRAM_DUMP_SIZE;
mram.lastStartAddress = tempStartAddress;
}
else {
tempStartAddress = mram.startAddress;
tempEndAddress = mram.endAddress;
mram.startAddress = mram.endAddress;
}
if (mram.endAddress - mram.startAddress > MAX_MRAM_DUMP_SIZE) {
tempStartAddress = mram.startAddress;
tempEndAddress = mram.startAddress + MAX_MRAM_DUMP_SIZE;
mram.startAddress += MAX_MRAM_DUMP_SIZE;
mram.lastStartAddress = tempStartAddress;
} else {
tempStartAddress = mram.startAddress;
tempEndAddress = mram.endAddress;
mram.startAddress = mram.endAddress;
}
MemoryParams params(tempStartAddress, tempEndAddress);
MemoryParams params(tempStartAddress, tempEndAddress);
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 "
<< tempEndAddress << std::endl;
triggerEvent(SEND_MRAM_DUMP_FAILED, result, tempStartAddress);
state = State::IDLE;
pendingCommand = NONE;
return;
}
state = State::EXECUTING_MRAM_DUMP;
pendingCommand = dumpCommand;
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 "
<< tempEndAddress << std::endl;
triggerEvent(SEND_MRAM_DUMP_FAILED, result, tempStartAddress);
state = State::IDLE;
pendingCommand = NONE;
return;
}
state = State::EXECUTING_MRAM_DUMP;
pendingCommand = dumpCommand;
return;
}

145
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
@ -25,91 +25,90 @@
* @author J. Meier
*/
class PlocMemoryDumper : public SystemObject,
public HasActionsIF,
public ExecutableObjectIF,
public HasReturnvaluesIF,
public CommandsActionsIF {
public:
public HasActionsIF,
public ExecutableObjectIF,
public HasReturnvaluesIF,
public CommandsActionsIF {
public:
static const ActionId_t NONE = 0;
static const ActionId_t DUMP_MRAM = 1;
static const ActionId_t NONE = 0;
static const ActionId_t DUMP_MRAM = 1;
PlocMemoryDumper(object_id_t objectId);
virtual ~PlocMemoryDumper();
PlocMemoryDumper(object_id_t objectId);
virtual ~PlocMemoryDumper();
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t initialize() override;
MessageQueueIF* getCommandQueuePtr() override;
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t initialize() override;
MessageQueueIF* getCommandQueuePtr() override;
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
private:
static const uint32_t QUEUE_SIZE = 10;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MEMORY_DUMPER;
static const uint32_t QUEUE_SIZE = 10;
//! [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);
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MEMORY_DUMPER;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_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.
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);
//! [EXPORT] : [COMMENT] Failed to send mram dump command to supervisor handler
//! P1: Return value of commandAction function
//! P2: Start address of MRAM to dump with this command
static const Event SEND_MRAM_DUMP_FAILED = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Received completion failure report form PLOC supervisor handler
//! P1: MRAM start address of failing dump command
static const Event MRAM_DUMP_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] MRAM dump finished successfully
static const Event MRAM_DUMP_FINISHED = MAKE_EVENT(2, severity::LOW);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MEMORY_DUMPER;
// Maximum size of mram dump which can be retrieved with one command
static const uint32_t MAX_MRAM_DUMP_SIZE = 100000;
static const uint32_t MAX_MRAM_ADDRESS = 0x7d000;
//! [EXPORT] : [COMMENT] Failed to send mram dump command to supervisor handler
//! P1: Return value of commandAction function
//! P2: Start address of MRAM to dump with this command
static const Event SEND_MRAM_DUMP_FAILED = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Received completion failure report form PLOC supervisor handler
//! P1: MRAM start address of failing dump command
static const Event MRAM_DUMP_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] MRAM dump finished successfully
static const Event MRAM_DUMP_FINISHED = MAKE_EVENT(2, severity::LOW);
MessageQueueIF* commandQueue = nullptr;
// Maximum size of mram dump which can be retrieved with one command
static const uint32_t MAX_MRAM_DUMP_SIZE = 100000;
static const uint32_t MAX_MRAM_ADDRESS = 0x7d000;
CommandActionHelper commandActionHelper;
MessageQueueIF* commandQueue = nullptr;
ActionHelper actionHelper;
CommandActionHelper commandActionHelper;
enum class State : uint8_t {
IDLE,
COMMAND_FIRST_MRAM_DUMP,
COMMAND_CONSECUTIVE_MRAM_DUMP,
EXECUTING_MRAM_DUMP
};
ActionHelper actionHelper;
State state = State::IDLE;
enum class State: uint8_t {
IDLE,
COMMAND_FIRST_MRAM_DUMP,
COMMAND_CONSECUTIVE_MRAM_DUMP,
EXECUTING_MRAM_DUMP
};
ActionId_t pendingCommand = NONE;
State state = State::IDLE;
typedef struct MemoryInfo {
// Stores the start address of the next memory range to dump
uint32_t startAddress;
uint32_t endAddress;
// Stores the start address of the last sent dump command
uint32_t lastStartAddress;
} MemoryInfo_t;
ActionId_t pendingCommand = NONE;
MemoryInfo_t mram = {0, 0, 0};
typedef struct MemoryInfo {
// Stores the start address of the next memory range to dump
uint32_t startAddress;
uint32_t endAddress;
// Stores the start address of the last sent dump command
uint32_t lastStartAddress;
} MemoryInfo_t;
void readCommandQueue();
void doStateMachine();
MemoryInfo_t mram = {0, 0, 0};
void readCommandQueue();
void doStateMachine();
/**
* @brief Sends the next mram dump command to the PLOC supervisor handler.
*/
void commandNextMramDump(ActionId_t dumpCommand);
/**
* @brief Sends the next mram dump command to the PLOC supervisor handler.
*/
void commandNextMramDump(ActionId_t dumpCommand);
};
#endif /* MISSION_DEVICES_PLOCMEMORYDUMPER_H_ */

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@ -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.
@ -19,324 +19,327 @@
* Arbeitsdaten/08_Used%20Components/PLOC&fileid=940960
* @author J. Meier
*/
class PlocSupervisorHandler: public DeviceHandlerBase {
public:
class PlocSupervisorHandler : public DeviceHandlerBase {
public:
PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie);
virtual ~PlocSupervisorHandler();
PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF * comCookie);
virtual ~PlocSupervisorHandler();
virtual ReturnValue_t initialize() override;
virtual ReturnValue_t initialize() override;
protected:
void doStartUp() override;
void doShutDown() 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;
ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies = 1, bool useAlternateId = false,
DeviceCommandId_t alternateReplyID = 0) override;
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
protected:
void doStartUp() override;
void doShutDown() 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;
ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies = 1, bool useAlternateId = false,
DeviceCommandId_t alternateReplyID = 0) override;
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPERVISOR_HANDLER;
private:
//! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC supervisor
static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Received execution failure reply from PLOC supervisor
static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC supervisor
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Failed to read current system time
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
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.
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.
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.
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)
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.
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.
static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAF);
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPERVISOR_HANDLER;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
//! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC supervisor
static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Received execution failure reply from PLOC supervisor
static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC supervisor
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Failed to read current system time
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
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.
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.
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.
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)
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.
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.
static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAF);
//! [EXPORT] : [COMMENT] PLOC supervisor crc failure in telemetry packet
static const Event SUPV_MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
static const Event SUPV_ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC received execution failure report
static const Event SUPV_EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC supervisor reply has invalid crc
static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
static const uint16_t APID_MASK = 0x7FF;
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
//! [EXPORT] : [COMMENT] PLOC supervisor crc failure in telemetry packet
static const Event SUPV_MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
static const Event SUPV_ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC received execution failure report
static const Event SUPV_EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC supervisor reply has invalid crc
static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW);
uint8_t commandBuffer[PLOC_SPV::MAX_COMMAND_SIZE];
static const uint16_t APID_MASK = 0x7FF;
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
/**
* This variable is used to store the id of the next reply to receive. This is necessary
* because the PLOC sends as reply to each command at least one acknowledgment and execution
* report.
*/
DeviceCommandId_t nextReplyId = PLOC_SPV::NONE;
uint8_t commandBuffer[PLOC_SPV::MAX_COMMAND_SIZE];
UartComIF* uartComIf = nullptr;
/**
* This variable is used to store the id of the next reply to receive. This is necessary
* because the PLOC sends as reply to each command at least one acknowledgment and execution
* report.
*/
DeviceCommandId_t nextReplyId = PLOC_SPV::NONE;
PLOC_SPV::HkSet hkset;
PLOC_SPV::BootStatusReport bootStatusReport;
PLOC_SPV::LatchupStatusReport latchupStatusReport;
UartComIF* uartComIf = nullptr;
/** Number of expected replies following the MRAM dump command */
uint32_t expectedMramDumpPackets = 0;
uint32_t receivedMramDumpPackets = 0;
/** Set to true as soon as a complete space packet is present in the spacePacketBuffer */
bool packetInBuffer = false;
/** Points to the next free position in the space packet buffer */
uint16_t bufferTop = 0;
PLOC_SPV::HkSet hkset;
PLOC_SPV::BootStatusReport bootStatusReport;
PLOC_SPV::LatchupStatusReport latchupStatusReport;
/** Number of expected replies following the MRAM dump command */
uint32_t expectedMramDumpPackets = 0;
uint32_t receivedMramDumpPackets = 0;
/** Set to true as soon as a complete space packet is present in the spacePacketBuffer */
bool packetInBuffer = false;
/** Points to the next free position in the space packet buffer */
uint16_t bufferTop = 0;
/** This buffer is used to concatenate space packets received in two different read steps */
uint8_t spacePacketBuffer[PLOC_SPV::MAX_PACKET_SIZE];
/** This buffer is used to concatenate space packets received in two different read steps */
uint8_t spacePacketBuffer[PLOC_SPV::MAX_PACKET_SIZE];
#if BOARD_TE0720 == 0
SdCardManager* sdcMan = nullptr;
SdCardManager* sdcMan = nullptr;
#endif /* BOARD_TE0720 == 0 */
/** Path to PLOC specific files on SD card */
std::string plocFilePath = "ploc";
std::string activeMramFile;
/** Path to PLOC specific files on SD card */
std::string plocFilePath = "ploc";
std::string activeMramFile;
/** Setting this variable to true will enable direct downlink of MRAM packets */
bool downlinkMramDump = false;
/** Setting this variable to true will enable direct downlink of MRAM packets */
bool downlinkMramDump = false;
/**
* @brief This function checks the crc of the received PLOC reply.
*
* @param start Pointer to the first byte of the reply.
* @param foundLen Pointer to the length of the whole packet.
*
* @return RETURN_OK if CRC is ok, otherwise CRC_FAILURE.
*/
ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
/**
* @brief This function checks the crc of the received PLOC reply.
*
* @param start Pointer to the first byte of the reply.
* @param foundLen Pointer to the length of the whole packet.
*
* @return RETURN_OK if CRC is ok, otherwise CRC_FAILURE.
*/
ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
/**
* @brief This function handles the acknowledgment report.
*
* @param data Pointer to the data holding the acknowledgment report.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleAckReport(const uint8_t* data);
/**
* @brief This function handles the acknowledgment report.
*
* @param data Pointer to the data holding the acknowledgment report.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleAckReport(const uint8_t* data);
/**
* @brief This function handles the data of a execution report.
*
* @param data Pointer to the received data packet.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleExecutionReport(const uint8_t* data);
/**
* @brief This function handles the data of a execution report.
*
* @param data Pointer to the received data packet.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleExecutionReport(const uint8_t* data);
/**
* @brief This function handles the housekeeping report. This means verifying the CRC of the
* reply and filling the appropriate dataset.
*
* @param data Pointer to the data buffer holding the housekeeping read report.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleHkReport(const uint8_t* data);
/**
* @brief This function handles the housekeeping report. This means verifying the CRC of the
* reply and filling the appropriate dataset.
*
* @param data Pointer to the data buffer holding the housekeeping read report.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleHkReport(const uint8_t* data);
/**
* @brief This function calls the function to check the CRC of the received boot status report
* and fills the associated dataset with the boot status information.
*/
ReturnValue_t handleBootStatusReport(const uint8_t* data);
/**
* @brief This function calls the function to check the CRC of the received boot status report
* and fills the associated dataset with the boot status information.
*/
ReturnValue_t handleBootStatusReport(const uint8_t* data);
ReturnValue_t handleLatchupStatusReport(const uint8_t* data);
ReturnValue_t handleLatchupStatusReport(const uint8_t* data);
/**
* @brief Depending on the current active command, this function sets the reply id of the
* next reply after a successful acknowledgment report has been received. This is
* required by the function getNextReplyLength() to identify the length of the next
* reply to read.
*/
void setNextReplyId();
/**
* @brief Depending on the current active command, this function sets the reply id of the
* next reply after a successful acknowledgment report has been received. This is
* required by the function getNextReplyLength() to identify the length of the next
* reply to read.
*/
void setNextReplyId();
/**
* @brief This function handles action message replies in case the telemetry has been
* requested by another object.
*
* @param data Pointer to the telemetry data.
* @param dataSize Size of telemetry in bytes.
* @param replyId Id of the reply. This will be added to the ActionMessage.
*/
void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
/**
* @brief This function handles action message replies in case the telemetry has been
* requested by another object.
*
* @param data Pointer to the telemetry data.
* @param dataSize Size of telemetry in bytes.
* @param replyId Id of the reply. This will be added to the ActionMessage.
*/
void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
/**
* @brief This function prepares a space packet which does not transport any data in the
* packet data field apart from the crc.
*/
void prepareEmptyCmd(uint16_t apid);
/**
* @brief This function prepares a space packet which does not transport any data in the
* packet data field apart from the crc.
*/
void prepareEmptyCmd(uint16_t apid);
/**
* @brief This function initializes the space packet to select the boot image of the MPSoC.
*/
void prepareSelBootImageCmd(const uint8_t * commandData);
/**
* @brief This function initializes the space packet to select the boot image of the MPSoC.
*/
void prepareSelBootImageCmd(const uint8_t* commandData);
void prepareDisableHk();
void prepareDisableHk();
/**
* @brief This function fills the commandBuffer with the data to update the time of the
* PLOC supervisor.
*/
ReturnValue_t prepareSetTimeRefCmd();
/**
* @brief This function fills the commandBuffer with the data to update the time of the
* PLOC supervisor.
*/
ReturnValue_t prepareSetTimeRefCmd();
/**
* @brief This function fills the commandBuffer with the data to change the boot timeout
* value in the PLOC supervisor.
*/
void prepareSetBootTimeoutCmd(const uint8_t * commandData);
/**
* @brief This function fills the commandBuffer with the data to change the boot timeout
* value in the PLOC supervisor.
*/
void prepareSetBootTimeoutCmd(const uint8_t* commandData);
void prepareRestartTriesCmd(const uint8_t * commandData);
void prepareRestartTriesCmd(const uint8_t* commandData);
/**
* @brief This function fills the command buffer with the packet to enable or disable the
* watchdogs on the PLOC.
*/
void prepareWatchdogsEnableCmd(const uint8_t * commandData);
/**
* @brief This function fills the command buffer with the packet to enable or disable the
* watchdogs on the PLOC.
*/
void prepareWatchdogsEnableCmd(const uint8_t* commandData);
/**
* @brief This function fills the command buffer with the packet to set the watchdog timer
* of one of the three watchdogs (PS, PL, INT).
*/
ReturnValue_t prepareWatchdogsConfigTimeoutCmd(const uint8_t * commandData);
/**
* @brief This function fills the command buffer with the packet to set the watchdog timer
* of one of the three watchdogs (PS, PL, INT).
*/
ReturnValue_t prepareWatchdogsConfigTimeoutCmd(const uint8_t* commandData);
ReturnValue_t prepareLatchupConfigCmd(const uint8_t* commandData,
DeviceCommandId_t deviceCommand);
ReturnValue_t prepareAutoCalibrateAlertCmd(const uint8_t* commandData);
ReturnValue_t prepareSetAlertLimitCmd(const uint8_t* commandData);
ReturnValue_t prepareSetAlertIrqFilterCmd(const uint8_t* commandData);
ReturnValue_t prepareSetAdcSweetPeriodCmd(const uint8_t* commandData);
void prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData);
void prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData);
void prepareSetAdcThresholdCmd(const uint8_t* commandData);
void prepareEnableNvmsCmd(const uint8_t* commandData);
void prepareSelectNvmCmd(const uint8_t* commandData);
ReturnValue_t prepareRunAutoEmTest(const uint8_t* commandData);
ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData);
ReturnValue_t prepareDumpMramCmd(const uint8_t* commandData);
void preparePrintCpuStatsCmd(const uint8_t* commandData);
void prepareSetDbgVerbosityCmd(const uint8_t* commandData);
void prepareSetGpioCmd(const uint8_t* commandData);
void prepareReadGpioCmd(const uint8_t* commandData);
ReturnValue_t prepareLatchupConfigCmd(const uint8_t* commandData,
DeviceCommandId_t deviceCommand);
ReturnValue_t prepareAutoCalibrateAlertCmd(const uint8_t* commandData);
ReturnValue_t prepareSetAlertLimitCmd(const uint8_t* commandData);
ReturnValue_t prepareSetAlertIrqFilterCmd(const uint8_t* commandData);
ReturnValue_t prepareSetAdcSweetPeriodCmd(const uint8_t* commandData);
void prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData);
void prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData);
void prepareSetAdcThresholdCmd(const uint8_t* commandData);
void prepareEnableNvmsCmd(const uint8_t* commandData);
void prepareSelectNvmCmd(const uint8_t* commandData);
ReturnValue_t prepareRunAutoEmTest(const uint8_t* commandData);
ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData);
ReturnValue_t prepareDumpMramCmd(const uint8_t* commandData);
void preparePrintCpuStatsCmd(const uint8_t* commandData);
void prepareSetDbgVerbosityCmd(const uint8_t* commandData);
void prepareSetGpioCmd(const uint8_t* commandData);
void prepareReadGpioCmd(const uint8_t* commandData);
/**
* @brief Copies the content of a space packet to the command buffer.
*/
void packetToOutBuffer(uint8_t* packetData, size_t fullSize);
/**
* @brief Copies the content of a space packet to the command buffer.
*/
void packetToOutBuffer(uint8_t* packetData, size_t fullSize);
/**
* @brief In case an acknowledgment failure reply has been received this function disables
* all previously enabled commands and resets the exepected replies variable of an
* active command.
*/
void disableAllReplies();
/**
* @brief In case an acknowledgment failure reply has been received this function disables
* all previously enabled commands and resets the exepected replies variable of an
* active command.
*/
void disableAllReplies();
/**
* @brief This function sends a failure report if the active action was commanded by an other
* object.
*
* @param replyId The id of the reply which signals a failure.
* @param status A status byte which gives information about the failure type.
*/
void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
/**
* @brief This function sends a failure report if the active action was commanded by an other
* object.
*
* @param replyId The id of the reply which signals a failure.
* @param status A status byte which gives information about the failure type.
*/
void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
/**
* @brief This function disables the execution report reply. Within this function also the
* the variable expectedReplies of an active command will be set to 0.
*/
void disableExeReportReply();
/**
* @brief This function disables the execution report reply. Within this function also the
* the variable expectedReplies of an active command will be set to 0.
*/
void disableExeReportReply();
/**
* @brief Function is called in scanForReply and fills the spacePacketBuffer with the read
* data until a full packet has been received.
*/
ReturnValue_t parseMramPackets(const uint8_t* packet, size_t remainingSize, size_t* foundlen);
/**
* @brief Function is called in scanForReply and fills the spacePacketBuffer with the read
* data until a full packet has been received.
*/
ReturnValue_t parseMramPackets(const uint8_t *packet, size_t remainingSize, size_t* foundlen);
/**
* @brief This function generates the Service 8 packets for the MRAM dump data.
*/
ReturnValue_t handleMramDumpPacket(DeviceCommandId_t id);
/**
* @brief This function generates the Service 8 packets for the MRAM dump data.
*/
ReturnValue_t handleMramDumpPacket(DeviceCommandId_t id);
/**
* @brief With this function the number of expected replies following an MRAM dump command
* will be increased. This is necessary to release the command in case not all replies
* have been received.
*/
void increaseExpectedMramReplies(DeviceCommandId_t id);
/**
* @brief With this function the number of expected replies following an MRAM dump command
* will be increased. This is necessary to release the command in case not all replies
* have been received.
*/
void increaseExpectedMramReplies(DeviceCommandId_t id);
/**
* @brief Function checks if the packet written to the space packet buffer is really a
* MRAM dump packet.
*/
ReturnValue_t checkMramPacketApid();
/**
* @brief Function checks if the packet written to the space packet buffer is really a
* MRAM dump packet.
*/
ReturnValue_t checkMramPacketApid();
/**
* @brief Writes the data of the MRAM dump to a file. The file will be created when receiving
* the first packet.
*/
ReturnValue_t handleMramDumpFile(DeviceCommandId_t id);
/**
* @brief Writes the data of the MRAM dump to a file. The file will be created when receiving
* the first packet.
*/
ReturnValue_t handleMramDumpFile(DeviceCommandId_t id);
/**
* @brief Extracts the length field of a spacePacket referenced by the spacePacket pointer.
*
* @param spacePacket Pointer to the buffer holding the space packet.
*
* @return The value stored in the length field of the data field.
*/
uint16_t readSpacePacketLength(uint8_t* spacePacket);
/**
* @brief Extracts the length field of a spacePacket referenced by the spacePacket pointer.
*
* @param spacePacket Pointer to the buffer holding the space packet.
*
* @return The value stored in the length field of the data field.
*/
uint16_t readSpacePacketLength(uint8_t* spacePacket);
/**
* @brief Extracts the sequence flags from a space packet referenced by the spacePacket
* pointer.
*
* @param spacePacket Pointer to the buffer holding the space packet.
*
* @return uint8_t where the two least significant bits hold the sequence flags.
*/
uint8_t readSequenceFlags(uint8_t* spacePacket);
/**
* @brief Extracts the sequence flags from a space packet referenced by the spacePacket
* pointer.
*
* @param spacePacket Pointer to the buffer holding the space packet.
*
* @return uint8_t where the two least significant bits hold the sequence flags.
*/
uint8_t readSequenceFlags(uint8_t* spacePacket);
ReturnValue_t createMramDumpFile();
ReturnValue_t getTimeStampString(std::string& timeStamp);
ReturnValue_t createMramDumpFile();
ReturnValue_t getTimeStampString(std::string& timeStamp);
};
#endif /* MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_ */

582
bsp_q7s/devices/PlocUpdater.cpp
View File

@ -1,405 +1,393 @@
#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) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
#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
sdcMan = SdCardManager::instance();
sdcMan = SdCardManager::instance();
#endif
ReturnValue_t result = SystemObject::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commandActionHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = actionHelper.initialize(commandQueue);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
ReturnValue_t result = SystemObject::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commandActionHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = actionHelper.initialize(commandQueue);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocUpdater::performOperation(uint8_t operationCode) {
readCommandQueue();
doStateMachine();
return HasReturnvaluesIF::RETURN_OK;
readCommandQueue();
doStateMachine();
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
ReturnValue_t result = RETURN_FAILED;
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) {
return IS_BUSY;
}
if (state != State::IDLE) {
return IS_BUSY;
}
if (size > MAX_PLOC_UPDATE_PATH) {
return NAME_TOO_LONG;
}
if (size > MAX_PLOC_UPDATE_PATH) {
return NAME_TOO_LONG;
}
switch (actionId) {
switch (actionId) {
case UPDATE_A_UBOOT:
image = Image::A;
partition = Partition::UBOOT;
break;
image = Image::A;
partition = Partition::UBOOT;
break;
case UPDATE_A_BITSTREAM:
image = Image::A;
partition = Partition::BITSTREAM;
break;
image = Image::A;
partition = Partition::BITSTREAM;
break;
case UPDATE_A_LINUX:
image = Image::A;
partition = Partition::LINUX_OS;
break;
image = Image::A;
partition = Partition::LINUX_OS;
break;
case UPDATE_A_APP_SW:
image = Image::A;
partition = Partition::APP_SW;
break;
image = Image::A;
partition = Partition::APP_SW;
break;
case UPDATE_B_UBOOT:
image = Image::B;
partition = Partition::UBOOT;
break;
image = Image::B;
partition = Partition::UBOOT;
break;
case UPDATE_B_BITSTREAM:
image = Image::B;
partition = Partition::BITSTREAM;
break;
image = Image::B;
partition = Partition::BITSTREAM;
break;
case UPDATE_B_LINUX:
image = Image::B;
partition = Partition::LINUX_OS;
break;
image = Image::B;
partition = Partition::LINUX_OS;
break;
case UPDATE_B_APP_SW:
image = Image::B;
partition = Partition::APP_SW;
break;
image = Image::B;
partition = Partition::APP_SW;
break;
default:
return INVALID_ACTION_ID;
}
return INVALID_ACTION_ID;
}
result = getImageLocation(data, size);
result = getImageLocation(data, size);
if (result != RETURN_OK) {
return result;
}
if (result != RETURN_OK) {
return result;
}
state = State::UPDATE_AVAILABLE;
state = State::UPDATE_AVAILABLE;
return EXECUTION_FINISHED;
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;
ReturnValue_t result;
CommandMessage message;
ReturnValue_t result;
for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
result = commandQueue->receiveMessage(&message)) {
if (result != RETURN_OK) {
continue;
}
result = actionHelper.handleActionMessage(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
result = commandActionHelper.handleReply(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
sif::debug << "PlocUpdater::readCommandQueue: Received message with invalid format"
<< std::endl;
for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
result = commandQueue->receiveMessage(&message)) {
if (result != RETURN_OK) {
continue;
}
result = actionHelper.handleActionMessage(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
result = commandActionHelper.handleReply(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
sif::debug << "PlocUpdater::readCommandQueue: Received message with invalid format"
<< std::endl;
}
}
void PlocUpdater::doStateMachine() {
switch (state) {
switch (state) {
case State::IDLE:
break;
break;
case State::UPDATE_AVAILABLE:
commandUpdateAvailable();
break;
commandUpdateAvailable();
break;
case State::UPDATE_TRANSFER:
commandUpdatePacket();
break;
commandUpdatePacket();
break;
case State::UPDATE_VERIFY:
commandUpdateVerify();
break;
commandUpdateVerify();
break;
case State::COMMAND_EXECUTING:
break;
break;
default:
sif::debug << "PlocUpdater::doStateMachine: Invalid state" << std::endl;
break;
}
sif::debug << "PlocUpdater::doStateMachine: Invalid state" << std::endl;
break;
}
}
ReturnValue_t PlocUpdater::checkNameLength(size_t size) {
if (size > MAX_PLOC_UPDATE_PATH) {
return NAME_TOO_LONG;
}
return RETURN_OK;
if (size > MAX_PLOC_UPDATE_PATH) {
return NAME_TOO_LONG;
}
return RETURN_OK;
}
ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
ReturnValue_t result = checkNameLength(size);
if (result != RETURN_OK) {
return result;
}
ReturnValue_t result = checkNameLength(size);
if (result != RETURN_OK) {
return result;
}
#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 (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::getImageLocation: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
// 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 (!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 (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::getImageLocation: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
}
else {
//update image not stored on SD card
} 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 {
// update image not stored on SD card
}
#endif /* BOARD_TE0720 == 0 */
updateFile = std::string(reinterpret_cast<const char*>(data), size);
updateFile = std::string(reinterpret_cast<const char*>(data), size);
// Check if file exists
if(not std::filesystem::exists(updateFile)) {
return FILE_NOT_EXISTS;
}
return RETURN_OK;
// Check if file exists
if (not std::filesystem::exists(updateFile)) {
return FILE_NOT_EXISTS;
}
return RETURN_OK;
}
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) {
switch (pendingCommand) {
case (PLOC_SPV::UPDATE_AVAILABLE):
state = State::UPDATE_TRANSFER;
break;
state = State::UPDATE_TRANSFER;
break;
case (PLOC_SPV::UPDATE_IMAGE_DATA):
if (remainingPackets == 0) {
packetsSent = 0; // Reset packets sent variable for next update sequence
state = State::UPDATE_VERIFY;
}
else {
state = State::UPDATE_TRANSFER;
}
break;
if (remainingPackets == 0) {
packetsSent = 0; // Reset packets sent variable for next update sequence
state = State::UPDATE_VERIFY;
} else {
state = State::UPDATE_TRANSFER;
}
break;
case (PLOC_SPV::UPDATE_VERIFY):
triggerEvent(UPDATE_FINISHED);
state = State::IDLE;
pendingCommand = PLOC_SPV::NONE;
break;
triggerEvent(UPDATE_FINISHED);
state = State::IDLE;
pendingCommand = PLOC_SPV::NONE;
break;
default:
sif::debug << "PlocUpdater::completionSuccessfulReceived: Invalid pending command"
<< std::endl;
state = State::IDLE;
break;
}
sif::debug << "PlocUpdater::completionSuccessfulReceived: Invalid pending command"
<< std::endl;
state = State::IDLE;
break;
}
}
void PlocUpdater::completionFailedReceived(ActionId_t actionId,
ReturnValue_t returnCode) {
switch(pendingCommand) {
case(PLOC_SPV::UPDATE_AVAILABLE): {
triggerEvent(UPDATE_AVAILABLE_FAILED);
break;
void PlocUpdater::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
switch (pendingCommand) {
case (PLOC_SPV::UPDATE_AVAILABLE): {
triggerEvent(UPDATE_AVAILABLE_FAILED);
break;
}
case(PLOC_SPV::UPDATE_IMAGE_DATA): {
triggerEvent(UPDATE_TRANSFER_FAILED, packetsSent);
break;
case (PLOC_SPV::UPDATE_IMAGE_DATA): {
triggerEvent(UPDATE_TRANSFER_FAILED, packetsSent);
break;
}
case(PLOC_SPV::UPDATE_VERIFY): {
triggerEvent(UPDATE_VERIFY_FAILED);
break;
case (PLOC_SPV::UPDATE_VERIFY): {
triggerEvent(UPDATE_VERIFY_FAILED);
break;
}
default:
sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command "
<< std::endl;
break;
}
state = State::IDLE;
sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command " << std::endl;
break;
}
state = State::IDLE;
}
void PlocUpdater::commandUpdateAvailable() {
ReturnValue_t result = RETURN_OK;
ReturnValue_t result = RETURN_OK;
if (not std::filesystem::exists(updateFile)) {
triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state));
state = State::IDLE;
return;
}
std::ifstream file(updateFile, std::ifstream::binary);
file.seekg(0, file.end);
imageSize = static_cast<size_t>(file.tellg());
file.close();
numOfUpdatePackets = imageSize / MAX_SP_DATA ;
if (imageSize % MAX_SP_DATA) {
numOfUpdatePackets++;
}
remainingPackets = numOfUpdatePackets;
packetsSent = 0;
calcImageCrc();
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
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;
triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_AVAILABLE);
state = State::IDLE;
pendingCommand = PLOC_SPV::NONE;
return;
}
pendingCommand = PLOC_SPV::UPDATE_AVAILABLE;
state = State::COMMAND_EXECUTING;
if (not std::filesystem::exists(updateFile)) {
triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state));
state = State::IDLE;
return;
}
std::ifstream file(updateFile, std::ifstream::binary);
file.seekg(0, file.end);
imageSize = static_cast<size_t>(file.tellg());
file.close();
numOfUpdatePackets = imageSize / MAX_SP_DATA;
if (imageSize % MAX_SP_DATA) {
numOfUpdatePackets++;
}
remainingPackets = numOfUpdatePackets;
packetsSent = 0;
calcImageCrc();
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc,
numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
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;
triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_AVAILABLE);
state = State::IDLE;
pendingCommand = PLOC_SPV::NONE;
return;
}
pendingCommand = PLOC_SPV::UPDATE_AVAILABLE;
state = State::COMMAND_EXECUTING;
return;
}
void PlocUpdater::commandUpdatePacket() {
ReturnValue_t result = RETURN_OK;
uint16_t payloadLength = 0;
ReturnValue_t result = RETURN_OK;
uint16_t payloadLength = 0;
if (not std::filesystem::exists(updateFile)) {
triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state), packetsSent);
state = State::IDLE;
return;
}
if (not std::filesystem::exists(updateFile)) {
triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state), packetsSent);
state = State::IDLE;
return;
}
std::ifstream file(updateFile, std::ifstream::binary);
file.seekg(packetsSent * MAX_SP_DATA, file.beg);
std::ifstream file(updateFile, std::ifstream::binary);
file.seekg(packetsSent * MAX_SP_DATA, file.beg);
if (remainingPackets == 1) {
payloadLength = imageSize - static_cast<uint16_t>(file.tellg());
}
else {
payloadLength = MAX_SP_DATA;
}
if (remainingPackets == 1) {
payloadLength = imageSize - static_cast<uint16_t>(file.tellg());
} else {
payloadLength = MAX_SP_DATA;
}
PLOC_SPV::UpdatePacket packet(payloadLength);
file.read(reinterpret_cast<char*>(packet.getDataFieldPointer()), payloadLength);
file.close();
// sequence count of first packet is 1
packet.setPacketSequenceCount((packetsSent + 1) & PLOC_SPV::SEQUENCE_COUNT_MASK);
if (numOfUpdatePackets > 1) {
adjustSequenceFlags(packet);
}
packet.makeCrc();
PLOC_SPV::UpdatePacket packet(payloadLength);
file.read(reinterpret_cast<char*>(packet.getDataFieldPointer()), payloadLength);
file.close();
// sequence count of first packet is 1
packet.setPacketSequenceCount((packetsSent + 1) & PLOC_SPV::SEQUENCE_COUNT_MASK);
if (numOfUpdatePackets > 1) {
adjustSequenceFlags(packet);
}
packet.makeCrc();
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(), packet.getFullSize());
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(),
packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
<< " packet to supervisor handler" << std::endl;
triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_IMAGE_DATA);
state = State::IDLE;
pendingCommand = PLOC_SPV::NONE;
return;
}
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
<< " packet to supervisor handler" << std::endl;
triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_IMAGE_DATA);
state = State::IDLE;
pendingCommand = PLOC_SPV::NONE;
return;
}
remainingPackets--;
packetsSent++;
remainingPackets--;
packetsSent++;
pendingCommand = PLOC_SPV::UPDATE_IMAGE_DATA;
state = State::COMMAND_EXECUTING;
pendingCommand = PLOC_SPV::UPDATE_IMAGE_DATA;
state = State::COMMAND_EXECUTING;
}
void PlocUpdater::commandUpdateVerify() {
ReturnValue_t result = RETURN_OK;
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);
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc,
numOfUpdatePackets);
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;
triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_VERIFY);
state = State::IDLE;
pendingCommand = PLOC_SPV::NONE;
return;
}
state = State::COMMAND_EXECUTING;
pendingCommand = PLOC_SPV::UPDATE_VERIFY;
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;
triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_VERIFY);
state = State::IDLE;
pendingCommand = PLOC_SPV::NONE;
return;
}
state = State::COMMAND_EXECUTING;
pendingCommand = PLOC_SPV::UPDATE_VERIFY;
return;
}
void PlocUpdater::calcImageCrc() {
std::ifstream file(updateFile, std::ifstream::binary);
file.seekg(0, file.end);
uint32_t count;
uint32_t bit;
uint32_t remainder = INITIAL_REMAINDER_32;
char input;
for (count = 0; count < imageSize; count++) {
file.seekg(count, file.beg);
file.read(&input, 1);
remainder ^= (input << 16);
for (bit = 8; bit > 0; --bit) {
if (remainder & TOPBIT_32) {
remainder = (remainder << 1) ^ POLYNOMIAL_32;
} else {
remainder = (remainder << 1);
}
}
std::ifstream file(updateFile, std::ifstream::binary);
file.seekg(0, file.end);
uint32_t count;
uint32_t bit;
uint32_t remainder = INITIAL_REMAINDER_32;
char input;
for (count = 0; count < imageSize; count++) {
file.seekg(count, file.beg);
file.read(&input, 1);
remainder ^= (input << 16);
for (bit = 8; bit > 0; --bit) {
if (remainder & TOPBIT_32) {
remainder = (remainder << 1) ^ POLYNOMIAL_32;
} else {
remainder = (remainder << 1);
}
}
file.close();
imageCrc = (remainder ^ FINAL_XOR_VALUE_32);
}
file.close();
imageCrc = (remainder ^ FINAL_XOR_VALUE_32);
}
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) {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT));
}
else {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT));
}
if (packetsSent == 0) {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT));
} else if (remainingPackets == 1) {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT));
} else {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT));
}
}

247
bsp_q7s/devices/PlocUpdater.h
View File

@ -2,181 +2,170 @@
#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
*/
class PlocUpdater : public SystemObject,
public HasActionsIF,
public ExecutableObjectIF,
public HasReturnvaluesIF,
public CommandsActionsIF {
public:
public HasActionsIF,
public ExecutableObjectIF,
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;
static const ActionId_t UPDATE_A_APP_SW = 3;
static const ActionId_t UPDATE_B_UBOOT = 4;
static const ActionId_t UPDATE_B_BITSTREAM = 5;
static const ActionId_t UPDATE_B_LINUX = 6;
static const ActionId_t UPDATE_B_APP_SW = 7;
static const ActionId_t UPDATE_A_UBOOT = 0;
static const ActionId_t UPDATE_A_BITSTREAM = 1;
static const ActionId_t UPDATE_A_LINUX = 2;
static const ActionId_t UPDATE_A_APP_SW = 3;
static const ActionId_t UPDATE_B_UBOOT = 4;
static const ActionId_t UPDATE_B_BITSTREAM = 5;
static const ActionId_t UPDATE_B_LINUX = 6;
static const ActionId_t UPDATE_B_APP_SW = 7;
PlocUpdater(object_id_t objectId);
virtual ~PlocUpdater();
PlocUpdater(object_id_t objectId);
virtual ~PlocUpdater();
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t initialize() override;
MessageQueueIF* getCommandQueuePtr() override;
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t initialize() override;
MessageQueueIF* getCommandQueuePtr() override;
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_UPDATER;
private:
//! [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.
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);
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_UPDATER;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_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.
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);
//! [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
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
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)
static const Event UPDATE_TRANSFER_FAILED = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor failed to execute the update verify command.
static const Event UPDATE_VERIFY_FAILED = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] MPSoC update successful completed
static const Event UPDATE_FINISHED = MAKE_EVENT(5, severity::INFO);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_UPDATER;
static const uint32_t QUEUE_SIZE = config::PLOC_UPDATER_QUEUE_SIZE;
static const size_t MAX_PLOC_UPDATE_PATH = 50;
static const size_t SD_PREFIX_LENGTH = 8;
// Maximum size of update payload data per space packet (max size of space packet is 1024 bytes)
static const size_t MAX_SP_DATA = 1016;
//! [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
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
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)
static const Event UPDATE_TRANSFER_FAILED = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor failed to execute the update verify command.
static const Event UPDATE_VERIFY_FAILED = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] MPSoC update successful completed
static const Event UPDATE_FINISHED = MAKE_EVENT(5, severity::INFO);
static const uint32_t TOPBIT_32 = (1 << 31);
static const uint32_t POLYNOMIAL_32 = 0x04C11DB7;
static const uint32_t INITIAL_REMAINDER_32 = 0xFFFFFFFF;
static const uint32_t FINAL_XOR_VALUE_32 = 0xFFFFFFFF;
static const uint32_t QUEUE_SIZE = config::PLOC_UPDATER_QUEUE_SIZE;
static const size_t MAX_PLOC_UPDATE_PATH = 50;
static const size_t SD_PREFIX_LENGTH = 8;
// Maximum size of update payload data per space packet (max size of space packet is 1024 bytes)
static const size_t MAX_SP_DATA = 1016;
static const uint32_t TOPBIT_32 = (1 << 31);
static const uint32_t POLYNOMIAL_32 = 0x04C11DB7;
static const uint32_t INITIAL_REMAINDER_32 = 0xFFFFFFFF;
static const uint32_t FINAL_XOR_VALUE_32 = 0xFFFFFFFF;
MessageQueueIF* commandQueue = nullptr;
MessageQueueIF* commandQueue = nullptr;
#if BOARD_TE0720 == 0
SdCardManager* sdcMan = nullptr;
SdCardManager* sdcMan = nullptr;
#endif
CommandActionHelper commandActionHelper;
CommandActionHelper commandActionHelper;
ActionHelper actionHelper;
ActionHelper actionHelper;
enum class State: uint8_t {
IDLE,
UPDATE_AVAILABLE,
UPDATE_TRANSFER,
UPDATE_VERIFY,
COMMAND_EXECUTING
};
enum class State : uint8_t {
IDLE,
UPDATE_AVAILABLE,
UPDATE_TRANSFER,
UPDATE_VERIFY,
COMMAND_EXECUTING
};
State state = State::IDLE;
State state = State::IDLE;
ActionId_t pendingCommand = PLOC_SPV::NONE;
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;
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;
Partition partition = Partition::NONE;
uint32_t packetsSent = 0;
uint32_t remainingPackets = 0;
// Number of packets required to transfer the update image
uint32_t numOfUpdatePackets = 0;
uint32_t packetsSent = 0;
uint32_t remainingPackets = 0;
// Number of packets required to transfer the update image
uint32_t numOfUpdatePackets = 0;
std::string updateFile;
uint32_t imageSize = 0;
uint32_t imageCrc = 0;
std::string updateFile;
uint32_t imageSize = 0;
uint32_t imageCrc = 0;
void readCommandQueue();
void doStateMachine();
void readCommandQueue();
void doStateMachine();
/**
* @brief Extracts the path and name of the update image from the service 8 command data.
*/
ReturnValue_t getImageLocation(const uint8_t* data, size_t size);
/**
* @brief Extracts the path and name of the update image from the service 8 command data.
*/
ReturnValue_t getImageLocation(const uint8_t* data, size_t size);
ReturnValue_t checkNameLength(size_t size);
ReturnValue_t checkNameLength(size_t size);
/**
* @brief Prepares and sends update available command to PLOC supervisor handler.
*/
void commandUpdateAvailable();
/**
* @brief Prepares and sends update available command to PLOC supervisor handler.
*/
void commandUpdateAvailable();
/**
* @brief Prepares and sends and update packet to the PLOC supervisor handler.
*/
void commandUpdatePacket();
/**
* @brief Prepares and sends and update packet to the PLOC supervisor handler.
*/
void commandUpdatePacket();
/**
* @brief Prepares and sends the update verification packet to the PLOC supervisor handler.
*/
void commandUpdateVerify();
/**
* @brief Prepares and sends the update verification packet to the PLOC supervisor handler.
*/
void commandUpdateVerify();
void calcImageCrc();
void calcImageCrc();
void adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet);
void adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet);
};
#endif /* MISSION_DEVICES_PLOCUPDATER_H_ */

41
bsp_q7s/devices/devicedefinitions/PlocMemDumpDefinitions.h
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@ -3,31 +3,26 @@
#include <fsfw/src/fsfw/serialize/SerialLinkedListAdapter.h>
class MemoryParams: public SerialLinkedListAdapter<SerializeIF> {
public:
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) {
setLinks();
}
/**
* @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) {
setLinks();
}
private:
void setLinks() {
setStart(&startAddress);
startAddress.setNext(&endAddress);
}
SerializeElement<uint32_t> startAddress;
SerializeElement<uint32_t> endAddress;
private:
void setLinks() {
setStart(&startAddress);
startAddress.setNext(&endAddress);
}
SerializeElement<uint32_t> startAddress;
SerializeElement<uint32_t> endAddress;
};
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_ */

2261
bsp_q7s/devices/devicedefinitions/PlocSupervisorDefinitions.h
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File diff suppressed because it is too large Load Diff

100
bsp_q7s/devices/startracker/ArcsecDatalinkLayer.cpp
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@ -1,78 +1,62 @@
#include "ArcsecDatalinkLayer.h"
ArcsecDatalinkLayer::ArcsecDatalinkLayer() {
slipInit();
}
ArcsecDatalinkLayer::ArcsecDatalinkLayer() { slipInit(); }
ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {
}
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;
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;
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;
}
return RETURN_FAILED;
}
uint8_t ArcsecDatalinkLayer::getReplyFrameType() {
return decodedFrame[0];
}
uint8_t ArcsecDatalinkLayer::getReplyFrameType() { return decodedFrame[0]; }
const uint8_t* ArcsecDatalinkLayer::getReply() {
return &decodedFrame[1];
}
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);
arc_transport_encode_body(data, length, encBuffer, &encFrameSize);
}
uint8_t* ArcsecDatalinkLayer::getEncodedFrame() {
return encBuffer;
}
uint8_t* ArcsecDatalinkLayer::getEncodedFrame() { return encBuffer; }
uint32_t ArcsecDatalinkLayer::getEncodedLength() {
return encFrameSize;
}
uint32_t ArcsecDatalinkLayer::getEncodedLength() { return encFrameSize; }
uint8_t ArcsecDatalinkLayer::getStatusField() {
return *(decodedFrame + STATUS_OFFSET);
}
uint8_t ArcsecDatalinkLayer::getId() {
return *(decodedFrame + ID_OFFSET);
}
uint8_t ArcsecDatalinkLayer::getStatusField() { return *(decodedFrame + STATUS_OFFSET); }
uint8_t ArcsecDatalinkLayer::getId() { return *(decodedFrame + ID_OFFSET); }

138
bsp_q7s/devices/startracker/ArcsecDatalinkLayer.h
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@ -5,96 +5,94 @@
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
extern "C" {
#include "common/misc.h"
#include "common/misc.h"
}
/**
* @brief Helper class to handle the datalinklayer of replies from the star tracker of arcsec.
*/
class ArcsecDatalinkLayer: public HasReturnvaluesIF {
public:
class ArcsecDatalinkLayer : public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
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);
//! [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;
static const uint8_t STATUS_OK = 0;
ArcsecDatalinkLayer();
virtual ~ArcsecDatalinkLayer();
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 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 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 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 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 size of encoded frame
*/
uint32_t getEncodedLength();
/**
* @brief Returns pointer to encoded frame
*/
uint8_t* getEncodedFrame();
/**
* @brief Returns pointer to encoded frame
*/
uint8_t* getEncodedFrame();
/**
* @brief Returns status of reply
*/
uint8_t getStatusField();
/**
* @brief Returns status of reply
*/
uint8_t getStatusField();
/**
* @brief Returns ID of reply
*/
uint8_t getId();
/**
* @brief Returns ID of reply
*/
uint8_t getId();
private:
static const uint8_t ID_OFFSET = 1;
static const uint8_t STATUS_OFFSET = 2;
private:
// 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;
static const uint8_t ID_OFFSET = 1;
static const uint8_t STATUS_OFFSET = 2;
slip_decode_state slipInfo;
// 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();
void slipInit();
};
#endif /* BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_ */

214
bsp_q7s/devices/startracker/ArcsecJsonKeys.h
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@ -5,122 +5,122 @@
* @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 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 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 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 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 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 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 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 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 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 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";
}
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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bsp_q7s/devices/startracker/ArcsecJsonParamBase.cpp
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@ -1,94 +1,95 @@
#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);
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;
}
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;
}
return PARAM_NOT_EXISTS;
}
void ArcsecJsonParamBase::convertEmpty(std::string& value) {
if (value == "") {
value = "0";
}
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));
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));
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));
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));
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));
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;
*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;
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];
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;
}
for (json::iterator it = properties.begin(); it != properties.end(); ++it) {
if ((*it)["name"] == setName) {
set = (*it)["fields"];
return RETURN_OK;
}
return SET_NOT_EXISTS;
}
return SET_NOT_EXISTS;
}

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bsp_q7s/devices/startracker/ArcsecJsonParamBase.h
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@ -1,16 +1,16 @@
#ifndef BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_
#define BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_
#include <fstream>
#include <filesystem>
#include <fstream>
#include <nlohmann/json.hpp>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#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"
#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
#include "thirdparty/arcsec_star_tracker/common/genericstructs.h"
}
using json = nlohmann::json;
@ -23,127 +23,124 @@ using json = nlohmann::json;
* @author J. Meier
*/
class ArcsecJsonParamBase : public HasReturnvaluesIF {
public:
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);
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 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 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;
/**
* @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);
protected:
/**
* @brief Converts empty string which is equal to define a value as zero.
*/
void convertEmpty(std::string& value);
/**
* @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 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 Converts empty string which is equal to define a value as zero.
*/
void convertEmpty(std::string& value);
/**
* @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 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 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 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 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 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 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);
/**
* @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);
void addSetParamHeader(uint8_t* buffer, uint8_t setId);
/**
* @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);
private:
json properties;
json set;
std::string setName;
void addSetParamHeader(uint8_t* buffer, uint8_t setId);
/**
* @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;
private:
/**
* @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);
json properties;
json set;
std::string setName;
void createJsonObject(const std::string fullname);
/**
* @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();
/**
* @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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bsp_q7s/devices/startracker/StarTrackerJsonCommands.h
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@ -9,207 +9,168 @@
#include <string>
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "ArcsecJsonParamBase.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
/**
* @brief Generates command to set the limit parameters
*
*/
class Limits : public ArcsecJsonParamBase {
public:
public:
Limits();
Limits();
size_t getSize();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 43;
private:
static const size_t COMMAND_SIZE = 43;
virtual ReturnValue_t createCommand(uint8_t* buffer) override;
virtual ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the tracking algorithm.
*
*/
class Tracking : public ArcsecJsonParamBase {
public:
public:
Tracking();
Tracking();
size_t getSize();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 15;
ReturnValue_t createCommand(uint8_t* buffer) override;
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:
public:
Mounting();
Mounting();
size_t getSize();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 18;
ReturnValue_t createCommand(uint8_t* buffer) override;
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:
public:
Camera();
Camera();
size_t getSize();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 43;
ReturnValue_t createCommand(uint8_t* buffer) override;
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:
public:
Blob();
Blob();
size_t getSize();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 24;
ReturnValue_t createCommand(uint8_t* buffer) override;
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:
public:
Centroiding();
Centroiding();
size_t getSize();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 47;
ReturnValue_t createCommand(uint8_t* buffer) override;
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:
public:
Lisa();
Lisa();
size_t getSize();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 48;
ReturnValue_t createCommand(uint8_t* buffer) override;
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:
public:
Matching();
Matching();
size_t getSize();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 10;
ReturnValue_t createCommand(uint8_t* buffer) override;
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:
public:
Validation();
Validation();
size_t getSize();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 12;
ReturnValue_t createCommand(uint8_t* buffer) override;
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:
public:
Algo();
Algo();
size_t getSize();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 13;
ReturnValue_t createCommand(uint8_t* buffer) override;
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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bsp_q7s/devices/startracker/StrHelper.cpp
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#define BSP_Q7S_DEVICES_STRHELPER_H_
#include <string>
#include "ArcsecDatalinkLayer.h"
#include "fsfw/osal/linux/BinarySemaphore.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.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"
#include "fsfw/devicehandlers/CookieIF.h"
extern "C" {
#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
#include "thirdparty/arcsec_star_tracker/client/generated/actionreq.h"
#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:
class StrHelper : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER;
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);
//! [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();
StrHelper(object_id_t objectId);
virtual ~StrHelper();
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
void setComCookie(CookieIF* comCookie_);
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 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 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 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 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 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 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 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 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 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);
/**
* @brief Set download FPGA image name
*/
void setDownloadFpgaImage(std::string filename);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
private:
//! [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);
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
// Size of one image part which can be sent per action request
static const size_t SIZE_IMAGE_PART = 1024;
//! [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);
class ImageDownload {
public:
static const uint32_t LAST_POSITION = 4095;
};
// Size of one image part which can be sent per action request
static const size_t SIZE_IMAGE_PART = 1024;
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 ImageDownload {
public:
static const uint32_t LAST_POSITION = 4095;
};
class FpgaUpload {
public:
static const uint32_t MAX_DATA = 1024;
// Full name of file to upload
std::string uploadFile;
};
FpgaUpload fpgaUpload;
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;
static const uint32_t MAX_POLLS = 10000;
class FpgaUpload {
public:
static const uint32_t MAX_DATA = 1024;
// Full name of file to upload
std::string uploadFile;
};
FpgaUpload fpgaUpload;
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;
static const uint32_t MAX_POLLS = 10000;
enum class InternalState {
IDLE,
UPLOAD_IMAGE,
DOWNLOAD_IMAGE,
FLASH_WRITE,
FLASH_READ,
DOWNLOAD_FPGA_IMAGE,
UPLOAD_FPGA_IMAGE
};
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;
InternalState internalState = InternalState::IDLE;
enum class InternalState {
IDLE,
UPLOAD_IMAGE,
DOWNLOAD_IMAGE,
FLASH_WRITE,
FLASH_READ,
DOWNLOAD_FPGA_IMAGE,
UPLOAD_FPGA_IMAGE
};
ArcsecDatalinkLayer datalinkLayer;
InternalState internalState = InternalState::IDLE;
BinarySemaphore semaphore;
ArcsecDatalinkLayer datalinkLayer;
class UploadImage {
public:
// Name including absolute path of image to upload
std::string uploadFile;
};
UploadImage uploadImage;
BinarySemaphore semaphore;
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 UploadImage {
public:
// Name including absolute path of image to upload
std::string uploadFile;
};
UploadImage uploadImage;
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 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 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;
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;
SdCardManager* sdcMan = nullptr;
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;
uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
SdCardManager* sdcMan = nullptr;
bool terminate = false;
uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
/**
* 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;
bool terminate = false;
// Queue id of raw data receiver
MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE;
/**
* 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;
/**
* @brief Performs image uploading
*/
ReturnValue_t performImageUpload();
// Queue id of raw data receiver
MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE;
/**
* @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 Performs image uploading
*/
ReturnValue_t performImageUpload();
/**
* @brief Handles flash write procedure
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t performFlashWrite();
/**
* @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 Sends a sequence of commands to the star tracker to read larger parts from the
* flash memory.
*/
ReturnValue_t performFlashRead();
/**
* @brief Handles flash write procedure
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t performFlashWrite();
/**
* @brief Performs the download of the FPGA image which requires to be slip over multiple
* action requests.
*/
ReturnValue_t performFpgaDownload();
/**
* @brief Sends a sequence of commands to the star tracker to read larger parts from the
* flash memory.
*/
ReturnValue_t performFlashRead();
/**
* @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 Performs the download of the FPGA image which requires to be slip over multiple
* action requests.
*/
ReturnValue_t performFpgaDownload();
/**
* @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 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 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 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 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 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 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 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 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 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);
/**
* @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_ */

858
bsp_q7s/gpio/gpioCallbacks.cpp
View File

@ -1,512 +1,504 @@
#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;
ReturnValue_t result;
if (gpioComIF == nullptr) {
sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
return;
}
if (gpioComIF == nullptr) {
sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
return;
}
gpioComInterface = gpioComIF;
gpioComInterface = gpioComIF;
GpioCookie* spiMuxGpios = new GpioCookie;
GpioCookie* spiMuxGpios = new GpioCookie;
GpiodRegularByLineName* spiMuxBit = nullptr;
/** Setting mux bit 1 to low will disable IC21 on the interface board */
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1",
gpio::DIR_OUT, gpio::HIGH);
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::DIR_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::DIR_OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
GpiodRegularByLineName* spiMuxBit = nullptr;
/** Setting mux bit 1 to low will disable IC21 on the interface board */
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1",
gpio::DIR_OUT, gpio::HIGH);
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::DIR_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::DIR_OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
// spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1",
// 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_1_PIN, "SPI Mux Bit 1",
// 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);
/** The following gpios can take arbitrary initial values */
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 4",
gpio::DIR_OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 5",
gpio::DIR_OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
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);
spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
/** The following gpios can take arbitrary initial values */
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 4",
gpio::DIR_OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 5",
gpio::DIR_OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
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);
spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
result = gpioComInterface->addGpios(spiMuxGpios);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
return;
}
result = gpioComInterface->addGpios(spiMuxGpios);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
return;
}
}
void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
void* args) {
void* args) {
if (gpioComInterface == nullptr) {
sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder "
<< "to specify gpioComIF" << std::endl;
return;
}
if (gpioComInterface == nullptr) {
sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder "
<< "to specify gpioComIF" << std::endl;
return;
}
/* Reading is not supported by the callback function */
if (gpioOp == gpio::GpioOperation::READ) {
return;
}
/* Reading is not supported by the callback function */
if (gpioOp == gpio::GpioOperation::READ) {
return;
if (value == gpio::HIGH) {
switch (gpioId) {
case (gpioIds::RTD_IC_3): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_4): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_5): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_6): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_7): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_8): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_9): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_10): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_11): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_12): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_13): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_14): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_15): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_16): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_17): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_18): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::CS_SUS_1): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_2): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_3): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_4): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_5): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_6): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_7): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_8): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_9): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_10): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_11): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_12): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_13): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_RW1): {
disableRwDecoder();
break;
}
case (gpioIds::CS_RW2): {
disableRwDecoder();
break;
}
case (gpioIds::CS_RW3): {
disableRwDecoder();
break;
}
case (gpioIds::CS_RW4): {
disableRwDecoder();
break;
}
default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
}
if (value == gpio::HIGH) {
switch (gpioId) {
case(gpioIds::RTD_IC_3): {
disableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_4): {
disableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_5): {
disableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_6): {
disableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_7): {
disableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_8): {
disableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_9): {
disableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_10): {
disableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_11): {
disableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_12): {
disableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_13): {
disableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_14): {
disableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_15): {
disableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_16): {
disableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_17): {
disableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_18): {
disableDecoderTcsIc2();
break;
}
case(gpioIds::CS_SUS_1): {
disableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_2): {
disableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_3): {
disableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_4): {
disableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_5): {
disableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_6): {
disableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_7): {
disableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_8): {
disableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_9): {
disableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_10): {
disableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_11): {
disableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_12): {
disableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_13): {
disableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_RW1): {
disableRwDecoder();
break;
}
case(gpioIds::CS_RW2): {
disableRwDecoder();
break;
}
case(gpioIds::CS_RW3): {
disableRwDecoder();
break;
}
case(gpioIds::CS_RW4): {
disableRwDecoder();
break;
}
default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
}
}
else if (value == gpio::LOW) {
switch (gpioId) {
case(gpioIds::RTD_IC_3): {
selectY7();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_4): {
selectY6();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_5): {
selectY5();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_6): {
selectY4();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_7): {
selectY3();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_8): {
selectY2();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_9): {
selectY1();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_10): {
selectY0();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_11): {
selectY7();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_12): {
selectY6();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_13): {
selectY5();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_14): {
selectY4();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_15): {
selectY3();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_16): {
selectY2();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_17): {
selectY1();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_18): {
selectY0();
enableDecoderTcsIc2();
break;
}
case(gpioIds::CS_SUS_1): {
selectY0();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_2): {
selectY1();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_3): {
selectY0();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_4): {
selectY1();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_5): {
selectY2();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_6): {
selectY2();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_7): {
selectY3();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_8): {
selectY3();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_9): {
selectY4();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_10): {
selectY5();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_11): {
selectY4();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_12): {
selectY5();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_13): {
selectY6();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_RW1): {
selectY0();
enableRwDecoder();
break;
}
case(gpioIds::CS_RW2): {
selectY1();
enableRwDecoder();
break;
}
case(gpioIds::CS_RW3): {
selectY2();
enableRwDecoder();
break;
}
case(gpioIds::CS_RW4): {
selectY3();
enableRwDecoder();
break;
}
default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
}
}
else {
sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl;
} else if (value == gpio::LOW) {
switch (gpioId) {
case (gpioIds::RTD_IC_3): {
selectY7();
enableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_4): {
selectY6();
enableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_5): {
selectY5();
enableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_6): {
selectY4();
enableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_7): {
selectY3();
enableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_8): {
selectY2();
enableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_9): {
selectY1();
enableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_10): {
selectY0();
enableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_11): {
selectY7();
enableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_12): {
selectY6();
enableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_13): {
selectY5();
enableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_14): {
selectY4();
enableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_15): {
selectY3();
enableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_16): {
selectY2();
enableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_17): {
selectY1();
enableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_18): {
selectY0();
enableDecoderTcsIc2();
break;
}
case (gpioIds::CS_SUS_1): {
selectY0();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_2): {
selectY1();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_3): {
selectY0();
enableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_4): {
selectY1();
enableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_5): {
selectY2();
enableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_6): {
selectY2();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_7): {
selectY3();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_8): {
selectY3();
enableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_9): {
selectY4();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_10): {
selectY5();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_11): {
selectY4();
enableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_12): {
selectY5();
enableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_13): {
selectY6();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_RW1): {
selectY0();
enableRwDecoder();
break;
}
case (gpioIds::CS_RW2): {
selectY1();
enableRwDecoder();
break;
}
case (gpioIds::CS_RW3): {
selectY2();
enableRwDecoder();
break;
}
case (gpioIds::CS_RW4): {
selectY3();
enableRwDecoder();
break;
}
default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
}
} else {
sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl;
}
}
void enableDecoderTcsIc1() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
}
void enableDecoderTcsIc2() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
}
void enableDecoderInterfaceBoardIc1() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
}
void enableDecoderInterfaceBoardIc2() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
}
void disableDecoderTcsIc1() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
}
void disableDecoderTcsIc2() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
}
void disableDecoderInterfaceBoardIc1() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
}
void disableDecoderInterfaceBoardIc2() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
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);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6);
}
void selectY1() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6);
}
void selectY2() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6);
}
void selectY3() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6);
}
void selectY4() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6);
}
void selectY5() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6);
}
void selectY6() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6);
}
void selectY7() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6);
}
void disableAllDecoder() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::EN_RW_CS);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::EN_RW_CS);
}
}
} // namespace gpioCallbacks

111
bsp_q7s/gpio/gpioCallbacks.h
View File

@ -1,74 +1,73 @@
#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 {
/**
* @brief This function initializes the GPIOs used to control the SN74LVC138APWR decoders on
* the TCS Board and the interface board.
*/
void initSpiCsDecoder(GpioIF* gpioComIF);
/**
* @brief This function initializes the GPIOs used to control the SN74LVC138APWR decoders on
* the TCS Board and the interface board.
*/
void initSpiCsDecoder(GpioIF* gpioComIF);
/**
* @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);
/**
* @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);
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the TCS board which is named to IC1 in the schematic.
*/
void enableDecoderTcsIc1();
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the TCS board which is named to IC1 in the schematic.
*/
void enableDecoderTcsIc1();
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the TCS board which is named to IC2 in the schematic.
*/
void enableDecoderTcsIc2();
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the TCS board which is named to IC2 in the schematic.
*/
void enableDecoderTcsIc2();
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the inteface board board which is named to IC21 in the schematic.
*/
void enableDecoderInterfaceBoardIc1();
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the inteface board board which is named to IC21 in the schematic.
*/
void enableDecoderInterfaceBoardIc1();
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the inteface board board which is named to IC22 in the schematic.
*/
void enableDecoderInterfaceBoardIc2();
/**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the inteface board board which is named to IC22 in the schematic.
*/
void enableDecoderInterfaceBoardIc2();
void disableDecoderTcsIc1();
void disableDecoderTcsIc2();
void disableDecoderInterfaceBoardIc1();
void disableDecoderInterfaceBoardIc2();
void disableDecoderTcsIc1();
void disableDecoderTcsIc2();
void disableDecoderInterfaceBoardIc1();
void disableDecoderInterfaceBoardIc2();
/**
* @brief Enables the reaction wheel chip select decoder (IC3).
*/
void enableRwDecoder();
void disableRwDecoder();
/**
* @brief Enables the reaction wheel chip select decoder (IC3).
*/
void enableRwDecoder();
void disableRwDecoder();
/**
* @brief This function disables all decoder.
*/
void disableAllDecoder();
/**
* @brief This function disables all decoder.
*/
void disableAllDecoder();
/** The following functions enable the appropriate channel of the currently enabled decoder */
void selectY0();
void selectY1();
void selectY2();
void selectY3();
void selectY4();
void selectY5();
void selectY6();
void selectY7();
}
/** The following functions enable the appropriate channel of the currently enabled decoder */
void selectY0();
void selectY1();
void selectY2();
void selectY3();
void selectY4();
void selectY5();
void selectY6();
void selectY7();
} // namespace gpioCallbacks
#endif /* LINUX_GPIO_GPIOCALLBACKS_H_ */

9
bsp_q7s/main.cpp
View File

@ -12,12 +12,11 @@
* @brief This is the main program for the target hardware.
* @return
*/
int main(void)
{
using namespace std;
int main(void) {
using namespace std;
#if Q7S_SIMPLE_MODE == 0
return obsw::obsw();
return obsw::obsw();
#else
return simple::simple();
return simple::simple();
#endif
}

418
bsp_q7s/memory/FileSystemHandler.cpp
View File

@ -1,257 +1,241 @@
#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) {
mq = QueueFactory::instance()->createMessageQueue(FS_MAX_QUEUE_SIZE);
#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) {
// Restart OBSW, hints at a memory leak
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();
}
while (true) {
try {
fileSystemHandlerLoop();
} catch (std::bad_alloc& e) {
// Restart OBSW, hints at a memory leak
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();
}
}
}
void FileSystemHandler::fileSystemHandlerLoop() {
CommandMessage filemsg;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
while(true) {
if(opCounter % 5 == 0) {
if(coreCtrl->sdInitFinished()) {
fileSystemCheckup();
}
}
result = mq->receiveMessage(&filemsg);
if(result == MessageQueueIF::EMPTY) {
break;
}
else if(result != HasReturnvaluesIF::RETURN_FAILED) {
sif::warning << "FileSystemHandler::performOperation: Message reception failed!"
<< std::endl;
break;
}
Command_t command = filemsg.getCommand();
switch(command) {
case(GenericFileSystemMessage::CMD_CREATE_DIRECTORY): {
break;
}
case(GenericFileSystemMessage::CMD_CREATE_FILE): {
break;
}
}
opCounter++;
CommandMessage filemsg;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
while (true) {
if (opCounter % 5 == 0) {
if (coreCtrl->sdInitFinished()) {
fileSystemCheckup();
}
}
result = mq->receiveMessage(&filemsg);
if (result == MessageQueueIF::EMPTY) {
break;
} else if (result != HasReturnvaluesIF::RETURN_FAILED) {
sif::warning << "FileSystemHandler::performOperation: Message reception failed!" << std::endl;
break;
}
Command_t command = filemsg.getCommand();
switch (command) {
case (GenericFileSystemMessage::CMD_CREATE_DIRECTORY): {
break;
}
case (GenericFileSystemMessage::CMD_CREATE_FILE): {
break;
}
}
// This task will have a low priority and will run permanently in the background
// so we will just run in a permanent loop here and check file system
// messages permanently
opCounter++;
TaskFactory::instance()->delayTask(1000);
}
// This task will have a low priority and will run permanently in the background
// so we will just run in a permanent loop here and check file system
// messages permanently
opCounter++;
TaskFactory::instance()->delayTask(1000);
}
void FileSystemHandler::fileSystemCheckup() {
SdCardManager::SdStatePair statusPair;
sdcMan->getSdCardActiveStatus(statusPair);
sd::SdCard preferredSdCard;
sdcMan->getPreferredSdCard(preferredSdCard);
if((preferredSdCard == sd::SdCard::SLOT_0) and
(statusPair.first == sd::SdState::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
SdCardManager::SdStatePair statusPair;
sdcMan->getSdCardActiveStatus(statusPair);
sd::SdCard preferredSdCard;
sdcMan->getPreferredSdCard(preferredSdCard);
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
(statusPair.second == sd::SdState::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
} else {
std::string sdString;
if (preferredSdCard == sd::SdCard::SLOT_0) {
sdString = "0";
} else {
sdString = "1";
}
else if((preferredSdCard == sd::SdCard::SLOT_1) and
(statusPair.second == sd::SdState::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
}
else {
std::string sdString;
if(preferredSdCard == sd::SdCard::SLOT_0) {
sdString = "0";
}
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;
// This function will appear to fix the inconsistent state
ReturnValue_t result = sdcMan->sanitizeState(&statusPair, preferredSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
// Oh no.
triggerEvent(SdCardManager::SANITIZATION_FAILED, 0, 0);
sif::error << "FileSystemHandler::fileSystemCheckup: Sanitization failed" << std::endl;
}
sif::warning << "FileSystemHandler::performOperation: "
"Inconsistent state detected"
<< std::endl;
sif::warning << "Preferred SD card is " << sdString
<< " but does not appear to be mounted. Attempting fix.." << std::endl;
// This function will appear to fix the inconsistent state
ReturnValue_t result = sdcMan->sanitizeState(&statusPair, preferredSdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
// Oh no.
triggerEvent(SdCardManager::SANITIZATION_FAILED, 0, 0);
sif::error << "FileSystemHandler::fileSystemCheckup: Sanitization failed" << std::endl;
}
}
}
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;
}
sdcMan = SdCardManager::instance();
sd::SdCard preferredSdCard;
ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if(preferredSdCard == sd::SdCard::SLOT_0) {
currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
}
else if(preferredSdCard == sd::SdCard::SLOT_1) {
currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
}
return HasReturnvaluesIF::RETURN_OK;
coreCtrl = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
if (coreCtrl == nullptr) {
sif::error << "FileSystemHandler::initialize: Could not retrieve core controller handle"
<< std::endl;
}
sdcMan = SdCardManager::instance();
sd::SdCard preferredSdCard;
ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (preferredSdCard == sd::SdCard::SLOT_0) {
currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
} 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,
uint16_t packetNumber, FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / filename;
if(not std::filesystem::exists(path)) {
return FILE_DOES_NOT_EXIST;
}
std::ofstream file(path, std::ios_base::app|std::ios_base::out);
file.write(reinterpret_cast<const char*>(data), size);
if(not file.good()) {
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::createFile(const char* repositoryPath,
const char* filename, const uint8_t* data, size_t size, FileSystemArgsIF* args) {
auto path = getInitPath(args) / filename;
if(std::filesystem::exists(path)) {
return FILE_ALREADY_EXISTS;
}
std::ofstream file(path);
file.write(reinterpret_cast<const char*>(data), size);
if(not file.good()) {
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
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;
}
int result = std::remove(path.c_str());
if(result != 0) {
sif::warning << "FileSystemHandler::deleteFile: Failed with code " << result << std::endl;
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler:: createDirectory(const char* repositoryPath, const char* dirname,
bool createParentDirs, FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / dirname;
if(std::filesystem::exists(path)) {
return DIRECTORY_ALREADY_EXISTS;
}
if(std::filesystem::create_directory(path)) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::warning << "Creating directory " << path << " failed" << std::endl;
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)) {
return FILE_DOES_NOT_EXIST;
}
std::ofstream file(path, std::ios_base::app | std::ios_base::out);
file.write(reinterpret_cast<const char*>(data), size);
if (not file.good()) {
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::createFile(const char* repositoryPath, const char* filename,
const uint8_t* data, size_t size,
FileSystemArgsIF* args) {
auto path = getInitPath(args) / filename;
if (std::filesystem::exists(path)) {
return FILE_ALREADY_EXISTS;
}
std::ofstream file(path);
file.write(reinterpret_cast<const char*>(data), size);
if (not file.good()) {
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
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;
}
int result = std::remove(path.c_str());
if (result != 0) {
sif::warning << "FileSystemHandler::deleteFile: Failed with code " << result << std::endl;
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::createDirectory(const char* repositoryPath, const char* dirname,
bool createParentDirs, FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / dirname;
if (std::filesystem::exists(path)) {
return DIRECTORY_ALREADY_EXISTS;
}
if (std::filesystem::create_directory(path)) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::warning << "Creating directory " << path << " failed" << std::endl;
return GENERIC_FILE_ERROR;
}
ReturnValue_t FileSystemHandler::removeDirectory(const char* repositoryPath, const char* dirname,
bool deleteRecurively, FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / dirname;
if(not std::filesystem::exists(path)) {
return DIRECTORY_DOES_NOT_EXIST;
bool deleteRecurively, FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / dirname;
if (not std::filesystem::exists(path)) {
return DIRECTORY_DOES_NOT_EXIST;
}
std::error_code err;
if (not deleteRecurively) {
if (std::filesystem::remove(path, err)) {
return HasReturnvaluesIF::RETURN_OK;
} else {
// Check error code. Most probably denied permissions because folder is not empty
sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
"code "
<< err.value() << ": " << strerror(err.value()) << std::endl;
if (err.value() == ENOTEMPTY) {
return DIRECTORY_NOT_EMPTY;
} else {
return GENERIC_FILE_ERROR;
}
}
std::error_code err;
if(not deleteRecurively) {
if(std::filesystem::remove(path, err)) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
// Check error code. Most probably denied permissions because folder is not empty
sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
"code " << err.value() << ": " << strerror(err.value()) << std::endl;
if(err.value() == ENOTEMPTY) {
return DIRECTORY_NOT_EMPTY;
}
else {
return GENERIC_FILE_ERROR;
}
} else {
if (std::filesystem::remove_all(path, err)) {
return HasReturnvaluesIF::RETURN_OK;
} else {
sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
"code "
<< err.value() << ": " << strerror(err.value()) << std::endl;
// Check error code
if (err.value() == ENOTEMPTY) {
return DIRECTORY_NOT_EMPTY;
} else {
return GENERIC_FILE_ERROR;
}
}
}
}
}
else {
if(std::filesystem::remove_all(path, err)) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
"code " << err.value() << ": " << strerror(err.value()) << std::endl;
// Check error code
if(err.value() == ENOTEMPTY) {
return DIRECTORY_NOT_EMPTY;
}
else {
return GENERIC_FILE_ERROR;
}
}
}
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::renameFile(const char *repositoryPath, const char *oldFilename,
const char *newFilename, FileSystemArgsIF *args) {
auto basepath = getInitPath(args) / repositoryPath;
std::filesystem::rename(basepath / oldFilename, basepath / newFilename);
return HasReturnvaluesIF::RETURN_OK;
ReturnValue_t FileSystemHandler::renameFile(const char* repositoryPath, const char* oldFilename,
const char* newFilename, FileSystemArgsIF* args) {
auto basepath = getInitPath(args) / repositoryPath;
std::filesystem::rename(basepath / oldFilename, basepath / newFilename);
return HasReturnvaluesIF::RETURN_OK;
}
void FileSystemHandler::parseCfg(FsCommandCfg *cfg, bool& useMountPrefix) {
if(cfg != nullptr) {
useMountPrefix = cfg->useMountPrefix;
}
void FileSystemHandler::parseCfg(FsCommandCfg* cfg, bool& useMountPrefix) {
if (cfg != nullptr) {
useMountPrefix = cfg->useMountPrefix;
}
}
std::filesystem::path FileSystemHandler::getInitPath(FileSystemArgsIF* args) {
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
std::string path;
if(useMountPrefix) {
path = currentMountPrefix;
}
return std::filesystem::path(path);
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
std::string path;
if (useMountPrefix) {
path = currentMountPrefix;
}
return std::filesystem::path(path);
}

104
bsp_q7s/memory/FileSystemHandler.h
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@ -1,71 +1,67 @@
#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 {
public:
struct FsCommandCfg: public FileSystemArgsIF {
// Can be used to automatically use mount prefix of active SD card.
// Otherwise, the operator has to specify the full path to the mounted SD card as well.
bool useMountPrefix = false;
};
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.
// Otherwise, the operator has to specify the full path to the mounted SD card as well.
bool useMountPrefix = false;
};
FileSystemHandler(object_id_t fileSystemHandler);
virtual~ FileSystemHandler();
FileSystemHandler(object_id_t fileSystemHandler);
virtual ~FileSystemHandler();
ReturnValue_t performOperation(uint8_t) override;
ReturnValue_t performOperation(uint8_t) override;
ReturnValue_t initialize() override;
ReturnValue_t initialize() override;
/**
* Function to get the MessageQueueId_t of the implementing object
* @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 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;
ReturnValue_t renameFile(const char* repositoryPath, const char* oldFilename,
const char* newFilename, FileSystemArgsIF* args = nullptr) override;
/**
* Function to get the MessageQueueId_t of the implementing object
* @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 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;
ReturnValue_t renameFile(const char* repositoryPath, const char* oldFilename,
const char* newFilename, FileSystemArgsIF* args = nullptr) override;
private:
CoreController* coreCtrl = nullptr;
MessageQueueIF* mq = nullptr;
std::string currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
static constexpr uint32_t FS_MAX_QUEUE_SIZE = config::OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE;
private:
CoreController* coreCtrl = nullptr;
MessageQueueIF* mq = nullptr;
std::string currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
static constexpr uint32_t FS_MAX_QUEUE_SIZE = config::OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE;
SdCardManager* sdcMan = nullptr;
uint8_t opCounter = 0;
SdCardManager* sdcMan = nullptr;
uint8_t opCounter = 0;
void fileSystemHandlerLoop();
void fileSystemCheckup();
std::filesystem::path getInitPath(FileSystemArgsIF* args);
void parseCfg(FsCommandCfg* cfg, bool& useMountPrefix);
void fileSystemHandlerLoop();
void fileSystemCheckup();
std::filesystem::path getInitPath(FileSystemArgsIF* args);
void parseCfg(FsCommandCfg* cfg, bool& useMountPrefix);
};
#endif /* BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_ */

773
bsp_q7s/memory/SdCardManager.cpp
View File

@ -1,487 +1,462 @@
#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) {
factoryInstance = new SdCardManager();
}
if (factoryInstance == nullptr) {
factoryInstance = new SdCardManager();
}
}
SdCardManager* SdCardManager::instance() {
SdCardManager::create();
return SdCardManager::factoryInstance;
SdCardManager::create();
return SdCardManager::factoryInstance;
}
ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
SdStatePair* statusPair) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(doMountSdCard) {
if(not blocking) {
sif::warning << "SdCardManager::switchOnSdCard: Two-step command but manager is"
" not configured for blocking operation. "
"Forcing blocking mode.." << std::endl;
blocking = true;
}
SdStatePair* statusPair) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if (doMountSdCard) {
if (not blocking) {
sif::warning << "SdCardManager::switchOnSdCard: Two-step command but manager is"
" not configured for blocking operation. "
"Forcing blocking mode.."
<< std::endl;
blocking = true;
}
std::unique_ptr<SdStatePair> sdStatusPtr;
if(statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get();
result = getSdCardActiveStatus(*statusPair);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
std::unique_ptr<SdStatePair> sdStatusPtr;
if (statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get();
result = getSdCardActiveStatus(*statusPair);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
// Not allowed, this function turns on one SD card
if(sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
// Not allowed, this function turns on one SD card
if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
sd::SdState currentState;
if(sdCard == sd::SdCard::SLOT_0) {
currentState = statusPair->first;
}
else if(sdCard == sd::SdCard::SLOT_1) {
currentState = statusPair->second;
}
else {
// Should not happen
currentState = sd::SdState::OFF;
}
sd::SdState currentState;
if (sdCard == sd::SdCard::SLOT_0) {
currentState = statusPair->first;
} else if (sdCard == sd::SdCard::SLOT_1) {
currentState = statusPair->second;
} else {
// Should not happen
currentState = sd::SdState::OFF;
}
if(currentState == sd::SdState::ON) {
if(not doMountSdCard) {
return ALREADY_ON;
}
else {
return mountSdCard(sdCard);
}
}
else if(currentState == sd::SdState::MOUNTED) {
result = ALREADY_MOUNTED;
}
else if(currentState == sd::SdState::OFF) {
result = setSdCardState(sdCard, true);
}
else {
result = HasReturnvaluesIF::RETURN_FAILED;
if (currentState == sd::SdState::ON) {
if (not doMountSdCard) {
return ALREADY_ON;
} else {
return mountSdCard(sdCard);
}
} else if (currentState == sd::SdState::MOUNTED) {
result = ALREADY_MOUNTED;
} else if (currentState == sd::SdState::OFF) {
result = setSdCardState(sdCard, true);
} else {
result = HasReturnvaluesIF::RETURN_FAILED;
}
if(result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) {
return result;
}
if (result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) {
return result;
}
return mountSdCard(sdCard);
return mountSdCard(sdCard);
}
ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard,
SdStatePair* statusPair) {
std::pair<sd::SdState, sd::SdState> active;
ReturnValue_t result = getSdCardActiveStatus(active);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
SdStatePair* statusPair) {
std::pair<sd::SdState, sd::SdState> active;
ReturnValue_t result = getSdCardActiveStatus(active);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
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;
blocking = true;
}
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;
blocking = true;
}
}
// Not allowed, this function turns off one SD card
if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if (sdCard == sd::SdCard::SLOT_0) {
if (active.first == sd::SdState::OFF) {
return ALREADY_OFF;
}
// Not allowed, this function turns off one SD card
if(sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(sdCard == sd::SdCard::SLOT_0) {
if(active.first == sd::SdState::OFF) {
return ALREADY_OFF;
}
}
else if(sdCard == sd::SdCard::SLOT_1) {
if(active.second == sd::SdState::OFF) {
return ALREADY_OFF;
}
} else if (sdCard == sd::SdCard::SLOT_1) {
if (active.second == sd::SdState::OFF) {
return ALREADY_OFF;
}
}
if(doUnmountSdCard) {
result = unmountSdCard(sdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (doUnmountSdCard) {
result = unmountSdCard(sdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return setSdCardState(sdCard, false);
return setSdCardState(sdCard, false);
}
ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
using namespace std;
if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
string sdstring = "";
string statestring = "";
if(sdCard == sd::SdCard::SLOT_0) {
sdstring = "0";
}
else if(sdCard == sd::SdCard::SLOT_1) {
sdstring = "1";
}
if(on) {
currentOp = Operations::SWITCHING_ON;
statestring = "on";
}
else {
currentOp = Operations::SWITCHING_OFF;
statestring = "off";
}
ostringstream command;
command << "q7hw sd set " << sdstring << " " << statestring;
cmdExecutor.load(command.str(), blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if(blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState");
}
return result;
using namespace std;
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
string sdstring = "";
string statestring = "";
if (sdCard == sd::SdCard::SLOT_0) {
sdstring = "0";
} else if (sdCard == sd::SdCard::SLOT_1) {
sdstring = "1";
}
if (on) {
currentOp = Operations::SWITCHING_ON;
statestring = "on";
} else {
currentOp = Operations::SWITCHING_OFF;
statestring = "off";
}
ostringstream command;
command << "q7hw sd set " << sdstring << " " << statestring;
cmdExecutor.load(command.str(), blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState");
}
return result;
}
ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) {
using namespace std;
if(not filesystem::exists(SD_STATE_FILE)) {
return STATUS_FILE_NEXISTS;
}
using namespace std;
if (not filesystem::exists(SD_STATE_FILE)) {
return STATUS_FILE_NEXISTS;
}
// Now the file should exist in any case. Still check whether it exists.
fstream sdStatus(SD_STATE_FILE);
if (not sdStatus.good()) {
return STATUS_FILE_NEXISTS;
}
string line;
uint8_t idx = 0;
sd::SdCard currentSd = sd::SdCard::SLOT_0;
// Process status file line by line
while (std::getline(sdStatus, line)) {
processSdStatusLine(active, line, idx, currentSd);
}
return HasReturnvaluesIF::RETURN_OK;
// Now the file should exist in any case. Still check whether it exists.
fstream sdStatus(SD_STATE_FILE);
if (not sdStatus.good()) {
return STATUS_FILE_NEXISTS;
}
string line;
uint8_t idx = 0;
sd::SdCard currentSd = sd::SdCard::SLOT_0;
// Process status file line by line
while (std::getline(sdStatus, line)) {
processSdStatusLine(active, line, idx, currentSd);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
using namespace std;
if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
if(sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::mountSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
string mountDev;
string mountPoint;
if(sdCard == sd::SdCard::SLOT_0) {
mountDev = SD_0_DEV_NAME;
mountPoint = SD_0_MOUNT_POINT;
}
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;
return MOUNT_ERROR;
}
using namespace std;
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::mountSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
string mountDev;
string mountPoint;
if (sdCard == sd::SdCard::SLOT_0) {
mountDev = SD_0_DEV_NAME;
mountPoint = SD_0_MOUNT_POINT;
} 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;
return MOUNT_ERROR;
}
if(not blocking) {
currentOp = Operations::MOUNTING;
}
string sdMountCommand = "mount " + mountDev + " " + mountPoint;
cmdExecutor.load(sdMountCommand, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if(blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
}
return result;
if (not blocking) {
currentOp = Operations::MOUNTING;
}
string sdMountCommand = "mount " + mountDev + " " + mountPoint;
cmdExecutor.load(sdMountCommand, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
}
return result;
}
ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
using namespace std;
if(sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::unmountSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
string mountPoint;
if(sdCard == sd::SdCard::SLOT_0) {
mountPoint = SD_0_MOUNT_POINT;
}
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;
return UNMOUNT_ERROR;
}
if(filesystem::is_empty(mountPoint)) {
// The mount point will always exist, but if it is empty, that is strong hint that
// the SD card was not mounted properly. Still proceed with operation.
sif::warning << "SdCardManager::unmountSdCard: Mount point is empty!" << std::endl;
}
string sdUnmountCommand = "umount " + mountPoint;
if(not blocking) {
currentOp = Operations::UNMOUNTING;
}
cmdExecutor.load(sdUnmountCommand, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if(blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::unmountSdCard");
}
return result;
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
using namespace std;
if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::unmountSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
string mountPoint;
if (sdCard == sd::SdCard::SLOT_0) {
mountPoint = SD_0_MOUNT_POINT;
} 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;
return UNMOUNT_ERROR;
}
if (filesystem::is_empty(mountPoint)) {
// The mount point will always exist, but if it is empty, that is strong hint that
// the SD card was not mounted properly. Still proceed with operation.
sif::warning << "SdCardManager::unmountSdCard: Mount point is empty!" << std::endl;
}
string sdUnmountCommand = "umount " + mountPoint;
if (not blocking) {
currentOp = Operations::UNMOUNTING;
}
cmdExecutor.load(sdUnmountCommand, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::unmountSdCard");
}
return result;
}
ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard prefSdCard) {
std::unique_ptr<SdStatePair> sdStatusPtr;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// Enforce blocking operation for now. Be careful to reset it when returning prematurely!
bool resetNonBlockingState = false;
if(not this->blocking) {
blocking = true;
resetNonBlockingState = true;
}
if(prefSdCard == sd::SdCard::NONE) {
result = getPreferredSdCard(prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {}
}
if(statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get();
getSdCardActiveStatus(*statusPair);
std::unique_ptr<SdStatePair> sdStatusPtr;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// Enforce blocking operation for now. Be careful to reset it when returning prematurely!
bool resetNonBlockingState = false;
if (not this->blocking) {
blocking = true;
resetNonBlockingState = true;
}
if (prefSdCard == sd::SdCard::NONE) {
result = getPreferredSdCard(prefSdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
}
}
if (statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get();
getSdCardActiveStatus(*statusPair);
}
if(statusPair->first == sd::SdState::ON) {
result = mountSdCard(prefSdCard);
}
if (statusPair->first == sd::SdState::ON) {
result = mountSdCard(prefSdCard);
}
result = switchOnSdCard(prefSdCard, true, statusPair);
if(resetNonBlockingState) {
blocking = false;
}
return result;
result = switchOnSdCard(prefSdCard, true, statusPair);
if (resetNonBlockingState) {
blocking = false;
}
return result;
}
void SdCardManager::resetState() {
cmdExecutor.reset();
currentOp = Operations::IDLE;
cmdExecutor.reset();
currentOp = Operations::IDLE;
}
void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState> &active,
std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
using namespace std;
istringstream iss(line);
string word;
bool slotLine = false;
bool mountLine = false;
while(iss >> word) {
if (word == "Slot") {
slotLine = true;
}
if(word == "Mounted") {
mountLine = true;
}
if(slotLine) {
if (word == "1:") {
currentSd = sd::SdCard::SLOT_1;
}
if(word == "on") {
if(currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::ON;
}
else {
active.second = sd::SdState::ON;
}
}
else if (word == "off") {
if(currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::OFF;
}
else {
active.second = sd::SdState::OFF;
}
}
}
if(mountLine) {
if(currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::MOUNTED;
}
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;
}
void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& active,
std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
using namespace std;
istringstream iss(line);
string word;
bool slotLine = false;
bool mountLine = false;
while (iss >> word) {
if (word == "Slot") {
slotLine = true;
}
idx++;
if (word == "Mounted") {
mountLine = true;
}
if (slotLine) {
if (word == "1:") {
currentSd = sd::SdCard::SLOT_1;
}
if (word == "on") {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::ON;
} else {
active.second = sd::SdState::ON;
}
} else if (word == "off") {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::OFF;
} else {
active.second = sd::SdState::OFF;
}
}
}
if (mountLine) {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::MOUNTED;
} 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;
}
}
idx++;
}
ReturnValue_t SdCardManager::getPreferredSdCard(sd::SdCard& sdCard) const {
uint8_t prefSdCard = 0;
ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
sdCard = static_cast<sd::SdCard>(prefSdCard);
return HasReturnvaluesIF::RETURN_OK;
uint8_t prefSdCard = 0;
ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
sdCard = static_cast<sd::SdCard>(prefSdCard);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
if(sdCard == sd::SdCard::BOTH) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard));
if (sdCard == sd::SdCard::BOTH) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard));
}
ReturnValue_t SdCardManager::updateSdCardStateFile() {
if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
// Use q7hw utility and pipe the command output into the state file
std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
cmdExecutor.load(updateCmd, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if(blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
}
return result;
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
// Use q7hw utility and pipe the command output into the state file
std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
cmdExecutor.load(updateCmd, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
}
return result;
}
std::string SdCardManager::getCurrentMountPrefix(sd::SdCard prefSdCard) {
if(prefSdCard == sd::SdCard::NONE) {
ReturnValue_t result = getPreferredSdCard(prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
return SD_0_MOUNT_POINT;
}
}
if(prefSdCard == sd::SdCard::SLOT_0) {
return SD_0_MOUNT_POINT;
}
else {
return SD_1_MOUNT_POINT;
if (prefSdCard == sd::SdCard::NONE) {
ReturnValue_t result = getPreferredSdCard(prefSdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
return SD_0_MOUNT_POINT;
}
}
if (prefSdCard == sd::SdCard::SLOT_0) {
return SD_0_MOUNT_POINT;
} else {
return SD_1_MOUNT_POINT;
}
}
SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations &currentOp) {
CommandExecutor::States state = cmdExecutor.getCurrentState();
if(state == CommandExecutor::States::IDLE or state == CommandExecutor::States::COMMAND_LOADED) {
return OpStatus::IDLE;
}
currentOp = this->currentOp;
bool bytesRead = false;
SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
CommandExecutor::States state = cmdExecutor.getCurrentState();
if (state == CommandExecutor::States::IDLE or state == CommandExecutor::States::COMMAND_LOADED) {
return OpStatus::IDLE;
}
currentOp = this->currentOp;
bool bytesRead = false;
#if OBSW_ENABLE_TIMERS == 1
Timer timer;
timer.setTimer(100);
uint32_t remainingTimeMs = 0;
Timer timer;
timer.setTimer(100);
uint32_t remainingTimeMs = 0;
#endif
while(true) {
ReturnValue_t result = cmdExecutor.check(bytesRead);
// This timer can prevent deadlocks due to missconfigurations
while (true) {
ReturnValue_t result = cmdExecutor.check(bytesRead);
// This timer can prevent deadlocks due to missconfigurations
#if OBSW_ENABLE_TIMERS == 1
timer.getTimer(&remainingTimeMs);
if(remainingTimeMs == 0) {
sif::error << "SdCardManager::checkCurrentOp: Timeout!" << std::endl;
return OpStatus::FAIL;
}
#endif
switch(result) {
case(CommandExecutor::BYTES_READ): {
continue;
}
case(CommandExecutor::EXECUTION_FINISHED): {
return OpStatus::SUCCESS;
}
case(HasReturnvaluesIF::RETURN_OK): {
return OpStatus::ONGOING;
}
case(HasReturnvaluesIF::RETURN_FAILED): {
return OpStatus::FAIL;
}
default: {
sif::warning << "SdCardManager::checkCurrentOp: Unhandled case" << std::endl;
}
}
timer.getTimer(&remainingTimeMs);
if (remainingTimeMs == 0) {
sif::error << "SdCardManager::checkCurrentOp: Timeout!" << std::endl;
return OpStatus::FAIL;
}
#endif
switch (result) {
case (CommandExecutor::BYTES_READ): {
continue;
}
case (CommandExecutor::EXECUTION_FINISHED): {
return OpStatus::SUCCESS;
}
case (HasReturnvaluesIF::RETURN_OK): {
return OpStatus::ONGOING;
}
case (HasReturnvaluesIF::RETURN_FAILED): {
return OpStatus::FAIL;
}
default: {
sif::warning << "SdCardManager::checkCurrentOp: Unhandled case" << std::endl;
}
}
}
}
void SdCardManager::setBlocking(bool blocking) {
this->blocking = blocking;
}
void SdCardManager::setBlocking(bool blocking) { this->blocking = blocking; }
void SdCardManager::setPrintCommandOutput(bool print) {
this->printCmdOutput = print;
}
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;
}
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;
}
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;
}
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;
}

345
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;
@ -24,202 +23,188 @@ class MutexIF;
* state
*/
class SdCardManager {
friend class SdCardAccess;
public:
enum class Operations {
SWITCHING_ON,
SWITCHING_OFF,
MOUNTING,
UNMOUNTING,
IDLE
};
friend class SdCardAccess;
enum class OpStatus {
IDLE,
TIMEOUT,
ONGOING,
SUCCESS,
FAIL
};
public:
enum class Operations { SWITCHING_ON, SWITCHING_OFF, MOUNTING, UNMOUNTING, IDLE };
using SdStatePair = std::pair<sd::SdState, sd::SdState>;
enum class OpStatus { IDLE, TIMEOUT, ONGOING, SUCCESS, FAIL };
static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;
using SdStatePair = std::pair<sd::SdState, sd::SdState>;
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 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 UNMOUNT_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 13);
static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 14);
static constexpr ReturnValue_t POPEN_CALL_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 15);
static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FILE_SYSTEM;
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 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 UNMOUNT_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 13);
static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 14);
static constexpr ReturnValue_t POPEN_CALL_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 15);
static constexpr Event SANITIZATION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FILE_SYSTEM;
// C++17 does not support constexpr std::string yet
static constexpr char SD_0_DEV_NAME[] = "/dev/mmcblk0p1";
static constexpr char SD_1_DEV_NAME[] = "/dev/mmcblk1p1";
static constexpr char SD_0_MOUNT_POINT[] = "/mnt/sd0";
static constexpr char SD_1_MOUNT_POINT[] = "/mnt/sd1";
static constexpr char SD_STATE_FILE[] = "/tmp/sd_status.txt";
static constexpr Event SANITIZATION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
virtual ~SdCardManager();
// C++17 does not support constexpr std::string yet
static constexpr char SD_0_DEV_NAME[] = "/dev/mmcblk0p1";
static constexpr char SD_1_DEV_NAME[] = "/dev/mmcblk1p1";
static constexpr char SD_0_MOUNT_POINT[] = "/mnt/sd0";
static constexpr char SD_1_MOUNT_POINT[] = "/mnt/sd1";
static constexpr char SD_STATE_FILE[] = "/tmp/sd_status.txt";
static void create();
virtual ~SdCardManager();
/**
* Returns the single instance of the SD card manager.
*/
static SdCardManager* instance();
static void create();
/**
* Set the preferred SD card which will determine which SD card will be used as the primary
* SD card in hot redundant and cold redundant mode. This function will not switch the
* SD cards which are currently on and mounted, this needs to be implemented by
* an upper layer by using #switchOffSdCard , #switchOnSdCard and #updateSdCardStateFile
* @param sdCard
* @return
*/
ReturnValue_t setPreferredSdCard(sd::SdCard sdCard);
/**
* Returns the single instance of the SD card manager.
*/
static SdCardManager* instance();
/**
* Get the currently configured preferred SD card
* @param sdCard
* @return
*/
ReturnValue_t getPreferredSdCard(sd::SdCard& sdCard) const;
/**
* Set the preferred SD card which will determine which SD card will be used as the primary
* SD card in hot redundant and cold redundant mode. This function will not switch the
* SD cards which are currently on and mounted, this needs to be implemented by
* an upper layer by using #switchOffSdCard , #switchOnSdCard and #updateSdCardStateFile
* @param sdCard
* @return
*/
ReturnValue_t setPreferredSdCard(sd::SdCard sdCard);
/**
* Switch on the specified SD card.
* @param sdCard
* @param doMountSdCard Mount the SD card after switching it on, which is necessary
* to use it
* @param statusPair If the status pair is already available, it can be passed here
* @return - RETURN_OK on success, ALREADY_ON if it is already on,
* SYSTEM_CALL_ERROR on system error
*/
ReturnValue_t switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard = true,
SdStatePair* statusPair = nullptr);
/**
* Get the currently configured preferred SD card
* @param sdCard
* @return
*/
ReturnValue_t getPreferredSdCard(sd::SdCard& sdCard) const;
/**
* Switch off the specified SD card.
* @param sdCard
* @param doUnmountSdCard Unmount the SD card before switching the card off, which makes
* the operation safer
* @param statusPair If the status pair is already available, it can be passed here
* @return - RETURN_OK on success, ALREADY_ON if it is already on,
* SYSTEM_CALL_ERROR on system error
*/
ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true,
SdStatePair* statusPair = nullptr);
/**
* Switch on the specified SD card.
* @param sdCard
* @param doMountSdCard Mount the SD card after switching it on, which is necessary
* to use it
* @param statusPair If the status pair is already available, it can be passed here
* @return - RETURN_OK on success, ALREADY_ON if it is already on,
* SYSTEM_CALL_ERROR on system error
*/
ReturnValue_t switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard = true,
SdStatePair* statusPair = nullptr);
/**
* Update the state file or creates one if it does not exist. You need to call this
* function before calling #sdCardActive
* @return
* - RETURN_OK if the state file was updated successfully
* - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
* - RETURN_FAILED: blocking command failed
*/
ReturnValue_t updateSdCardStateFile();
/**
* Switch off the specified SD card.
* @param sdCard
* @param doUnmountSdCard Unmount the SD card before switching the card off, which makes
* the operation safer
* @param statusPair If the status pair is already available, it can be passed here
* @return - RETURN_OK on success, ALREADY_ON if it is already on,
* SYSTEM_CALL_ERROR on system error
*/
ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true,
SdStatePair* statusPair = nullptr);
/**
* Get the state of the SD cards. If the state file does not exist, this function will
* take care of updating it. If it does not, the function will use the state file to get
* the status of the SD cards and set the field of the provided boolean pair.
* @param active Pair of booleans, where the first entry is the state of the first SD card
* and the second one the state of the second SD card
* @return - RETURN_OK if the state was read successfully
* - STATUS_FILE_FORMAT_INVALID if there was an issue with the state file. The user
* should call #updateSdCardStateFile again in that case
* - STATUS_FILE_NEXISTS if the status file does not exist
*/
ReturnValue_t getSdCardActiveStatus(SdStatePair& active);
/**
* Update the state file or creates one if it does not exist. You need to call this
* function before calling #sdCardActive
* @return
* - RETURN_OK if the state file was updated successfully
* - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
* - RETURN_FAILED: blocking command failed
*/
ReturnValue_t updateSdCardStateFile();
/**
* Mount the specified SD card. This is necessary to use it.
* @param sdCard
* @return
*/
ReturnValue_t mountSdCard(sd::SdCard sdCard);
/**
* Unmount the specified SD card. This is recommended before switching it off. The SD card
* can't be used after it has been unmounted.
* @param sdCard
* @return
*/
ReturnValue_t unmountSdCard(sd::SdCard sdCard);
/**
* Get the state of the SD cards. If the state file does not exist, this function will
* take care of updating it. If it does not, the function will use the state file to get
* the status of the SD cards and set the field of the provided boolean pair.
* @param active Pair of booleans, where the first entry is the state of the first SD card
* and the second one the state of the second SD card
* @return - RETURN_OK if the state was read successfully
* - STATUS_FILE_FORMAT_INVALID if there was an issue with the state file. The user
* should call #updateSdCardStateFile again in that case
* - STATUS_FILE_NEXISTS if the status file does not exist
*/
ReturnValue_t getSdCardActiveStatus(SdStatePair& active);
/**
* In case that there is a discrepancy between the preferred SD card and the currently
* mounted one, this function will sanitize the state by attempting to mount the
* currently preferred SD card. If the caller already has state information, it can be
* passed into the function. For now, this operation will be enforced in blocking mode.
* @param statusPair Current SD card status capture with #getSdCardActiveStatus
* @param prefSdCard Preferred SD card captured with #getPreferredSdCard
* @throws std::bad_alloc if one of the two arguments was a nullptr and an allocation failed
* @return
*/
ReturnValue_t sanitizeState(SdStatePair* statusPair = nullptr,
sd::SdCard prefSdCard = sd::SdCard::NONE);
/**
* Mount the specified SD card. This is necessary to use it.
* @param sdCard
* @return
*/
ReturnValue_t mountSdCard(sd::SdCard sdCard);
/**
* Unmount the specified SD card. This is recommended before switching it off. The SD card
* can't be used after it has been unmounted.
* @param sdCard
* @return
*/
ReturnValue_t unmountSdCard(sd::SdCard sdCard);
/**
* If sd::SdCard::NONE is passed as an argument, this function will get the currently
* preferred SD card from the scratch buffer.
* @param prefSdCardPtr
* @return
*/
std::string getCurrentMountPrefix(sd::SdCard prefSdCardPtr = sd::SdCard::NONE);
/**
* In case that there is a discrepancy between the preferred SD card and the currently
* mounted one, this function will sanitize the state by attempting to mount the
* currently preferred SD card. If the caller already has state information, it can be
* passed into the function. For now, this operation will be enforced in blocking mode.
* @param statusPair Current SD card status capture with #getSdCardActiveStatus
* @param prefSdCard Preferred SD card captured with #getPreferredSdCard
* @throws std::bad_alloc if one of the two arguments was a nullptr and an allocation failed
* @return
*/
ReturnValue_t sanitizeState(SdStatePair* statusPair = nullptr,
sd::SdCard prefSdCard = sd::SdCard::NONE);
OpStatus checkCurrentOp(Operations& currentOp);
/**
* If sd::SdCard::NONE is passed as an argument, this function will get the currently
* preferred SD card from the scratch buffer.
* @param prefSdCardPtr
* @return
*/
std::string getCurrentMountPrefix(sd::SdCard prefSdCardPtr = sd::SdCard::NONE);
/**
* If there are issues with the state machine, it can be reset with this function
*/
void resetState();
OpStatus checkCurrentOp(Operations& currentOp);
void setBlocking(bool blocking);
void setPrintCommandOutput(bool print);
/**
* If there are issues with the state machine, it can be reset with this function
*/
void resetState();
/**
* @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;
bool blocking = false;
bool printCmdOutput = true;
void setBlocking(bool blocking);
void setPrintCommandOutput(bool print);
SdCardManager();
/**
* @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);
ReturnValue_t setSdCardState(sd::SdCard sdCard, bool on);
private:
CommandExecutor cmdExecutor;
Operations currentOp = Operations::IDLE;
bool blocking = false;
bool printCmdOutput = true;
void processSdStatusLine(SdStatePair& active, std::string& line, uint8_t& idx,
sd::SdCard& currentSd);
SdCardManager();
std::string currentPrefix;
ReturnValue_t setSdCardState(sd::SdCard sdCard, bool on);
static SdCardManager* factoryInstance;
void processSdStatusLine(SdStatePair& active, std::string& line, uint8_t& idx,
sd::SdCard& currentSd);
std::string currentPrefix;
static SdCardManager* factoryInstance;
};
#endif /* BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_ */

21
bsp_q7s/memory/definitions.h
View File

@ -5,22 +5,15 @@
namespace sd {
enum SdState: uint8_t {
OFF = 0,
ON = 1,
// A mounted SD card is on as well
MOUNTED = 2
enum SdState : uint8_t {
OFF = 0,
ON = 1,
// A mounted SD card is on as well
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_ */

75
bsp_q7s/memory/scratchApi.cpp
View File

@ -1,49 +1,50 @@
#include "scratchApi.h"
ReturnValue_t scratch::writeString(std::string name, std::string string) {
std::ostringstream oss;
oss << "xsc_scratch write " << name << " \"" << string << "\"";
int result = std::system(oss.str().c_str());
if(result != 0) {
utility::handleSystemError(result, "scratch::writeString");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
std::ostringstream oss;
oss << "xsc_scratch write " << name << " \"" << string << "\"";
int result = std::system(oss.str().c_str());
if (result != 0) {
utility::handleSystemError(result, "scratch::writeString");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t scratch::readString(std::string key, std::string &string) {
std::ifstream file;
std::string filename;
ReturnValue_t result = readToFile(key, file, filename);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
std::ifstream file;
std::string filename;
ReturnValue_t result = readToFile(key, file, filename);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
std::string line;
if (not std::getline(file, line)) {
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
}
std::string line;
if (not std::getline(file, line)) {
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t pos = line.find("=");
if(pos == std::string::npos) {
sif::warning << "scratch::readNumber: Output file format invalid, "
"no \"=\" found" << std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
}
string = line.substr(pos + 1);
return HasReturnvaluesIF::RETURN_OK;
size_t pos = line.find("=");
if (pos == std::string::npos) {
sif::warning << "scratch::readNumber: Output file format invalid, "
"no \"=\" found"
<< std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
}
string = line.substr(pos + 1);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t scratch::clearValue(std::string key) {
std::ostringstream oss;
oss << "xsc_scratch clear " << key;
int result = std::system(oss.str().c_str());
if(result != 0) {
utility::handleSystemError(result, "scratch::clearValue");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
std::ostringstream oss;
oss << "xsc_scratch clear " << key;
int result = std::system(oss.str().c_str());
if (result != 0) {
utility::handleSystemError(result, "scratch::clearValue");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}

142
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
*/
@ -48,7 +48,7 @@ ReturnValue_t readString(std::string key, std::string& string);
* @param num Number. Template allows to set signed, unsigned and floating point numbers
* @return
*/
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t writeNumber(std::string key, T num) noexcept;
/**
@ -59,90 +59,88 @@ inline ReturnValue_t writeNumber(std::string key, T num) noexcept;
* @param num
* @return
*/
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t readNumber(std::string key, T& num) noexcept;
// Anonymous namespace
namespace {
static uint8_t counter = 0;
ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& filename) {
using namespace std;
filename = "/tmp/sro" + std::to_string(counter++);
ostringstream oss;
oss << "xsc_scratch read " << name << " > " << filename;
using namespace std;
filename = "/tmp/sro" + std::to_string(counter++);
ostringstream oss;
oss << "xsc_scratch read " << name << " > " << filename;
int result = std::system(oss.str().c_str());
if(result != 0) {
if(result == 256) {
sif::warning << "scratch::readNumber: Key " << name << " does not exist" << std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
}
else {
utility::handleSystemError(result, "scratch::readNumber");
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
}
int result = std::system(oss.str().c_str());
if (result != 0) {
if (result == 256) {
sif::warning << "scratch::readNumber: Key " << name << " does not exist" << std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
} else {
utility::handleSystemError(result, "scratch::readNumber");
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
}
file.open(filename);
return HasReturnvaluesIF::RETURN_OK;
}
file.open(filename);
return HasReturnvaluesIF::RETURN_OK;
}
} // End of anonymous namespace
} // End of anonymous namespace
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t writeNumber(std::string key, T num) noexcept {
std::ostringstream oss;
oss << "xsc_scratch write " << key << " " << std::to_string(num);
int result = std::system(oss.str().c_str());
if(result != 0) {
utility::handleSystemError(result, "scratch::writeNumber");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
std::ostringstream oss;
oss << "xsc_scratch write " << key << " " << std::to_string(num);
int result = std::system(oss.str().c_str());
if (result != 0) {
utility::handleSystemError(result, "scratch::writeNumber");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
using namespace std;
ifstream file;
std::string filename;
ReturnValue_t result = readToFile(key, file, filename);
if(result != HasReturnvaluesIF::RETURN_OK) {
std::remove(filename.c_str());
return result;
}
string line;
if (not std::getline(file, line)) {
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t pos = line.find("=");
if(pos == string::npos) {
sif::warning << "scratch::readNumber: Output file format invalid, "
"no \"=\" found" << std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
}
std::string valueAsString = line.substr(pos + 1);
try {
num = std::stoi(valueAsString);
}
catch(std::invalid_argument& e) {
sif::warning << "scratch::readNumber: stoi call failed with " << e.what() << std::endl;
}
using namespace std;
ifstream file;
std::string filename;
ReturnValue_t result = readToFile(key, file, filename);
if (result != HasReturnvaluesIF::RETURN_OK) {
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_OK;
return result;
}
string line;
if (not std::getline(file, line)) {
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t pos = line.find("=");
if (pos == string::npos) {
sif::warning << "scratch::readNumber: Output file format invalid, "
"no \"=\" found"
<< std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
}
std::string valueAsString = line.substr(pos + 1);
try {
num = std::stoi(valueAsString);
} catch (std::invalid_argument& e) {
sif::warning << "scratch::readNumber: stoi call failed with " << e.what() << std::endl;
}
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_OK;
}
}
} // namespace scratch
#endif /* BSP_Q7S_MEMORY_SCRATCHAPI_H_ */

10
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
@ -6,16 +7,13 @@
#endif
int simple::simple() {
cout << "-- Q7S Simple Application --" << endl;
cout << "-- Q7S Simple Application --" << endl;
#if Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST == 1
{
FileSystemTest fileSystemTest;
}
{ FileSystemTest fileSystemTest; }
#endif
#if TE0720_GPIO_TEST
#endif
return 0;
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() {}

23
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.
@ -17,17 +16,17 @@
* the SPI interface. The multiplexing is performed via a GPIO connected to a VHDL
* module responsible for switching between the to SPI peripherals.
*/
class Q7sSpiComIF: public SpiComIF {
public:
/**
* @brief Constructor
*
* @param objectId
* @param gpioComIF
* @param gpioSwitchId The gpio ID of the GPIO connected to the SPI mux module in the PL.
*/
Q7sSpiComIF(object_id_t objectId, GpioIF* gpioComIF, gpioId_t gpioSwitchId);
virtual ~Q7sSpiComIF();
class Q7sSpiComIF : public SpiComIF {
public:
/**
* @brief Constructor
*
* @param objectId
* @param gpioComIF
* @param gpioSwitchId The gpio ID of the GPIO connected to the SPI mux module in the PL.
*/
Q7sSpiComIF(object_id_t objectId, GpioIF* gpioComIF, gpioId_t gpioSwitchId);
virtual ~Q7sSpiComIF();
};
#endif /* BSP_Q7S_SPI_Q7SSPICOMIF_H_ */

44
linux/archive/gpio/GpioCookie.cpp
View File

@ -1,34 +1,32 @@
#include "GpioCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
GpioCookie::GpioCookie() {
}
GpioCookie::GpioCookie() {}
ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig){
if (gpioConfig == nullptr) {
sif::debug << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
if (gpioConfig == nullptr) {
sif::debug << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
auto gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) {
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;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
auto gpioMapIter = gpioMap.find(gpioId);
if(gpioMapIter == gpioMap.end()) {
auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
if (statusPair.second == false) {
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_VERBOSE_LEVEL >= 1
sif::error << "GpioCookie::addGpio: Failed to add GPIO " << gpioId <<
" to GPIO map" << std::endl;
sif::error << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_VERBOSE_LEVEL >= 1
sif::error << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
return HasReturnvaluesIF::RETURN_FAILED;
}
GpioMap GpioCookie::getGpioMap() const {
return gpioMap;
}
GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
GpioCookie::~GpioCookie() {}

34
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
@ -16,24 +17,23 @@
*
* @author J. Meier
*/
class GpioCookie: public CookieIF {
public:
class GpioCookie : public CookieIF {
public:
GpioCookie();
GpioCookie();
virtual ~GpioCookie();
virtual ~GpioCookie();
ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
/**
* @brief Get map with registered GPIOs.
*/
GpioMap getGpioMap() const;
ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
/**
* @brief Get map with registered GPIOs.
*/
GpioMap getGpioMap() const;
private:
/**
* Returns a copy of the internal GPIO map.
*/
GpioMap gpioMap;
private:
/**
* Returns a copy of the internal GPIO map.
*/
GpioMap gpioMap;
};
#endif /* LINUX_GPIO_GPIOCOOKIE_H_ */

68
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;
@ -13,42 +14,41 @@ class GpioCookie;
* @author J. Meier
*/
class GpioIF : public HasReturnvaluesIF {
public:
public:
virtual ~GpioIF(){};
virtual ~GpioIF() {};
/**
* @brief Called by the GPIO using object.
* @param cookie Cookie specifying informations of the GPIOs required
* by a object.
*/
virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
/**
* @brief Called by the GPIO using object.
* @param cookie Cookie specifying informations of the GPIOs required
* by a object.
*/
virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
/**
* @brief By implementing this function a child must provide the
* functionality to pull a certain GPIO to high logic level.
*
* @param gpioId A unique number which specifies the GPIO to drive.
* @return Returns RETURN_OK for success. This should never return RETURN_FAILED.
*/
virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
/**
* @brief By implementing this function a child must provide the
* functionality to pull a certain GPIO to high logic level.
*
* @param gpioId A unique number which specifies the GPIO to drive.
* @return Returns RETURN_OK for success. This should never return RETURN_FAILED.
*/
virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
/**
* @brief By implementing this function a child must provide the
* functionality to pull a certain GPIO to low logic level.
*
* @param gpioId A unique number which specifies the GPIO to drive.
*/
virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
/**
* @brief By implementing this function a child must provide the
* functionality to pull a certain GPIO to low logic level.
*
* @param gpioId A unique number which specifies the GPIO to drive.
*/
virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
/**
* @brief This function requires a child to implement the functionality to read the state of
* an ouput or input gpio.
*
* @param gpioId A unique number which specifies the GPIO to read.
* @param gpioState State of GPIO will be written to this pointer.
*/
virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
/**
* @brief This function requires a child to implement the functionality to read the state of
* an ouput or input gpio.
*
* @param gpioId A unique number which specifies the GPIO to read.
* @param gpioState State of GPIO will be written to this pointer.
*/
virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
};
#endif /* LINUX_GPIO_GPIOIF_H_ */

459
linux/archive/gpio/LinuxLibgpioIF.cpp
View File

@ -1,302 +1,295 @@
#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");
struct gpiod_chip* chip = gpiod_chip_open_by_label("/amba_pl/gpio@42030000");
sif::debug << chip->name << std::endl;
sif::debug << chip->name << std::endl;
}
LinuxLibgpioIF::~LinuxLibgpioIF() {
}
LinuxLibgpioIF::~LinuxLibgpioIF() {}
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
ReturnValue_t result;
if(gpioCookie == nullptr) {
sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
return RETURN_FAILED;
}
ReturnValue_t result;
if (gpioCookie == nullptr) {
sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
return RETURN_FAILED;
}
GpioMap mapToAdd = gpioCookie->getGpioMap();
GpioMap mapToAdd = gpioCookie->getGpioMap();
/* Check whether this ID already exists in the map and remove duplicates */
result = checkForConflicts(mapToAdd);
if (result != RETURN_OK){
return result;
}
/* Check whether this ID already exists in the map and remove duplicates */
result = checkForConflicts(mapToAdd);
if (result != RETURN_OK) {
return result;
}
result = configureGpios(mapToAdd);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
result = configureGpios(mapToAdd);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
/* Register new GPIOs in gpioMap */
gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
/* Register new GPIOs in gpioMap */
gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
return RETURN_OK;
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
for(auto& gpioConfig: mapToAdd) {
switch(gpioConfig.second->gpioType) {
case(gpio::GpioTypes::NONE): {
return GPIO_INVALID_INSTANCE;
}
case(gpio::GpioTypes::GPIOD_REGULAR): {
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
if(regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureRegularGpio(gpioConfig.first, regularGpio);
break;
}
case(gpio::GpioTypes::CALLBACK): {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
if(gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
gpioCallback->initValue, gpioCallback->callbackArgs);
for (auto& gpioConfig : mapToAdd) {
switch (gpioConfig.second->gpioType) {
case (gpio::GpioTypes::NONE): {
return GPIO_INVALID_INSTANCE;
}
case (gpio::GpioTypes::GPIOD_REGULAR): {
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
if (regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureRegularGpio(gpioConfig.first, regularGpio);
break;
}
case (gpio::GpioTypes::CALLBACK): {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
gpioCallback->initValue, gpioCallback->callbackArgs);
}
}
return RETURN_OK;
}
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
std::string chipname;
unsigned int lineNum;
struct gpiod_chip *chip;
gpio::Direction direction;
std::string consumer;
struct gpiod_line *lineHandle;
int result = 0;
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio) {
std::string chipname;
unsigned int lineNum;
struct gpiod_chip* chip;
gpio::Direction direction;
std::string consumer;
struct gpiod_line* lineHandle;
int result = 0;
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;
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;
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;
gpiod_chip_close(chip);
return RETURN_FAILED;
}
direction = regularGpio->direction;
consumer = regularGpio->consumer;
/* 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);
if (result < 0) {
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;
}
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;
gpiod_chip_close(chip);
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;
gpiod_line_release(lineHandle);
return RETURN_FAILED;
}
direction = regularGpio->direction;
consumer = regularGpio->consumer;
/* 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);
if (result < 0) {
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;
}
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;
gpiod_line_release(lineHandle);
return RETURN_FAILED;
}
break;
}
break;
}
default: {
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
<< std::endl;
return GPIO_INVALID_INSTANCE;
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
* read states of GPIOs.
*/
regularGpio->lineHandle = lineHandle;
return RETURN_OK;
}
/**
* Write line handle to GPIO configuration instance so it can later be used to set or
* read states of GPIOs.
*/
regularGpio->lineHandle = lineHandle;
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) {
sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl;
return UNKNOWN_GPIO_ID;
}
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) {
sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl;
return UNKNOWN_GPIO_ID;
}
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
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);
}
return GPIO_TYPE_FAILURE;
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, 1,
gpioCallback->callbackArgs);
}
return GPIO_TYPE_FAILURE;
}
ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) {
sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl;
return UNKNOWN_GPIO_ID;
}
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) {
sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl;
return UNKNOWN_GPIO_ID;
}
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
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);
}
return GPIO_TYPE_FAILURE;
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) {
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
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;
return DRIVE_GPIO_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;
return DRIVE_GPIO_FAILURE;
}
return RETURN_OK;
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()){
sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
return UNKNOWN_GPIO_ID;
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) {
sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
return UNKNOWN_GPIO_ID;
}
if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
*gpioState = gpiod_line_get_value(regularGpio->lineHandle);
} else {
}
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
*gpioState = gpiod_line_get_value(regularGpio->lineHandle);
}
else {
}
return RETURN_OK;
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for(auto& gpioConfig: mapToAdd) {
switch(gpioConfig.second->gpioType) {
case(gpio::GpioTypes::GPIOD_REGULAR): {
auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
/* Check for conflicts and remove duplicates if necessary */
result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
break;
ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for (auto& gpioConfig : mapToAdd) {
switch (gpioConfig.second->gpioType) {
case (gpio::GpioTypes::GPIOD_REGULAR): {
auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
case(gpio::GpioTypes::CALLBACK): {
auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
if(callbackGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
/* Check for conflicts and remove duplicates if necessary */
result = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
break;
/* Check for conflicts and remove duplicates if necessary */
result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
if (result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
default: {
break;
}
case (gpio::GpioTypes::CALLBACK): {
auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
if (callbackGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
/* Check for conflicts and remove duplicates if necessary */
result = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd);
if (result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
break;
}
default: {
}
}
return status;
}
return status;
}
ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
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;
mapToAdd.erase(gpioIdToCheck);
return HasReturnvaluesIF::RETURN_OK;
}
auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
if(ownRegularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
/* Remove element from map to add because a entry for this GPIO
already exists */
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
<< " detected. Duplicate will be removed from map to add." << std::endl;
mapToAdd.erase(gpioIdToCheck);
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;
mapToAdd.erase(gpioIdToCheck);
return HasReturnvaluesIF::RETURN_OK;
}
return HasReturnvaluesIF::RETURN_OK;
auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
if (ownRegularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
/* Remove element from map to add because a entry for this GPIO
already exists */
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
<< " detected. Duplicate will be removed from map to add." << std::endl;
mapToAdd.erase(gpioIdToCheck);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck,
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;
mapToAdd.erase(gpioIdToCheck);
return HasReturnvaluesIF::RETURN_OK;
}
/* Remove element from map to add because a entry for this GPIO
already exists */
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
<< " detected. Duplicate will be removed from map to add." << std::endl;
mapToAdd.erase(gpioIdToCheck);
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;
mapToAdd.erase(gpioIdToCheck);
return HasReturnvaluesIF::RETURN_OK;
}
return HasReturnvaluesIF::RETURN_OK;
/* Remove element from map to add because a entry for this GPIO
already exists */
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
<< " detected. Duplicate will be removed from map to add." << std::endl;
mapToAdd.erase(gpioIdToCheck);
}
return HasReturnvaluesIF::RETURN_OK;
}

98
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;
@ -15,63 +15,61 @@ class GpioCookie;
* 2019.1.
*/
class LinuxLibgpioIF : public GpioIF, public SystemObject {
public:
public:
static const uint8_t gpioRetvalId = CLASS_ID::LINUX_LIBGPIO_IF;
static const uint8_t gpioRetvalId = CLASS_ID::LINUX_LIBGPIO_IF;
static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
LinuxLibgpioIF(object_id_t objectId);
virtual ~LinuxLibgpioIF();
LinuxLibgpioIF(object_id_t objectId);
virtual ~LinuxLibgpioIF();
ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
ReturnValue_t pullHigh(gpioId_t gpioId) override;
ReturnValue_t pullLow(gpioId_t gpioId) override;
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
ReturnValue_t pullHigh(gpioId_t gpioId) override;
ReturnValue_t pullLow(gpioId_t gpioId) override;
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
private:
/* Holds the information and configuration of all used GPIOs */
GpioMap gpioMap;
GpioMapIter gpioMapIter;
private:
/* Holds the information and configuration of all used GPIOs */
GpioMap gpioMap;
GpioMapIter gpioMapIter;
/**
* @brief This functions drives line of a GPIO specified by the GPIO ID.
*
* @param gpioId The GPIO ID of the GPIO to drive.
* @param logiclevel The logic level to set. O or 1.
*/
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, unsigned int logiclevel);
/**
* @brief This functions drives line of a GPIO specified by the GPIO ID.
*
* @param gpioId The GPIO ID of the GPIO to drive.
* @param logiclevel The logic level to set. O or 1.
*/
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, unsigned int logiclevel);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio);
/**
* @brief This function checks if GPIOs are already registered and whether
* there exists a conflict in the GPIO configuration. E.g. the
* direction.
*
* @param mapToAdd The GPIOs which shall be added to the gpioMap.
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
/**
* @brief This function checks if GPIOs are already registered and whether
* there exists a conflict in the GPIO configuration. E.g. the
* direction.
*
* @param mapToAdd The GPIOs which shall be added to the gpioMap.
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
GpioMap& mapToAdd);
ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
GpioMap& mapToAdd);
/**
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
*/
ReturnValue_t configureGpios(GpioMap& mapToAdd);
ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
GpioMap& mapToAdd);
ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
GpioMap& mapToAdd);
/**
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
*/
ReturnValue_t configureGpios(GpioMap& mapToAdd);
};
#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

89
linux/archive/gpio/gpioDefinitions.h
View File

@ -8,29 +8,16 @@ using gpioId_t = uint16_t;
namespace gpio {
enum Levels {
LOW = 0,
HIGH = 1
};
enum Levels { LOW = 0, HIGH = 1 };
enum Direction {
IN = 0,
OUT = 1
};
enum Direction { IN = 0, OUT = 1 };
enum GpioOperation {
READ,
WRITE
};
enum GpioOperation { READ, WRITE };
enum GpioTypes {
NONE,
GPIOD_REGULAR,
CALLBACK
};
enum GpioTypes { NONE, GPIOD_REGULAR, CALLBACK };
static constexpr gpioId_t NO_GPIO = -1;
}
} // namespace gpio
/**
* @brief Struct containing information about the GPIO to use. This is
@ -47,51 +34,49 @@ static constexpr gpioId_t NO_GPIO = -1;
* pointer.
*/
class GpioBase {
public:
public:
GpioBase() = default;
GpioBase() = default;
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, int initValue)
: gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
int initValue):
gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
virtual ~GpioBase(){};
virtual~ GpioBase() {};
/* Can be used to cast GpioBase to a concrete child implementation */
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
std::string consumer;
gpio::Direction direction = gpio::Direction::IN;
int initValue = 0;
/* Can be used to cast GpioBase to a concrete child implementation */
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
std::string consumer;
gpio::Direction direction = gpio::Direction::IN;
int initValue = 0;
};
class GpiodRegular: public GpioBase {
public:
GpiodRegular(): GpioBase(gpio::GpioTypes::GPIOD_REGULAR, std::string(),
gpio::Direction::IN, 0) {};
class GpiodRegular : public GpioBase {
public:
GpiodRegular()
: GpioBase(gpio::GpioTypes::GPIOD_REGULAR, std::string(), gpio::Direction::IN, 0){};
GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_):
GpioBase(gpio::GpioTypes::GPIOD_REGULAR, consumer_, direction_, initValue_),
chipname(chipname_), lineNum(lineNum_) {}
std::string chipname;
int lineNum = 0;
struct gpiod_line* lineHandle = nullptr;
GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_)
: GpioBase(gpio::GpioTypes::GPIOD_REGULAR, consumer_, direction_, initValue_),
chipname(chipname_),
lineNum(lineNum_) {}
std::string chipname;
int lineNum = 0;
struct gpiod_line* lineHandle = nullptr;
};
class GpioCallback: public GpioBase {
public:
GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
void (* callback) (gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args),
void* callbackArgs):
GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
callback(callback), callbackArgs(callbackArgs) {}
class GpioCallback : public GpioBase {
public:
GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
void (*callback)(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args),
void* callbackArgs)
: GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
callback(callback),
callbackArgs(callbackArgs) {}
void (* callback) (gpioId_t gpioId, gpio::GpioOperation gpioOp,
int value, void* args) = nullptr;
void* callbackArgs = nullptr;
void (*callback)(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args) = nullptr;
void* callbackArgs = nullptr;
};
using GpioMap = std::unordered_map<gpioId_t, GpioBase*>;
using GpioMapIter = GpioMap::iterator;

180
linux/archive/tmtc/CCSDSIPCoreBridge.cpp
View File

@ -1,136 +1,128 @@
#include <sys/mman.h>
#include <fcntl.h>
#include <linux/obc/Ptme.h>
#include <sys/mman.h>
CCSDSIPCoreBridge::CCSDSIPCoreBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId, LinuxLibgpioIF* gpioComIF,
std::string uioPtme, gpioId_t papbBusyId, gpioId_t papbEmptyId) :
TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId), gpioComIF(gpioComIF), uioPtme(
uioPtme), papbBusyId(papbBusyId), papbEmptyId(papbEmptyId) {
}
object_id_t tmStoreId, object_id_t tcStoreId,
LinuxLibgpioIF* gpioComIF, std::string uioPtme,
gpioId_t papbBusyId, gpioId_t papbEmptyId)
: TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId),
gpioComIF(gpioComIF),
uioPtme(uioPtme),
papbBusyId(papbBusyId),
papbEmptyId(papbEmptyId) {}
CCSDSIPCoreBridge::~CCSDSIPCoreBridge() {
}
CCSDSIPCoreBridge::~CCSDSIPCoreBridge() {}
ReturnValue_t CCSDSIPCoreBridge::initialize() {
ReturnValue_t result = TmTcBridge::initialize();
ReturnValue_t result = TmTcBridge::initialize();
fd = open("/dev/uio0", O_RDWR);
if (fd < 1) {
sif::debug << "CCSDSIPCoreBridge::initialize: Invalid UIO device file" << std::endl;
return RETURN_FAILED;
}
fd = open("/dev/uio0", O_RDWR);
if (fd < 1) {
sif::debug << "CCSDSIPCoreBridge::initialize: Invalid UIO device file" << std::endl;
return RETURN_FAILED;
}
/**
* Map uio device in virtual address space
* PROT_WRITE: Map uio device in writable only mode
*/
ptmeBaseAddress = static_cast<uint32_t*>(mmap(NULL, MAP_SIZE, PROT_READ | PROT_WRITE,
MAP_SHARED, fd, 0));
/**
* Map uio device in virtual address space
* PROT_WRITE: Map uio device in writable only mode
*/
ptmeBaseAddress =
static_cast<uint32_t*>(mmap(NULL, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
if (ptmeBaseAddress == MAP_FAILED) {
sif::error << "CCSDSIPCoreBridge::initialize: Failed to map uio address" << std::endl;
return RETURN_FAILED;
}
if (ptmeBaseAddress == MAP_FAILED) {
sif::error << "CCSDSIPCoreBridge::initialize: Failed to map uio address" << std::endl;
return RETURN_FAILED;
}
return result;
return result;
}
ReturnValue_t CCSDSIPCoreBridge::handleTm() {
#if OBSW_TEST_CCSDS_PTME == 1
return sendTestFrame();
return sendTestFrame();
#else
return TmTcBridge::handleTm();
return TmTcBridge::handleTm();
#endif
}
ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t * data, size_t dataLen) {
ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t* data, size_t dataLen) {
if (pollPapbBusySignal() == RETURN_OK) {
startPacketTransfer();
}
if(pollPapbBusySignal() == RETURN_OK) {
startPacketTransfer();
for (size_t idx = 0; idx < dataLen; idx++) {
if (pollPapbBusySignal() == RETURN_OK) {
*(ptmeBaseAddress + PTME_DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx));
} else {
sif::debug << "CCSDSIPCoreBridge::sendTm: Only written " << idx - 1 << " of " << dataLen
<< " data" << std::endl;
return RETURN_FAILED;
}
}
for(size_t idx = 0; idx < dataLen; idx++) {
if(pollPapbBusySignal() == RETURN_OK) {
*(ptmeBaseAddress + PTME_DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx));
}
else {
sif::debug << "CCSDSIPCoreBridge::sendTm: Only written " << idx - 1 << " of " << dataLen
<< " data" << std::endl;
return RETURN_FAILED;
}
}
if(pollPapbBusySignal() == RETURN_OK) {
endPacketTransfer();
}
return RETURN_OK;
if (pollPapbBusySignal() == RETURN_OK) {
endPacketTransfer();
}
return RETURN_OK;
}
void CCSDSIPCoreBridge::startPacketTransfer() {
*ptmeBaseAddress = PTME_CONFIG_START;
}
void CCSDSIPCoreBridge::startPacketTransfer() { *ptmeBaseAddress = PTME_CONFIG_START; }
void CCSDSIPCoreBridge::endPacketTransfer() {
*ptmeBaseAddress = PTME_CONFIG_END;
}
void CCSDSIPCoreBridge::endPacketTransfer() { *ptmeBaseAddress = PTME_CONFIG_END; }
ReturnValue_t CCSDSIPCoreBridge::pollPapbBusySignal() {
int papbBusyState = 0;
ReturnValue_t result = RETURN_OK;
int papbBusyState = 0;
ReturnValue_t result = RETURN_OK;
/** Check if PAPB interface is ready to receive data */
result = gpioComIF->readGpio(papbBusyId, &papbBusyState);
if (result != RETURN_OK) {
sif::debug << "CCSDSIPCoreBridge::pollPapbBusySignal: Failed to read papb busy signal"
<< std::endl;
return RETURN_FAILED;
}
if (!papbBusyState) {
sif::debug << "CCSDSIPCoreBridge::pollPapbBusySignal: PAPB busy" << std::endl;
return PAPB_BUSY;
}
/** Check if PAPB interface is ready to receive data */
result = gpioComIF->readGpio(papbBusyId, &papbBusyState);
if (result != RETURN_OK) {
sif::debug << "CCSDSIPCoreBridge::pollPapbBusySignal: Failed to read papb busy signal"
<< std::endl;
return RETURN_FAILED;
}
if (!papbBusyState) {
sif::debug << "CCSDSIPCoreBridge::pollPapbBusySignal: PAPB busy" << std::endl;
return PAPB_BUSY;
}
return RETURN_OK;
return RETURN_OK;
}
void CCSDSIPCoreBridge::isPtmeBufferEmpty() {
ReturnValue_t result = RETURN_OK;
int papbEmptyState = 1;
ReturnValue_t result = RETURN_OK;
int papbEmptyState = 1;
result = gpioComIF->readGpio(papbEmptyId, &papbEmptyState);
result = gpioComIF->readGpio(papbEmptyId, &papbEmptyState);
if (result != RETURN_OK) {
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Failed to read papb empty signal"
<< std::endl;
return;
}
if (papbEmptyState == 1) {
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is empty" << std::endl;
}
else {
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is not empty" << std::endl;
}
if (result != RETURN_OK) {
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Failed to read papb empty signal"
<< std::endl;
return;
}
if (papbEmptyState == 1) {
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is empty" << std::endl;
} else {
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is not empty" << std::endl;
}
return;
}
ReturnValue_t CCSDSIPCoreBridge::sendTestFrame() {
/** Size of one complete transfer frame data field amounts to 1105 bytes */
uint8_t testPacket[1105];
/** Size of one complete transfer frame data field amounts to 1105 bytes */
uint8_t testPacket[1105];
/** Fill one test packet */
for(int idx = 0; idx < 1105; idx++) {
testPacket[idx] = static_cast<uint8_t>(idx & 0xFF);
}
/** Fill one test packet */
for (int idx = 0; idx < 1105; idx++) {
testPacket[idx] = static_cast<uint8_t>(idx & 0xFF);
}
ReturnValue_t result = sendTm(testPacket, 1105);
if(result != RETURN_OK) {
return result;
}
ReturnValue_t result = sendTm(testPacket, 1105);
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
return RETURN_OK;
}

186
linux/archive/tmtc/CCSDSIPCoreBridge.h
View File

@ -1,131 +1,129 @@
#ifndef MISSION_OBC_CCSDSIPCOREBRIDGE_H_
#define MISSION_OBC_CCSDSIPCOREBRIDGE_H_
#include "OBSWConfig.h"
#include <fsfw/tmtcservices/TmTcBridge.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <cstring>
#include "OBSWConfig.h"
/**
* @brief This class handles the interfacing to the telemetry (PTME) and telecommand (PDEC) IP
* cores responsible for the CCSDS encoding and decoding. The IP cores are implemented
* on the programmable logic and are accessible through the linux UIO driver.
*/
class CCSDSIPCoreBridge: public TmTcBridge {
public:
/**
* @brief Constructor
*
* @param objectId
* @param tcDestination
* @param tmStoreId
* @param tcStoreId
* @param uioPtme Name of the uio device file which provides access to the PTME IP Core.
* @param papbBusyId The ID of the GPIO which is connected to the PAPBBusy_N signal of the
* PTME IP Core. A low logic level indicates the PTME is not ready to
* receive more data.
* @param papbEmptyId The ID of the GPIO which is connected to the PAPBEmpty signal of the
* PTME IP Core. The signal is high when there are no packets in the
* external buffer memory (BRAM).
*/
CCSDSIPCoreBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
object_id_t tcStoreId, LinuxLibgpioIF* gpioComIF, std::string uioPtme,
gpioId_t papbBusyId, gpioId_t papbEmptyId);
virtual ~CCSDSIPCoreBridge();
class CCSDSIPCoreBridge : public TmTcBridge {
public:
/**
* @brief Constructor
*
* @param objectId
* @param tcDestination
* @param tmStoreId
* @param tcStoreId
* @param uioPtme Name of the uio device file which provides access to the PTME IP Core.
* @param papbBusyId The ID of the GPIO which is connected to the PAPBBusy_N signal of the
* PTME IP Core. A low logic level indicates the PTME is not ready to
* receive more data.
* @param papbEmptyId The ID of the GPIO which is connected to the PAPBEmpty signal of the
* PTME IP Core. The signal is high when there are no packets in the
* external buffer memory (BRAM).
*/
CCSDSIPCoreBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
object_id_t tcStoreId, LinuxLibgpioIF* gpioComIF, std::string uioPtme,
gpioId_t papbBusyId, gpioId_t papbEmptyId);
virtual ~CCSDSIPCoreBridge();
ReturnValue_t initialize() override;
ReturnValue_t initialize() override;
protected:
protected:
/**
* Overwriting this function to provide the capability of testing the PTME IP Core
* implementation.
*/
virtual ReturnValue_t handleTm() override;
/**
* Overwriting this function to provide the capability of testing the PTME IP Core
* implementation.
*/
virtual ReturnValue_t handleTm() override;
virtual ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override;
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_IP_CORE_BRIDGE;
private:
static const ReturnValue_t PAPB_BUSY = MAKE_RETURN_CODE(0xA0);
static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_IP_CORE_BRIDGE;
/** Size of mapped address space. 4k (minimal size of pl device) */
// static const int MAP_SIZE = 0xFA0;
static const int MAP_SIZE = 0x1000;
static const ReturnValue_t PAPB_BUSY = MAKE_RETURN_CODE(0xA0);
/**
* Configuration bits:
* bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00
* bit[2]: Set this bit to 1 to abort a transfered packet
* bit[3]: Signals to PTME the start of a new telemetry packet
*/
static const uint32_t PTME_CONFIG_START = 0x8;
/**
* Writing this word to the ptme base address signals to the PTME that a complete tm packet has
* been transferred.
*/
static const uint32_t PTME_CONFIG_END = 0x0;
/** Size of mapped address space. 4k (minimal size of pl device) */
// static const int MAP_SIZE = 0xFA0;
static const int MAP_SIZE = 0x1000;
/**
* Writing to this offset within the PTME memory space will insert data for encoding to the
* PTME IP core.
* The address offset is 0x400 (= 4 * 256)
*/
static const int PTME_DATA_REG_OFFSET = 256;
/**
* Configuration bits:
* bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00
* bit[2]: Set this bit to 1 to abort a transfered packet
* bit[3]: Signals to PTME the start of a new telemetry packet
*/
static const uint32_t PTME_CONFIG_START = 0x8;
LinuxLibgpioIF* gpioComIF = nullptr;
/**
* Writing this word to the ptme base address signals to the PTME that a complete tm packet has
* been transferred.
*/
static const uint32_t PTME_CONFIG_END = 0x0;
/** The uio device file related to the PTME IP Core */
std::string uioPtme;
/**
* Writing to this offset within the PTME memory space will insert data for encoding to the
* PTME IP core.
* The address offset is 0x400 (= 4 * 256)
*/
static const int PTME_DATA_REG_OFFSET = 256;
/** Pulled to low when PTME not ready to receive data */
gpioId_t papbBusyId = gpio::NO_GPIO;
LinuxLibgpioIF* gpioComIF = nullptr;
/** High when externally buffer memory of PTME is empty */
gpioId_t papbEmptyId = gpio::NO_GPIO;
/** The uio device file related to the PTME IP Core */
std::string uioPtme;
/** The file descriptor of the UIO driver */
int fd;
/** Pulled to low when PTME not ready to receive data */
gpioId_t papbBusyId = gpio::NO_GPIO;
uint32_t* ptmeBaseAddress = nullptr;
/** High when externally buffer memory of PTME is empty */
gpioId_t papbEmptyId = gpio::NO_GPIO;
/**
* @brief This function sends the config byte to the PTME IP Core to initiate a packet
* transfer.
*/
void startPacketTransfer();
/** The file descriptor of the UIO driver */
int fd;
/**
* @brief This function sends the config byte to the PTME IP Core to signal the end of a
* packet transfer.
*/
void endPacketTransfer();
uint32_t* ptmeBaseAddress = nullptr;
/**
* @brief This function reads the papb busy signal indicating whether the PAPB interface is
* ready to receive more data or not. PAPB is ready when PAPB_Busy_N == '1'.
*
* @return RETURN_OK when ready to receive data else PAPB_BUSY.
*/
ReturnValue_t pollPapbBusySignal();
/**
* @brief This function sends the config byte to the PTME IP Core to initiate a packet
* transfer.
*/
void startPacketTransfer();
/**
* @brief This function can be used for debugging to check wheter there are packets in
* the packet buffer of the PTME or not.
*/
void isPtmeBufferEmpty();
/**
* @brief This function sends the config byte to the PTME IP Core to signal the end of a
* packet transfer.
*/
void endPacketTransfer();
/**
* @brief This function reads the papb busy signal indicating whether the PAPB interface is
* ready to receive more data or not. PAPB is ready when PAPB_Busy_N == '1'.
*
* @return RETURN_OK when ready to receive data else PAPB_BUSY.
*/
ReturnValue_t pollPapbBusySignal();
/**
* @brief This function can be used for debugging to check wheter there are packets in
* the packet buffer of the PTME or not.
*/
void isPtmeBufferEmpty();
/**
* @brief This function sends a complete telemetry transfer frame data field (1105 bytes)
* to the input of the PTME IP Core. Can be used to test the implementation.
*/
ReturnValue_t sendTestFrame();
/**
* @brief This function sends a complete telemetry transfer frame data field (1105 bytes)
* to the input of the PTME IP Core. Can be used to test the implementation.
*/
ReturnValue_t sendTestFrame();
};
#endif /* MISSION_OBC_CCSDSIPCOREBRIDGE_H_ */

7
linux/boardtest/I2cTestClass.cpp
View File

@ -1,8 +1,5 @@
#include <linux/boardtest/I2cTestClass.h>
I2cTestClass::I2cTestClass(object_id_t objectId): TestTask(objectId) {
}
I2cTestClass::I2cTestClass(object_id_t objectId) : TestTask(objectId) {}
ReturnValue_t I2cTestClass::performPeriodicAction() {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t I2cTestClass::performPeriodicAction() { return HasReturnvaluesIF::RETURN_OK; }

12
linux/boardtest/I2cTestClass.h
View File

@ -3,15 +3,13 @@
#include <test/testtasks/TestTask.h>
class I2cTestClass: public TestTask {
public:
I2cTestClass(object_id_t objectId);
class I2cTestClass : public TestTask {
public:
I2cTestClass(object_id_t objectId);
ReturnValue_t performPeriodicAction() override;
private:
ReturnValue_t performPeriodicAction() override;
private:
};
#endif /* LINUX_BOARDTEST_I2CTESTCLASS_H_ */

208
linux/boardtest/LibgpiodTest.cpp
View File

@ -1,135 +1,127 @@
#include "LibgpiodTest.h"
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/TaskFactory.h>
#include "devices/gpioIds.h"
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/TaskFactory.h>
LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId,
GpioCookie* gpioCookie):
TestTask(objectId) {
gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioIfobjectId);
if (gpioInterface == nullptr) {
sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
}
gpioInterface->addGpios(gpioCookie);
testCase = TestCases::BLINK;
LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, GpioCookie* gpioCookie)
: TestTask(objectId) {
gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioIfobjectId);
if (gpioInterface == nullptr) {
sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
}
gpioInterface->addGpios(gpioCookie);
testCase = TestCases::BLINK;
}
LibgpiodTest::~LibgpiodTest() {
}
LibgpiodTest::~LibgpiodTest() {}
ReturnValue_t LibgpiodTest::performPeriodicAction() {
int gpioState;
ReturnValue_t result;
int gpioState;
ReturnValue_t result;
switch(testCase) {
case(TestCases::READ): {
result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
if (result != RETURN_OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
<< std::endl;
return RETURN_FAILED;
}
else {
sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << gpioState
<< std::endl;
}
break;
switch (testCase) {
case (TestCases::READ): {
result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
if (result != RETURN_OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl;
return RETURN_FAILED;
} else {
sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << gpioState
<< std::endl;
}
break;
}
case(TestCases::LOOPBACK): {
break;
case (TestCases::LOOPBACK): {
break;
}
case(TestCases::BLINK): {
result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
case (TestCases::BLINK): {
result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl;
return RETURN_FAILED;
}
if (gpioState == 1) {
result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
<< std::endl;
return RETURN_FAILED;
sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO low!"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if (gpioState == 1) {
result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO low!"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
else if (gpioState == 0) {
result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO high!"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
else {
sif::warning << "LibgpiodTest::performPeriodicAction: Invalid GPIO state" << std::endl;
} else if (gpioState == 0) {
result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO high!"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
} else {
sif::warning << "LibgpiodTest::performPeriodicAction: Invalid GPIO state" << std::endl;
}
break;
break;
}
default:
sif::debug << "LibgpiodTest::performPeriodicAction: Invalid test case" << std::endl;
break;
}
sif::debug << "LibgpiodTest::performPeriodicAction: Invalid test case" << std::endl;
break;
}
return RETURN_OK;
return RETURN_OK;
}
ReturnValue_t LibgpiodTest::performOneShotAction() {
int gpioState;
ReturnValue_t result;
int gpioState;
ReturnValue_t result;
switch(testCase) {
case(TestCases::READ): {
break;
switch (testCase) {
case (TestCases::READ): {
break;
}
case(TestCases::BLINK): {
break;
case (TestCases::BLINK): {
break;
}
case(TestCases::LOOPBACK): {
result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO pulled high successfully for loopback test" << std::endl;
}
else {
sif::warning << "LibgpiodTest::performOneShotAction: Could not pull GPIO high!"
<< std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState);
if(result == HasReturnvaluesIF::RETURN_OK and gpioState == 1) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO state read successfully and is high" << std::endl;
}
else {
sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not high!"
<< std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
case (TestCases::LOOPBACK): {
result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO pulled high successfully for loopback test"
<< std::endl;
} else {
sif::warning << "LibgpiodTest::performOneShotAction: Could not pull GPIO high!"
<< std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState);
if (result == HasReturnvaluesIF::RETURN_OK and gpioState == 1) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO state read successfully and is high"
<< std::endl;
} else {
sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not high!"
<< std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO pulled low successfully for loopback test" << std::endl;
}
result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState);
if(result == HasReturnvaluesIF::RETURN_OK and gpioState == 0) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO state read successfully and is low" << std::endl;
}
else {
sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not low!"
<< std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
break;
result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO pulled low successfully for loopback test"
<< std::endl;
}
result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState);
if (result == HasReturnvaluesIF::RETURN_OK and gpioState == 0) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO state read successfully and is low"
<< std::endl;
} else {
sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not low!"
<< std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
break;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
return HasReturnvaluesIF::RETURN_OK;
}

33
linux/boardtest/LibgpiodTest.h
View File

@ -1,34 +1,31 @@
#ifndef TEST_TESTTASKS_LIBGPIODTEST_H_
#define TEST_TESTTASKS_LIBGPIODTEST_H_
#include "TestTask.h"
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include "TestTask.h"
/**
* @brief Test for the GPIO read implementation of the LinuxLibgpioIF.
* @author J. Meier
*/
class LibgpiodTest: public TestTask {
public:
enum TestCases {
READ = 0,
LOOPBACK = 1,
BLINK
};
class LibgpiodTest : public TestTask {
public:
enum TestCases { READ = 0, LOOPBACK = 1, BLINK };
TestCases testCase;
TestCases testCase;
LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, GpioCookie* gpioCookie);
virtual ~LibgpiodTest();
LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, GpioCookie* gpioCookie);
virtual ~LibgpiodTest();
protected:
ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
protected:
ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
private:
GpioIF* gpioInterface;
private:
GpioIF* gpioInterface;
};
#endif /* TEST_TESTTASKS_LIBGPIODTEST_H_ */

762
linux/boardtest/SpiTestClass.cpp
View File

@ -1,503 +1,483 @@
#include "SpiTestClass.h"
#include <fcntl.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
#include <fsfw_hal/linux/utility.h>
#include <linux/spi/spidev.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <bitset>
#include "devices/gpioIds.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw_hal/linux/utility.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <linux/spi/spidev.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <bitset>
SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objectId),
gpioIF(gpioIF) {
if(gpioIF == nullptr) {
sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
}
testMode = TestModes::MGM_LIS3MDL;
spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF *gpioIF)
: TestTask(objectId), gpioIF(gpioIF) {
if (gpioIF == nullptr) {
sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
}
testMode = TestModes::MGM_LIS3MDL;
spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
}
ReturnValue_t SpiTestClass::performOneShotAction() {
switch(testMode) {
case(TestModes::NONE): {
break;
switch (testMode) {
case (TestModes::NONE): {
break;
}
case(TestModes::MGM_LIS3MDL): {
performLis3MdlTest(mgm0Lis3mdlChipSelect);
break;
case (TestModes::MGM_LIS3MDL): {
performLis3MdlTest(mgm0Lis3mdlChipSelect);
break;
}
case(TestModes::MGM_RM3100): {
performRm3100Test(mgm1Rm3100ChipSelect);
break;
case (TestModes::MGM_RM3100): {
performRm3100Test(mgm1Rm3100ChipSelect);
break;
}
case(TestModes::GYRO_L3GD20H): {
performL3gTest(gyro1L3gd20ChipSelect);
break;
case (TestModes::GYRO_L3GD20H): {
performL3gTest(gyro1L3gd20ChipSelect);
break;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiTestClass::performPeriodicAction() {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiTestClass::performPeriodicAction() { return HasReturnvaluesIF::RETURN_OK; }
void SpiTestClass::performRm3100Test(uint8_t mgmId) {
/* Configure all SPI chip selects and pull them high */
acsInit();
/* Configure all SPI chip selects and pull them high */
acsInit();
/* Adapt accordingly */
if(mgmId != mgm1Rm3100ChipSelect and mgmId != mgm3Rm3100ChipSelect) {
sif::warning << "SpiTestClass::performRm3100Test: Invalid MGM ID!" << std::endl;
}
gpioId_t currentGpioId = 0;
uint8_t chipSelectPin = mgmId;
if(chipSelectPin == mgm1Rm3100ChipSelect) {
currentGpioId = gpioIds::MGM_1_RM3100_CS;
}
else {
currentGpioId = gpioIds::MGM_3_RM3100_CS;
}
uint32_t rm3100speed = 976'000;
uint8_t rm3100revidReg = 0x36;
spi::SpiModes rm3100mode = spi::SpiModes::MODE_3;
/* Adapt accordingly */
if (mgmId != mgm1Rm3100ChipSelect and mgmId != mgm3Rm3100ChipSelect) {
sif::warning << "SpiTestClass::performRm3100Test: Invalid MGM ID!" << std::endl;
}
gpioId_t currentGpioId = 0;
uint8_t chipSelectPin = mgmId;
if (chipSelectPin == mgm1Rm3100ChipSelect) {
currentGpioId = gpioIds::MGM_1_RM3100_CS;
} else {
currentGpioId = gpioIds::MGM_3_RM3100_CS;
}
uint32_t rm3100speed = 976'000;
uint8_t rm3100revidReg = 0x36;
spi::SpiModes rm3100mode = spi::SpiModes::MODE_3;
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
std::string deviceName = "/dev/spidev0.0";
#else
std::string deviceName = "/dev/spidev2.0";
std::string deviceName = "/dev/spidev2.0";
#endif
int fileDescriptor = 0;
int fileDescriptor = 0;
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
if (fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performRm3100Test: File descriptor could not be opened!"
<< std::endl;
return;
}
setSpiSpeedAndMode(fileDescriptor, rm3100mode, rm3100speed);
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface");
if(fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performRm3100Test: File descriptor could not be opened!"
<< std::endl;
return;
}
setSpiSpeedAndMode(fileDescriptor, rm3100mode, rm3100speed);
uint8_t revId = readRegister(fileDescriptor, currentGpioId, rm3100revidReg);
sif::info << "SpiTestClass::performRm3100Test: Revision ID 0b" << std::bitset<8>(revId)
<< std::endl;
uint8_t revId = readRegister(fileDescriptor, currentGpioId, rm3100revidReg);
sif::info << "SpiTestClass::performRm3100Test: Revision ID 0b" << std::bitset<8>(revId) <<
std::endl;
/* Write configuration to CMM register */
writeRegister(fileDescriptor, currentGpioId, 0x01, 0x75);
uint8_t cmmRegister = readRm3100Register(fileDescriptor, currentGpioId, 0x01);
sif::info << "SpiTestClass::performRm3100Test: CMM register value: " << std::hex << "0x"
<< static_cast<int>(cmmRegister) << std::dec << std::endl;
/* Write configuration to CMM register */
writeRegister(fileDescriptor, currentGpioId, 0x01, 0x75);
uint8_t cmmRegister = readRm3100Register(fileDescriptor , currentGpioId, 0x01);
sif::info << "SpiTestClass::performRm3100Test: CMM register value: " <<
std::hex << "0x" << static_cast<int>(cmmRegister) << std::dec << std::endl;
/* Read the cycle count registers */
uint8_t cycleCountsRaw[6];
readMultipleRegisters(fileDescriptor, currentGpioId, 0x04, cycleCountsRaw, 6);
/* Read the cycle count registers */
uint8_t cycleCountsRaw[6];
readMultipleRegisters(fileDescriptor, currentGpioId, 0x04, cycleCountsRaw, 6);
uint16_t cycleCountX = cycleCountsRaw[0] << 8 | cycleCountsRaw[1];
uint16_t cycleCountY = cycleCountsRaw[2] << 8 | cycleCountsRaw[3];
uint16_t cycleCountZ = cycleCountsRaw[4] << 8 | cycleCountsRaw[5];
uint16_t cycleCountX = cycleCountsRaw[0] << 8 | cycleCountsRaw[1];
uint16_t cycleCountY = cycleCountsRaw[2] << 8 | cycleCountsRaw[3];
uint16_t cycleCountZ = cycleCountsRaw[4] << 8 | cycleCountsRaw[5];
sif::info << "Cycle count X: " << cycleCountX << std::endl;
sif::info << "Cycle count Y: " << cycleCountY << std::endl;
sif::info << "Cycle count z: " << cycleCountZ << std::endl;
sif::info << "Cycle count X: " << cycleCountX << std::endl;
sif::info << "Cycle count Y: " << cycleCountY << std::endl;
sif::info << "Cycle count z: " << cycleCountZ << std::endl;
writeRegister(fileDescriptor, currentGpioId, 0x0B, 0x96);
uint8_t tmrcReg = readRm3100Register(fileDescriptor, currentGpioId, 0x0B);
sif::info << "SpiTestClass::performRm3100Test: TMRC register value: " <<
std::hex << "0x" << static_cast<int>(tmrcReg) << std::dec << std::endl;
writeRegister(fileDescriptor, currentGpioId, 0x0B, 0x96);
uint8_t tmrcReg = readRm3100Register(fileDescriptor, currentGpioId, 0x0B);
sif::info << "SpiTestClass::performRm3100Test: TMRC register value: " << std::hex << "0x"
<< static_cast<int>(tmrcReg) << std::dec << std::endl;
TaskFactory::delayTask(10);
uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
sif::info << "SpiTestClass::performRm3100Test: Status Register 0b" << std::bitset<8>(statusReg)
<< std::endl;
/* This means that data is not ready */
if ((statusReg & 0b1000'0000) == 0) {
sif::warning << "SpiTestClass::performRm3100Test: Data not ready!" << std::endl;
TaskFactory::delayTask(10);
uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
sif::info << "SpiTestClass::performRm3100Test: Status Register 0b" <<
std::bitset<8>(statusReg) << std::endl;
/* This means that data is not ready */
if((statusReg & 0b1000'0000) == 0) {
sif::warning << "SpiTestClass::performRm3100Test: Data not ready!" << std::endl;
TaskFactory::delayTask(10);
uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
if((statusReg & 0b1000'0000) == 0) {
return;
}
if ((statusReg & 0b1000'0000) == 0) {
return;
}
}
uint32_t rm3100DefaultCycleCout = 0xC8;
/* Gain scales lineary with cycle count and is 38 for cycle count 100 */
float rm3100Gain = rm3100DefaultCycleCout / 100.0 * 38.0;
float scaleFactor = 1 / rm3100Gain;
uint8_t rawValues[9];
readMultipleRegisters(fileDescriptor, currentGpioId, 0x24, rawValues, 9);
uint32_t rm3100DefaultCycleCout = 0xC8;
/* Gain scales lineary with cycle count and is 38 for cycle count 100 */
float rm3100Gain = rm3100DefaultCycleCout / 100.0 * 38.0;
float scaleFactor = 1 / rm3100Gain;
uint8_t rawValues[9];
readMultipleRegisters(fileDescriptor, currentGpioId, 0x24, rawValues, 9);
/* The sensor generates 24 bit signed values */
int32_t rawX = ((rawValues[0] << 24) | (rawValues[1] << 16) | (rawValues[2] << 8)) >> 8;
int32_t rawY = ((rawValues[3] << 24) | (rawValues[4] << 16) | (rawValues[5] << 8)) >> 8;
int32_t rawZ = ((rawValues[6] << 24) | (rawValues[7] << 16) | (rawValues[8] << 8)) >> 8;
/* The sensor generates 24 bit signed values */
int32_t rawX = ((rawValues[0] << 24) | (rawValues[1] << 16) | (rawValues[2] << 8)) >> 8;
int32_t rawY = ((rawValues[3] << 24) | (rawValues[4] << 16) | (rawValues[5] << 8)) >> 8;
int32_t rawZ = ((rawValues[6] << 24) | (rawValues[7] << 16) | (rawValues[8] << 8)) >> 8;
float fieldStrengthX = rawX * scaleFactor;
float fieldStrengthY = rawY * scaleFactor;
float fieldStrengthZ = rawZ * scaleFactor;
float fieldStrengthX = rawX * scaleFactor;
float fieldStrengthY = rawY * scaleFactor;
float fieldStrengthZ = rawZ * scaleFactor;
sif::info << "RM3100 measured field strengths in microtesla:" << std::endl;
sif::info << "Field Strength X: " << fieldStrengthX << " uT" << std::endl;
sif::info << "Field Strength Y: " << fieldStrengthY << " uT" << std::endl;
sif::info << "Field Strength Z: " << fieldStrengthZ << " uT" << std::endl;
sif::info << "RM3100 measured field strengths in microtesla:" << std::endl;
sif::info << "Field Strength X: " << fieldStrengthX << " uT" << std::endl;
sif::info << "Field Strength Y: " << fieldStrengthY << " uT" << std::endl;
sif::info << "Field Strength Z: " << fieldStrengthZ << " uT" << std::endl;
}
void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
/* Configure all SPI chip selects and pull them high */
acsInit();
/* Configure all SPI chip selects and pull them high */
acsInit();
/* Adapt accordingly */
if(lis3Id != mgm0Lis3mdlChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
}
gpioId_t currentGpioId = 0;
uint8_t chipSelectPin = lis3Id;
uint8_t whoAmIReg = 0b0000'1111;
uint8_t whoAmIRegExpectedVal = 0b0011'1101;
if(chipSelectPin == mgm0Lis3mdlChipSelect) {
currentGpioId = gpioIds::MGM_0_LIS3_CS;
}
else {
currentGpioId = gpioIds::MGM_2_LIS3_CS;
}
uint32_t spiSpeed = 10'000'000;
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
/* Adapt accordingly */
if (lis3Id != mgm0Lis3mdlChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
}
gpioId_t currentGpioId = 0;
uint8_t chipSelectPin = lis3Id;
uint8_t whoAmIReg = 0b0000'1111;
uint8_t whoAmIRegExpectedVal = 0b0011'1101;
if (chipSelectPin == mgm0Lis3mdlChipSelect) {
currentGpioId = gpioIds::MGM_0_LIS3_CS;
} else {
currentGpioId = gpioIds::MGM_2_LIS3_CS;
}
uint32_t spiSpeed = 10'000'000;
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
std::string deviceName = "/dev/spidev0.0";
#else
std::string deviceName = "/dev/spidev2.0";
std::string deviceName = "/dev/spidev2.0";
#endif
int fileDescriptor = 0;
int fileDescriptor = 0;
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface");
if(fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
<< std::endl;
return;
}
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
spiTransferStruct.delay_usecs = 0;
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" <<
std::bitset<8>(whoAmIRegVal) << std::endl;
if(whoAmIRegVal != whoAmIRegExpectedVal) {
sif::warning << "SpiTestClass::performLis3MdlTest: WHO AM I register invalid!"
<< std::endl;
}
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
if (fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
<< std::endl;
return;
}
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
spiTransferStruct.delay_usecs = 0;
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b"
<< std::bitset<8>(whoAmIRegVal) << std::endl;
if (whoAmIRegVal != whoAmIRegExpectedVal) {
sif::warning << "SpiTestClass::performLis3MdlTest: WHO AM I register invalid!" << std::endl;
}
}
void SpiTestClass::performL3gTest(uint8_t l3gId) {
/* Configure all SPI chip selects and pull them high */
acsInit();
/* Configure all SPI chip selects and pull them high */
acsInit();
gpioId_t currentGpioId = 0;
uint8_t chipSelectPin = l3gId;
uint8_t whoAmIReg = 0b0000'1111;
uint8_t whoAmIRegExpectedVal = 0b1101'0111;
gpioId_t currentGpioId = 0;
uint8_t chipSelectPin = l3gId;
uint8_t whoAmIReg = 0b0000'1111;
uint8_t whoAmIRegExpectedVal = 0b1101'0111;
if(chipSelectPin == gyro1L3gd20ChipSelect) {
currentGpioId = gpioIds::GYRO_1_L3G_CS;
}
else {
currentGpioId = gpioIds::GYRO_3_L3G_CS;
}
uint32_t spiSpeed = 3'900'000;
spi::SpiModes spiMode = spi::SpiModes::MODE_3;
if (chipSelectPin == gyro1L3gd20ChipSelect) {
currentGpioId = gpioIds::GYRO_1_L3G_CS;
} else {
currentGpioId = gpioIds::GYRO_3_L3G_CS;
}
uint32_t spiSpeed = 3'900'000;
spi::SpiModes spiMode = spi::SpiModes::MODE_3;
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
std::string deviceName = "/dev/spidev0.0";
#else
std::string deviceName = "/dev/spidev2.0";
std::string deviceName = "/dev/spidev2.0";
#endif
int fileDescriptor = 0;
int fileDescriptor = 0;
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface");
if(fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
<< std::endl;
return;
}
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" <<
std::bitset<8>(whoAmIRegVal) << std::endl;
if(whoAmIRegVal != whoAmIRegExpectedVal) {
sif::warning << "SpiTestClass::performL3gTest: Read WHO AM I register invalid!" <<
std::endl;
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
if (fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
<< std::endl;
return;
}
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b"
<< std::bitset<8>(whoAmIRegVal) << std::endl;
if (whoAmIRegVal != whoAmIRegExpectedVal) {
sif::warning << "SpiTestClass::performL3gTest: Read WHO AM I register invalid!" << std::endl;
}
uint8_t ctrlReg1Addr = 0b0010'0000;
{
uint8_t commandRegs[5];
commandRegs[0] = 0b0000'1111;
commandRegs[1] = 0x0;
commandRegs[2] = 0x0;
/* Configure big endian data format */
commandRegs[3] = 0b0100'0000;
commandRegs[4] = 0x0;
writeMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, commandRegs,
sizeof(commandRegs));
uint8_t readRegs[5];
readMultipleRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readRegs, sizeof(readRegs));
for (uint8_t idx = 0; idx < sizeof(readRegs); idx++) {
if (readRegs[idx] != commandRegs[0]) {
sif::warning << "SpiTestClass::performL3gTest: Read control register "
<< static_cast<int>(idx + 1) << " not equal to configured value" << std::endl;
}
}
}
uint8_t ctrlReg1Addr = 0b0010'0000;
{
uint8_t commandRegs[5];
commandRegs[0] = 0b0000'1111;
commandRegs[1] = 0x0;
commandRegs[2] = 0x0;
/* Configure big endian data format */
commandRegs[3] = 0b0100'0000;
commandRegs[4] = 0x0;
writeMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, commandRegs,
sizeof(commandRegs));
uint8_t readRegs[5];
readMultipleRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readRegs,
sizeof(readRegs));
for(uint8_t idx = 0; idx < sizeof(readRegs); idx++) {
if(readRegs[idx] != commandRegs[0]) {
sif::warning << "SpiTestClass::performL3gTest: Read control register " <<
static_cast<int>(idx + 1) << " not equal to configured value" << std::endl;
}
}
}
uint8_t readOutBuffer[14];
readMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readOutBuffer,
sizeof(readOutBuffer));
uint8_t readOutBuffer[14];
readMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readOutBuffer,
sizeof(readOutBuffer));
uint8_t statusReg = readOutBuffer[7];
sif::info << "SpiTestClass::performL3gTest: Status Register 0b" << std::bitset<8>(statusReg)
<< std::endl;
uint8_t statusReg = readOutBuffer[7];
sif::info << "SpiTestClass::performL3gTest: Status Register 0b" <<
std::bitset<8>(statusReg) << std::endl;
uint16_t l3gRange = 245;
float scaleFactor = static_cast<float>(l3gRange) / INT16_MAX;
/* The sensor spits out little endian */
int16_t angVelocRawX = (readOutBuffer[8] << 8) | readOutBuffer[9];
int16_t angVelocRawY = (readOutBuffer[10] << 8) | readOutBuffer[11];
int16_t angVelocRawZ = (readOutBuffer[12] << 8) | readOutBuffer[13];
uint16_t l3gRange = 245;
float scaleFactor = static_cast<float>(l3gRange) / INT16_MAX;
/* The sensor spits out little endian */
int16_t angVelocRawX = (readOutBuffer[8] << 8) | readOutBuffer[9];
int16_t angVelocRawY = (readOutBuffer[10] << 8) | readOutBuffer[11];
int16_t angVelocRawZ = (readOutBuffer[12] << 8) | readOutBuffer[13];
float angVelocX = scaleFactor * angVelocRawX;
float angVelocY = scaleFactor * angVelocRawY;
float angVelocZ = scaleFactor * angVelocRawZ;
sif::info << "Angular velocities for the L3GD20H in degrees per second:" << std::endl;
sif::info << "X: " << angVelocX << std::endl;
sif::info << "Y: " << angVelocY << std::endl;
sif::info << "Z: " << angVelocZ << std::endl;
float angVelocX = scaleFactor * angVelocRawX;
float angVelocY = scaleFactor * angVelocRawY;
float angVelocZ = scaleFactor * angVelocRawZ;
sif::info << "Angular velocities for the L3GD20H in degrees per second:" << std::endl;
sif::info << "X: " << angVelocX << std::endl;
sif::info << "Y: " << angVelocY << std::endl;
sif::info << "Z: " << angVelocZ << std::endl;
}
void SpiTestClass::acsInit() {
GpioCookie* gpioCookie = new GpioCookie();
GpioCookie *gpioCookie = new GpioCookie();
#ifdef RASPBERRY_PI
GpiodRegularByChip* gpio = nullptr;
std::string rpiGpioName = "gpiochip0";
gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
GpiodRegularByChip *gpio = nullptr;
std::string rpiGpioName = "gpiochip0";
gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, gyro3L3gd20ChipSelect, "GYRO_2_L3G",
gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, gyro3L3gd20ChipSelect, "GYRO_2_L3G", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
#elif defined(XIPHOS_Q7S)
GpiodRegularByLineName* gpio = nullptr;
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, "MGM_0_LIS3", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_1_RM3100", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, "MGM_2_LIS3", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_3_RM3100", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
GpiodRegularByLineName *gpio = nullptr;
gpio =
new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, "MGM_0_LIS3", gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_1_RM3100", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio =
new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, "MGM_2_LIS3", gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_3_RM3100", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, "GYRO_0_ADIS",
gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, "GYRO_1_L3G", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, "GYRO_2_ADIS",
gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, "GYRO_3_L3G", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, "GYRO_0_ADIS", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, "GYRO_1_L3G", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, "GYRO_2_ADIS", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, "GYRO_3_L3G", gpio::DIR_OUT,
gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
// Enable pins must be pulled low for regular operations
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_0_ENABLE", gpio::DIR_OUT,
gpio::LOW);
gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_2_ENABLE", gpio::DIR_OUT,
gpio::LOW);
gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
// Enable pins must be pulled low for regular operations
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_0_ENABLE", gpio::DIR_OUT,
gpio::LOW);
gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_2_ENABLE", gpio::DIR_OUT,
gpio::LOW);
gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
#endif
if (gpioIF != nullptr) {
gpioIF->addGpios(gpioCookie);
}
if (gpioIF != nullptr) {
gpioIF->addGpios(gpioCookie);
}
}
void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
int mode_test = SPI_MODE_3;
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, &mode_test);//reinterpret_cast<uint8_t*>(&mode));
if(retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
}
int mode_test = SPI_MODE_3;
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, &mode_test); // reinterpret_cast<uint8_t*>(&mode));
if (retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
}
retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
if(retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
}
retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
if (retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
}
}
void SpiTestClass::writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value) {
spiTransferStruct.len = 2;
sendBuffer[0] = reg;
sendBuffer[1] = value;
spiTransferStruct.len = 2;
sendBuffer[0] = reg;
sendBuffer[1] = value;
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) {
utility::handleIoctlError("SpiTestClass::writeRegister: Write failed");
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if (retval < 0) {
utility::handleIoctlError("SpiTestClass::writeRegister: Write failed");
}
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
}
void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
bool autoIncrement) {
if(autoIncrement) {
reg |= STM_AUTO_INCR_MASK;
}
writeRegister(fd, chipSelect, reg, value);
bool autoIncrement) {
if (autoIncrement) {
reg |= STM_AUTO_INCR_MASK;
}
writeRegister(fd, chipSelect, reg, value);
}
void SpiTestClass::writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
uint8_t *values, size_t len) {
if(values == nullptr) {
return;
}
reg |= STM_AUTO_INCR_MASK;
/* Clear read mask */
reg &= ~STM_READ_MASK;
writeMultipleRegisters(fd, chipSelect, reg, values, len);
uint8_t *values, size_t len) {
if (values == nullptr) {
return;
}
reg |= STM_AUTO_INCR_MASK;
/* Clear read mask */
reg &= ~STM_READ_MASK;
writeMultipleRegisters(fd, chipSelect, reg, values, len);
}
void SpiTestClass::writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
uint8_t *values, size_t len) {
if(values == nullptr) {
return;
}
void SpiTestClass::writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *values,
size_t len) {
if (values == nullptr) {
return;
}
sendBuffer[0] = reg;
std::memcpy(sendBuffer.data() + 1, values, len);
spiTransferStruct.len = len + 1;
sendBuffer[0] = reg;
std::memcpy(sendBuffer.data() + 1, values, len);
spiTransferStruct.len = len + 1;
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if (retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
}
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
}
uint8_t SpiTestClass::readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg) {
return readStmRegister(fd, chipSelect, reg, false);
return readStmRegister(fd, chipSelect, reg, false);
}
void SpiTestClass::readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
size_t len) {
reg |= STM_AUTO_INCR_MASK;
readMultipleRegisters(fd, chipSelect, reg, reply, len);
void SpiTestClass::readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
uint8_t *reply, size_t len) {
reg |= STM_AUTO_INCR_MASK;
readMultipleRegisters(fd, chipSelect, reg, reply, len);
}
void SpiTestClass::readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
size_t len) {
if(reply == nullptr) {
return;
}
size_t len) {
if (reply == nullptr) {
return;
}
spiTransferStruct.len = len + 1;
sendBuffer[0] = reg | STM_READ_MASK;
spiTransferStruct.len = len + 1;
sendBuffer[0] = reg | STM_READ_MASK;
for(uint8_t idx = 0; idx < len ; idx ++) {
sendBuffer[idx + 1] = 0;
}
for (uint8_t idx = 0; idx < len; idx++) {
sendBuffer[idx + 1] = 0;
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
std::memcpy(reply, recvBuffer.data() + 1, len);
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if (retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
}
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
std::memcpy(reply, recvBuffer.data() + 1, len);
}
uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg,
bool autoIncrement) {
reg |= STM_READ_MASK;
if(autoIncrement) {
reg |= STM_AUTO_INCR_MASK;
}
return readRegister(fd, chipSelect, reg);
bool autoIncrement) {
reg |= STM_READ_MASK;
if (autoIncrement) {
reg |= STM_AUTO_INCR_MASK;
}
return readRegister(fd, chipSelect, reg);
}
uint8_t SpiTestClass::readRegister(int fd, gpioId_t chipSelect, uint8_t reg) {
spiTransferStruct.len = 2;
sendBuffer[0] = reg;
sendBuffer[1] = 0;
spiTransferStruct.len = 2;
sendBuffer[0] = reg;
sendBuffer[1] = 0;
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
return recvBuffer[1];
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if (retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
}
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
return recvBuffer[1];
}

117
linux/boardtest/SpiTestClass.h
View File

@ -13,83 +13,78 @@
#include <vector>
class SpiTestClass: public TestTask {
public:
enum TestModes {
NONE,
MGM_LIS3MDL,
MGM_RM3100,
GYRO_L3GD20H,
};
class SpiTestClass : public TestTask {
public:
enum TestModes {
NONE,
MGM_LIS3MDL,
MGM_RM3100,
GYRO_L3GD20H,
};
TestModes testMode;
TestModes testMode;
SpiTestClass(object_id_t objectId, GpioIF* gpioIF);
SpiTestClass(object_id_t objectId, GpioIF* gpioIF);
ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
private:
ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
GpioIF* gpioIF;
private:
GpioIF* gpioIF;
std::array<uint8_t, 128> recvBuffer;
std::array<uint8_t, 128> sendBuffer;
struct spi_ioc_transfer spiTransferStruct = {};
std::array<uint8_t, 128> recvBuffer;
std::array<uint8_t, 128> sendBuffer;
struct spi_ioc_transfer spiTransferStruct = {};
void performRm3100Test(uint8_t mgmId);
void performLis3MdlTest(uint8_t lis3Id);
void performL3gTest(uint8_t l3gId);
void performRm3100Test(uint8_t mgmId);
void performLis3MdlTest(uint8_t lis3Id);
void performL3gTest(uint8_t l3gId);
/* ACS board specific code which pulls all GPIOs high */
void acsInit();
/* ACS board specific code which pulls all GPIOs high */
void acsInit();
/* ACS board specific variables */
/* ACS board specific variables */
#ifdef RASPBERRY_PI
uint8_t mgm0Lis3mdlChipSelect = gpio::MGM_0_BCM_PIN;
uint8_t mgm1Rm3100ChipSelect = gpio::MGM_1_BCM_PIN;
uint8_t mgm2Lis3mdlChipSelect = gpio::MGM_2_BCM_PIN;
uint8_t mgm3Rm3100ChipSelect = gpio::MGM_3_BCM_PIN;
uint8_t mgm0Lis3mdlChipSelect = gpio::MGM_0_BCM_PIN;
uint8_t mgm1Rm3100ChipSelect = gpio::MGM_1_BCM_PIN;
uint8_t mgm2Lis3mdlChipSelect = gpio::MGM_2_BCM_PIN;
uint8_t mgm3Rm3100ChipSelect = gpio::MGM_3_BCM_PIN;
uint8_t gyro0AdisChipSelect = gpio::GYRO_0_BCM_PIN;
uint8_t gyro1L3gd20ChipSelect = gpio::GYRO_1_BCM_PIN;
uint8_t gyro2AdisChipSelect = gpio::GYRO_2_BCM_PIN;
uint8_t gyro3L3gd20ChipSelect = gpio::GYRO_3_BCM_PIN;
uint8_t gyro0AdisChipSelect = gpio::GYRO_0_BCM_PIN;
uint8_t gyro1L3gd20ChipSelect = gpio::GYRO_1_BCM_PIN;
uint8_t gyro2AdisChipSelect = gpio::GYRO_2_BCM_PIN;
uint8_t gyro3L3gd20ChipSelect = gpio::GYRO_3_BCM_PIN;
#else
uint8_t mgm0Lis3mdlChipSelect = 0;
uint8_t mgm1Rm3100ChipSelect = 0;
uint8_t gyro0AdisResetLine = 0;
uint8_t gyro0AdisChipSelect = 0;
uint8_t gyro1L3gd20ChipSelect = 0;
uint8_t gyro2L3gd20ChipSelect = 0;
uint8_t mgm2Lis3mdlChipSelect = 0;
uint8_t mgm3Rm3100ChipSelect = 0;
uint8_t mgm0Lis3mdlChipSelect = 0;
uint8_t mgm1Rm3100ChipSelect = 0;
uint8_t gyro0AdisResetLine = 0;
uint8_t gyro0AdisChipSelect = 0;
uint8_t gyro1L3gd20ChipSelect = 0;
uint8_t gyro2L3gd20ChipSelect = 0;
uint8_t mgm2Lis3mdlChipSelect = 0;
uint8_t mgm3Rm3100ChipSelect = 0;
#endif
static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;
static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;
static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
bool autoIncrement);
void writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
size_t len);
void writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *values,
size_t len);
void writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value);
uint8_t readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg);
uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
uint8_t readRegister(int fd, gpioId_t chipSelect, uint8_t reg);
void readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
size_t len);
void readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
uint8_t* reply, size_t len);
void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
bool autoIncrement);
void writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
size_t len);
void writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
size_t len);
void writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value);
uint8_t readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg);
uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
uint8_t readRegister(int fd, gpioId_t chipSelect, uint8_t reg);
void readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* reply,
size_t len);
void readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* reply, size_t len);
};
#endif /* LINUX_BOARDTEST_SPITESTCLASS_H_ */

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