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eive/eive-obsw
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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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46
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");
@ -27,7 +26,7 @@ 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;
@ -42,30 +41,29 @@ void initmission::initMission() {
void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
if(factory == nullptr) {
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){
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){
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
@ -73,13 +71,13 @@ void initmission::initTasks() {
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) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
@ -87,47 +85,47 @@ void initmission::initTasks() {
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){
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){
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) {
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) {
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) {
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) {
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) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
}
@ -135,7 +133,7 @@ void initmission::initTasks() {
"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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#endif /* OBSW_ADD_TEST_CODE == 1 */

2
bsp_hosted/InitMission.h
View File

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

17
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"
@ -20,12 +20,11 @@
#include <fsfw/tmtcpacket/pus/tm.h>
#if OBSW_ADD_TEST_CODE == 1
#include <test/testtasks/TestTask.h>
#endif
void Factory::setStaticFrameworkObjectIds(){
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
@ -40,7 +39,7 @@ void Factory::setStaticFrameworkObjectIds(){
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
}
void ObjectFactory::produce(void* args){
void ObjectFactory::produce(void* args) {
Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects();

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_ */

3
bsp_hosted/boardconfig/gcov.h
View File

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

6
bsp_hosted/boardconfig/print.c
View File

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

179
bsp_hosted/comIF/ArduinoComIF.cpp
View File

@ -1,32 +1,31 @@
#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);
if (serialPort < 0) {
//configuration error
// configuration error
printf("Error %i from open: %s\n", errno, strerror(errno));
return;
}
@ -44,73 +43,64 @@ ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF,
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_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));
// printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
return;
}
initialized = true;
#elif WIN32
DCB serialParams = { 0 };
DCB serialParams = {0};
// we need to ask the COM port from the user.
if(promptComIF) {
if (promptComIF) {
sif::info << "Please enter the COM port (c to cancel): " << std::flush;
std::string comPort;
while(hCom == INVALID_HANDLE_VALUE) {
while (hCom == INVALID_HANDLE_VALUE) {
std::getline(std::cin, comPort);
if(comPort[0] == 'c') {
if (comPort[0] == 'c') {
break;
}
const TCHAR *pcCommPort = comPort.c_str();
hCom = CreateFileA(pcCommPort, //port name
GENERIC_READ | GENERIC_WRITE, //Read/Write
hCom = CreateFileA(pcCommPort, // port name
GENERIC_READ | GENERIC_WRITE, // Read/Write
0, // No Sharing
NULL, // No Security
OPEN_EXISTING,// Open existing port only
OPEN_EXISTING, // Open existing port only
0, // Non Overlapped I/O
NULL); // Null for Comm Devices
if (hCom == INVALID_HANDLE_VALUE)
{
if(GetLastError() == 2) {
if (hCom == INVALID_HANDLE_VALUE) {
if (GetLastError() == 2) {
sif::error << "COM Port does not found!" << std::endl;
}
else {
} else {
TCHAR err[128];
FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL,
GetLastError(),
MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
err, sizeof(err), NULL);
FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, GetLastError(),
MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), err, sizeof(err), NULL);
// Handle the error.
sif::info << "CreateFileA Error code: " << GetLastError()
<< std::endl;
sif::info << "CreateFileA Error code: " << GetLastError() << std::endl;
sif::error << err << std::flush;
}
sif::info << "Please enter a valid COM port: " << std::flush;
}
}
}
serialParams.DCBlength = sizeof(serialParams);
if(baudRate == 9600) {
if (baudRate == 9600) {
serialParams.BaudRate = CBR_9600;
}
if(baudRate == 115200) {
if (baudRate == 115200) {
serialParams.BaudRate = CBR_115200;
}
else {
} else {
serialParams.BaudRate = baudRate;
}
@ -119,7 +109,7 @@ ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF,
serialParams.StopBits = ONESTOPBIT;
SetCommState(hCom, &serialParams);
COMMTIMEOUTS timeout = { 0 };
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;
@ -139,36 +129,29 @@ ArduinoComIF::~ArduinoComIF() {
CloseHandle(hCom);
#endif
}
ReturnValue_t ArduinoComIF::initializeInterface(CookieIF * cookie) {
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);
ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, size_t len) {
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
if (arduinoCookie == nullptr) {
return INVALID_COOKIE_TYPE;
}
return sendMessage(arduinoCookie->command, arduinoCookie->address, data,
len);
return sendMessage(arduinoCookie->command, arduinoCookie->address, data, len);
}
ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) {
ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { return RETURN_OK; }
ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
return RETURN_OK;
}
ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie,
size_t requestLen) {
return RETURN_OK;
}
ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) {
ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
handleSerialPortRx();
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
if (arduinoCookie == nullptr) {
return INVALID_COOKIE_TYPE;
}
@ -178,13 +161,13 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
uint8_t address, const uint8_t *data, size_t dataLen) {
ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const uint8_t *data,
size_t dataLen) {
if (dataLen > UINT16_MAX) {
return TOO_MUCH_DATA;
}
//being conservative here
// being conservative here
uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
sendBuffer[0] = DleEncoder::STX_CHAR;
@ -193,61 +176,59 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
size_t remainingLen = sizeof(sendBuffer) - 1;
size_t encodedLen = 0;
ReturnValue_t result = DleEncoder::encode(&command, 1, currentPosition,
remainingLen, &encodedLen, false);
ReturnValue_t result =
DleEncoder::encode(&command, 1, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen,
&encodedLen, false);
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
uint8_t temporaryBuffer[2];
//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
// 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;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
remainingLen, &encodedLen, false);
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
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
//encoding the actual data
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen,
&encodedLen, false);
// 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
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
uint16_t crc = CRC::crc16ccitt(&command, 1);
crc = CRC::crc16ccitt(&address, 1, crc);
//fortunately the length is still there
// 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);
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
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
if (remainingLen > 0) {
*currentPosition = DleEncoder::ETX_CHAR;
@ -259,12 +240,12 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
#ifdef LINUX
ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen);
if (writtenlen < 0) {
//we could try to find out what happened...
// 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
// 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;
@ -279,8 +260,7 @@ void ArduinoComIF::handleSerialPortRx() {
uint8_t dataFromSerial[availableSpace];
ssize_t bytesRead = read(serialPort, dataFromSerial,
sizeof(dataFromSerial));
ssize_t bytesRead = read(serialPort, dataFromSerial, sizeof(dataFromSerial));
if (bytesRead < 0) {
return;
@ -292,18 +272,17 @@ void ArduinoComIF::handleSerialPortRx() {
uint32_t dataLenReceivedSoFar = 0;
rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true,
&dataLenReceivedSoFar);
rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true, &dataLenReceivedSoFar);
//look for STX
// look for STX
size_t firstSTXinRawData = 0;
while ((firstSTXinRawData < dataLenReceivedSoFar)
&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) {
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...
// there is no STX in our data, throw it away...
rxBuffer.deleteData(dataLenReceivedSoFar);
return;
}
@ -313,10 +292,9 @@ void ArduinoComIF::handleSerialPortRx() {
size_t readSize = 0;
ReturnValue_t result = DleEncoder::decode(
dataReceivedSoFar + firstSTXinRawData,
dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet,
sizeof(packet), &packetLen);
ReturnValue_t result = DleEncoder::decode(dataReceivedSoFar + firstSTXinRawData,
dataLenReceivedSoFar - firstSTXinRawData, &readSize,
packet, sizeof(packet), &packetLen);
size_t toDelete = firstSTXinRawData;
if (result == HasReturnvaluesIF::RETURN_OK) {
@ -327,20 +305,18 @@ void ArduinoComIF::handleSerialPortRx() {
toDelete += readSize;
}
//remove Data which was processed
// 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
// CRC error
return;
}
@ -350,26 +326,25 @@ void ArduinoComIF::handlePacket(uint8_t *packet, size_t packetLen) {
uint16_t size = (packet[2] << 8) + packet[3];
if (size != packetLen - 6) {
//Invalid Length
// Invalid Length
return;
}
switch (command) {
case ArduinoCookie::SPI: {
//ArduinoCookie **itsComplicated;
// ArduinoCookie **itsComplicated;
auto findIter = spiMap.find(address);
if (findIter == spiMap.end()) {
//we do no know this address
// we do no know this address
return;
}
ArduinoCookie& cookie = findIter->second;
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;
} break;
default:
return;
}

29
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>
@ -14,12 +14,11 @@
#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:
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;
@ -33,16 +32,15 @@ public:
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 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;
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;
@ -54,13 +52,12 @@ private:
// Default baud rate is 9600 for now.
uint32_t baudRate = 9600;
//used to know where to put the data if a reply is received
// used to know where to put the data if a reply is received
std::map<uint8_t, ArduinoCookie> spiMap;
SimpleRingBuffer rxBuffer;
ReturnValue_t sendMessage(uint8_t command, uint8_t address,
const uint8_t *data, size_t dataLen);
ReturnValue_t sendMessage(uint8_t command, uint8_t address, const uint8_t *data, size_t dataLen);
void handleSerialPortRx();
void handlePacket(uint8_t *packet, size_t packetLen);

12
bsp_hosted/comIF/ArduinoCookie.cpp
View File

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

15
bsp_hosted/comIF/ArduinoCookie.h
View File

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

7
bsp_hosted/fsfwconfig/devices/gpioIds.h
View File

@ -2,7 +2,7 @@
#define FSFWCONFIG_DEVICES_GPIOIDS_H_
namespace gpioIds {
enum gpioId_t {
enum gpioId_t {
HEATER_0,
HEATER_1,
HEATER_2,
@ -48,10 +48,7 @@ namespace gpioIds {
SPI_MUX_BIT_4,
SPI_MUX_BIT_5,
SPI_MUX_BIT_6
};
};
}
#endif /* FSFWCONFIG_DEVICES_GPIOIDS_H_ */

53
bsp_hosted/fsfwconfig/devices/powerSwitcherList.h
View File

@ -4,8 +4,8 @@
#include <OBSWConfig.h>
namespace pcduSwitches {
/* Switches are uint8_t datatype and go from 0 to 255 */
enum SwitcherList {
/* Switches are uint8_t datatype and go from 0 to 255 */
enum SwitcherList {
Q7S,
PAYLOAD_PCDU_CH1,
RW,
@ -24,35 +24,34 @@ namespace pcduSwitches {
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_ */

170
bsp_hosted/fsfwconfig/events/translateEvents.cpp
View File

@ -89,173 +89,173 @@ 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):
const char *translateEvents(Event event) {
switch ((event & 0xffff)) {
case (2200):
return STORE_SEND_WRITE_FAILED_STRING;
case(2201):
case (2201):
return STORE_WRITE_FAILED_STRING;
case(2202):
case (2202):
return STORE_SEND_READ_FAILED_STRING;
case(2203):
case (2203):
return STORE_READ_FAILED_STRING;
case(2204):
case (2204):
return UNEXPECTED_MSG_STRING;
case(2205):
case (2205):
return STORING_FAILED_STRING;
case(2206):
case (2206):
return TM_DUMP_FAILED_STRING;
case(2207):
case (2207):
return STORE_INIT_FAILED_STRING;
case(2208):
case (2208):
return STORE_INIT_EMPTY_STRING;
case(2209):
case (2209):
return STORE_CONTENT_CORRUPTED_STRING;
case(2210):
case (2210):
return STORE_INITIALIZE_STRING;
case(2211):
case (2211):
return INIT_DONE_STRING;
case(2212):
case (2212):
return DUMP_FINISHED_STRING;
case(2213):
case (2213):
return DELETION_FINISHED_STRING;
case(2214):
case (2214):
return DELETION_FAILED_STRING;
case(2215):
case (2215):
return AUTO_CATALOGS_SENDING_FAILED_STRING;
case(2600):
case (2600):
return GET_DATA_FAILED_STRING;
case(2601):
case (2601):
return STORE_DATA_FAILED_STRING;
case(2800):
case (2800):
return DEVICE_BUILDING_COMMAND_FAILED_STRING;
case(2801):
case (2801):
return DEVICE_SENDING_COMMAND_FAILED_STRING;
case(2802):
case (2802):
return DEVICE_REQUESTING_REPLY_FAILED_STRING;
case(2803):
case (2803):
return DEVICE_READING_REPLY_FAILED_STRING;
case(2804):
case (2804):
return DEVICE_INTERPRETING_REPLY_FAILED_STRING;
case(2805):
case (2805):
return DEVICE_MISSED_REPLY_STRING;
case(2806):
case (2806):
return DEVICE_UNKNOWN_REPLY_STRING;
case(2807):
case (2807):
return DEVICE_UNREQUESTED_REPLY_STRING;
case(2808):
case (2808):
return INVALID_DEVICE_COMMAND_STRING;
case(2809):
case (2809):
return MONITORING_LIMIT_EXCEEDED_STRING;
case(2810):
case (2810):
return MONITORING_AMBIGUOUS_STRING;
case(4201):
case (4201):
return FUSE_CURRENT_HIGH_STRING;
case(4202):
case (4202):
return FUSE_WENT_OFF_STRING;
case(4204):
case (4204):
return POWER_ABOVE_HIGH_LIMIT_STRING;
case(4205):
case (4205):
return POWER_BELOW_LOW_LIMIT_STRING;
case(4300):
case (4300):
return SWITCH_WENT_OFF_STRING;
case(5000):
case (5000):
return HEATER_ON_STRING;
case(5001):
case (5001):
return HEATER_OFF_STRING;
case(5002):
case (5002):
return HEATER_TIMEOUT_STRING;
case(5003):
case (5003):
return HEATER_STAYED_ON_STRING;
case(5004):
case (5004):
return HEATER_STAYED_OFF_STRING;
case(5200):
case (5200):
return TEMP_SENSOR_HIGH_STRING;
case(5201):
case (5201):
return TEMP_SENSOR_LOW_STRING;
case(5202):
case (5202):
return TEMP_SENSOR_GRADIENT_STRING;
case(5901):
case (5901):
return COMPONENT_TEMP_LOW_STRING;
case(5902):
case (5902):
return COMPONENT_TEMP_HIGH_STRING;
case(5903):
case (5903):
return COMPONENT_TEMP_OOL_LOW_STRING;
case(5904):
case (5904):
return COMPONENT_TEMP_OOL_HIGH_STRING;
case(5905):
case (5905):
return TEMP_NOT_IN_OP_RANGE_STRING;
case(7101):
case (7101):
return FDIR_CHANGED_STATE_STRING;
case(7102):
case (7102):
return FDIR_STARTS_RECOVERY_STRING;
case(7103):
case (7103):
return FDIR_TURNS_OFF_DEVICE_STRING;
case(7201):
case (7201):
return MONITOR_CHANGED_STATE_STRING;
case(7202):
case (7202):
return VALUE_BELOW_LOW_LIMIT_STRING;
case(7203):
case (7203):
return VALUE_ABOVE_HIGH_LIMIT_STRING;
case(7204):
case (7204):
return VALUE_OUT_OF_RANGE_STRING;
case(7301):
case (7301):
return SWITCHING_TM_FAILED_STRING;
case(7400):
case (7400):
return CHANGING_MODE_STRING;
case(7401):
case (7401):
return MODE_INFO_STRING;
case(7402):
case (7402):
return FALLBACK_FAILED_STRING;
case(7403):
case (7403):
return MODE_TRANSITION_FAILED_STRING;
case(7404):
case (7404):
return CANT_KEEP_MODE_STRING;
case(7405):
case (7405):
return OBJECT_IN_INVALID_MODE_STRING;
case(7406):
case (7406):
return FORCING_MODE_STRING;
case(7407):
case (7407):
return MODE_CMD_REJECTED_STRING;
case(7506):
case (7506):
return HEALTH_INFO_STRING;
case(7507):
case (7507):
return CHILD_CHANGED_HEALTH_STRING;
case(7508):
case (7508):
return CHILD_PROBLEMS_STRING;
case(7509):
case (7509):
return OVERWRITING_HEALTH_STRING;
case(7510):
case (7510):
return TRYING_RECOVERY_STRING;
case(7511):
case (7511):
return RECOVERY_STEP_STRING;
case(7512):
case (7512):
return RECOVERY_DONE_STRING;
case(7900):
case (7900):
return RF_AVAILABLE_STRING;
case(7901):
case (7901):
return RF_LOST_STRING;
case(7902):
case (7902):
return BIT_LOCK_STRING;
case(7903):
case (7903):
return BIT_LOCK_LOST_STRING;
case(7905):
case (7905):
return FRAME_PROCESSING_FAILED_STRING;
case(8900):
case (8900):
return CLOCK_SET_STRING;
case(8901):
case (8901):
return CLOCK_SET_FAILURE_STRING;
case(9700):
case (9700):
return TEST_STRING;
case(10600):
case (10600):
return CHANGE_OF_SETUP_PARAMETER_STRING;
case(11101):
case (11101):
return MEMORY_READ_RPT_CRC_FAILURE_STRING;
case(11102):
case (11102):
return ACK_FAILURE_STRING;
case(11103):
case (11103):
return EXE_FAILURE_STRING;
case(11104):
case (11104):
return CRC_FAILURE_EVENT_STRING;
default:
return "UNKNOWN_EVENT";

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_ */

5
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()) {
switch (message->getMessageType()) {
default:
break;
}
}

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

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

7
bsp_hosted/fsfwconfig/objects/systemObjectList.h
View File

@ -1,12 +1,13 @@
#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,
@ -25,7 +26,7 @@ namespace objects {
/* 0x49 ('I') for Communication Interfaces **/
ARDUINO_COM_IF = 0x49000001
};
};
}
#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */

4
bsp_hosted/fsfwconfig/objects/translateObjects.cpp
View File

@ -38,8 +38,8 @@ 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) ) {
const char *translateObject(object_id_t object) {
switch ((object & 0xFFFFFFFF)) {
case 0x42694269:
return TEST_TASK_STRING;
case 0x4400AFFE:

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

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

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_ */

2
bsp_hosted/fsfwconfig/tmtc/pusIds.h
View File

@ -2,7 +2,7 @@
#define CONFIG_TMTC_PUSIDS_HPP_
namespace pus {
enum Ids{
enum Ids {
PUS_SERVICE_1 = 1,
PUS_SERVICE_2 = 2,
PUS_SERVICE_3 = 3,

18
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)
{
int main(void) {
std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl;
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION <<
"." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "." <<
FSFW_REVISION << "--" << std::endl;
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
<< SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "."
<< FSFW_REVISION << "--" << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
initmission::initMission();
for(;;) {
for (;;) {
// suspend main thread by sleeping it.
TaskFactory::delayTask(5000);
}
}

93
bsp_linux_board/InitMission.cpp
View File

@ -1,27 +1,27 @@
#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;
@ -37,30 +37,29 @@ void initmission::initMission() {
void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(factory == nullptr) {
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){
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){
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
@ -68,13 +67,13 @@ void initmission::initTasks() {
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) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
@ -90,11 +89,10 @@ void initmission::initTasks() {
#endif /* OBSW_ADD_TEST_CODE == 1 */
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
for(const auto& task: taskVector) {
if(task != nullptr) {
for (const auto& task : taskVector) {
if (task != nullptr) {
task->startTask();
}
else {
} else {
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
}
}
@ -112,7 +110,7 @@ void initmission::initTasks() {
taskStarter(pstTasks, "PST Tasks");
#if OBSW_ADD_TEST_PST == 1
if(startTestPst) {
if (startTestPst) {
pstTestTask->startTask();
}
#endif /* RPI_TEST_ACS_BOARD == 1 */
@ -120,12 +118,13 @@ void initmission::initTasks() {
}
void initmission::createPusTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*>& taskVec) {
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
taskVec.push_back(pusVerification);
@ -133,11 +132,11 @@ void initmission::createPusTasks(TaskFactory& factory,
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) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
taskVec.push_back(pusEvents);
@ -145,11 +144,11 @@ void initmission::createPusTasks(TaskFactory& factory,
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) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);
@ -157,19 +156,19 @@ void initmission::createPusTasks(TaskFactory& factory,
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) {
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) {
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) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
}
taskVec.push_back(pusMedPrio);
@ -177,24 +176,23 @@ void initmission::createPusTasks(TaskFactory& factory,
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) {
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);
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) {
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
missedDeadlineFunc);
"SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
@ -205,29 +203,29 @@ void initmission::createPstTasks(TaskFactory& factory,
void initmission::createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*> &taskVec) {
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) {
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) {
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) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
}
#endif /* RPI_ADD_GPIO_TEST == 1 */
@ -235,13 +233,12 @@ void initmission::createTestTasks(TaskFactory& factory,
bool startTestPst = true;
static_cast<void>(startTestPst);
#if OBSW_ADD_TEST_PST == 1
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("TEST_PST", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
"TEST_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
result = pst::pstTest(pstTestTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
startTestPst = false;
}
#endif /* RPI_TEST_ACS_BOARD == 1 */
}

15
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);
};
}; // namespace initmission
#endif /* BSP_LINUX_INITMISSION_H_ */

151
bsp_linux_board/ObjectFactory.cpp
View File

@ -1,47 +1,47 @@
#include <devConf.h>
#include "ObjectFactory.h"
#include "objects/systemObjectList.h"
#include <devConf.h>
#include <mission/devices/GPSHyperionHandler.h>
#include "OBSWConfig.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "OBSWConfig.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "linux/boardtest/LibgpiodTest.h"
#include "linux/boardtest/SpiTestClass.h"
#include "linux/boardtest/UartTestClass.h"
#include "mission/core/GenericFactory.h"
#include "mission/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;
@ -57,9 +57,7 @@ void Factory::setStaticFrameworkObjectIds() {
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
}
void ObjectFactory::produce(void* args){
void ObjectFactory::produce(void* args) {
Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects();
@ -84,91 +82,99 @@ void ObjectFactory::produce(void* args){
static_cast<void>(spiCookie);
#if OBSW_ADD_ACS_BOARD == 1
if(gpioCookie == nullptr) {
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_0_LIS3_CS, gpio::MGM_0_BCM_PIN, "MGM_0_LIS3",
gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
"MGM_1_RM3100", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
"MGM_2_LIS3", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, "MGM_2_LIS3",
gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
"MGM_3_RM3100", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
"GYRO_1_L3G", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, "GYRO_1_L3G",
gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
"GYRO_2_ADIS", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN,
"GYRO_3_L3G", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN, "GYRO_3_L3G",
gpio::Direction::OUT, 1);
gpioIF->addGpios(gpioCookie);
spiDev = "/dev/spidev0.1";
spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie, 0);
auto mgmLis3Handler =
new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie, 0);
auto mgmRm3100Handler =
new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie, 0);
mgmLis3Handler =
new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie, 0);
mgmRm3100Handler =
new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
spiCookie =
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
spiCookie);
auto adisHandler =
new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
adisHandler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie, 0);
spiCookie =
new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto gyroL3gHandler =
new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
gyroL3gHandler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
spiCookie =
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
spiCookie);
adisHandler =
new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
adisHandler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie, 0);
spiCookie =
new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler =
new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
gyroL3gHandler->setToGoToNormalMode(true);
#endif
@ -180,7 +186,6 @@ void ObjectFactory::produce(void* args){
}
void ObjectFactory::createTestTasks() {
new TestTask(objects::TEST_TASK);
#if RPI_ADD_SPI_TEST == 1
@ -208,7 +213,7 @@ void ObjectFactory::createTestTasks() {
#endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
#if RPI_TEST_ADIS16507 == 1
if(gpioCookie == nullptr) {
if (gpioCookie == nullptr) {
gpioCookie = new GpioCookie();
}
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
@ -217,20 +222,20 @@ void ObjectFactory::createTestTasks() {
spiDev = "/dev/spidev0.1";
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED,
nullptr, nullptr);
auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
spi::DEFAULT_ADIS16507_SPEED, nullptr, nullptr);
auto adisGyroHandler =
new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
adisGyroHandler->setStartUpImmediately();
#endif /* RPI_TEST_ADIS16507 == 1 */
#if RPI_TEST_GPS_HANDLER == 1
UartCookie* uartCookie = new UartCookie(objects::GPS0_HANDLER, "/dev/serial0",
UartModes::CANONICAL, 9600, 1024);
UartCookie* uartCookie =
new UartCookie(objects::GPS0_HANDLER, "/dev/serial0", UartModes::CANONICAL, 9600, 1024);
uartCookie->setToFlushInput(true);
uartCookie->setReadCycles(6);
GPSHyperionHandler* gpsHandler = new GPSHyperionHandler(objects::GPS0_HANDLER,
objects::UART_COM_IF, uartCookie, false);
GPSHyperionHandler* gpsHandler =
new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookie, false);
gpsHandler->setStartUpImmediately();
#endif
}

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_ */

3
bsp_linux_board/boardconfig/gcov.h
View File

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

6
bsp_linux_board/boardconfig/print.c
View File

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

18
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)
{
int main(void) {
std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl;
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION <<
"." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION <<
FSFW_REVISION << "--" << std::endl;
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
<< SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << FSFW_REVISION
<< "--" << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
initmission::initMission();
for(;;) {
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_ */

3
bsp_q7s/boardconfig/gcov.h
View File

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

6
bsp_q7s/boardconfig/print.c
View File

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

23
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;
// Stopwatch stopwatch;
std::system("q7hw sd info all > /tmp/sd_status.txt");
//stopwatch.stop(true);
// stopwatch.stop(true);
std::system("q7hw sd set 0 on > /tmp/sd_set.txt");
//stopwatch.stop(true);
// stopwatch.stop(true);
std::system("q7hw sd set 0 off > /tmp/sd_set.txt");
//stopwatch.stop(true);
// stopwatch.stop(true);
}
FileSystemTest::~FileSystemTest() {
}
FileSystemTest::~FileSystemTest() {}

9
bsp_q7s/boardtest/FileSystemTest.h
View File

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

187
bsp_q7s/boardtest/Q7STestTask.cpp
View File

@ -1,27 +1,25 @@
#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) {
#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;
@ -34,16 +32,16 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
if (doTestScratchApi) {
testScratchApi();
}
//testJsonLibDirect();
//testDummyParams();
//testProtHandler();
// testJsonLibDirect();
// testDummyParams();
// testProtHandler();
FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
testFileSystemHandlerDirect(opCode);
return TestTask::performOneShotAction();
}
ReturnValue_t Q7STestTask::performPeriodicAction() {
if(doTestGps) {
if (doTestGps) {
testGpsDaemon();
}
return TestTask::performPeriodicAction();
@ -53,7 +51,7 @@ void Q7STestTask::testSdCard() {
using namespace std;
Stopwatch stopwatch;
int result = std::system("q7hw sd info all > /tmp/sd_status.txt");
if(result != 0) {
if (result != 0) {
sif::debug << "system call failed with " << result << endl;
}
ifstream sdStatus("/tmp/sd_status.txt");
@ -62,11 +60,10 @@ void Q7STestTask::testSdCard() {
while (std::getline(sdStatus, line)) {
std::istringstream iss(line);
string word;
while(iss >> word) {
if(word == "on") {
while (iss >> word) {
if (word == "on") {
sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl;
}
else if(word == "off") {
} else if (word == "off") {
sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl;
}
}
@ -87,23 +84,23 @@ void Q7STestTask::fileTests() {
void Q7STestTask::testScratchApi() {
ReturnValue_t result = scratch::writeNumber("TEST", 1);
if(result != HasReturnvaluesIF::RETURN_OK) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
}
result = scratch::writeString("TEST2", "halloWelt");
if(result != HasReturnvaluesIF::RETURN_OK) {
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) {
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;
@ -130,13 +127,12 @@ void Q7STestTask::testDummyParams() {
DummyParameter param(mntPrefix, "dummy_json.txt");
param.printKeys();
param.print();
if(not param.getJsonFileExists()) {
if (not param.getJsonFileExists()) {
param.writeJsonFile();
}
ReturnValue_t result = param.readJsonFile();
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
}
param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
@ -163,9 +159,9 @@ void Q7STestTask::testDummyParams() {
ReturnValue_t Q7STestTask::initialize() {
coreController = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
if(coreController == nullptr) {
sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object" <<
std::endl;
if (coreController == nullptr) {
sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object"
<< std::endl;
}
return TestTask::initialize();
}
@ -175,69 +171,64 @@ void Q7STestTask::testProtHandler() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// If any chips are unlocked, lock them here
result = coreController->setBootCopyProtection(
CoreController::Chip::ALL_CHIP, CoreController::Copy::ALL_COPY, true,
opPerformed, true);
if(result != HasReturnvaluesIF::RETURN_OK) {
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) {
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) {
if (not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
}
int retval = std::system("print-chip-prot-status.sh");
if(retval != 0) {
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) {
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) {
if (not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
}
retval = std::system("print-chip-prot-status.sh");
if(retval != 0) {
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) {
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) {
if (not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
}
retval = std::system("print-chip-prot-status.sh");
if(retval != 0) {
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) {
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) {
if (not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
}
retval = std::system("print-chip-prot-status.sh");
if(retval != 0) {
if (retval != 0) {
utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
}
}
@ -246,7 +237,7 @@ void Q7STestTask::testGpsDaemon() {
gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
gps_data_t* gps;
gps = gpsmm.read();
if(gps == nullptr) {
if (gps == nullptr) {
sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
}
sif::info << "-- Q7STestTask: GPS shared memory read test --" << std::endl;
@ -263,9 +254,8 @@ void Q7STestTask::testGpsDaemon() {
}
void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
auto fsHandler = ObjectManager::instance()->
get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
if(fsHandler == nullptr) {
auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
if (fsHandler == nullptr) {
sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
<< std::endl;
}
@ -274,28 +264,27 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
// Lambda for common code
auto createNonEmptyTmpDir = [&]() {
if(not std::filesystem::exists("/tmp/test")) {
if (not std::filesystem::exists("/tmp/test")) {
result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = fsHandler->createFile("/tmp/test", "test2.txt", nullptr, 0, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
};
switch(opCode) {
case(FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
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;
@ -303,89 +292,83 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
break;
}
case(FsOpCodes::REMOVE_TMP_FILE): {
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")) {
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) {
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "File removed successfully" << std::endl;
}
else {
} else {
sif::warning << "File removal failed!" << std::endl;
}
break;
}
case(FsOpCodes::CREATE_DIR_IN_TMP): {
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) {
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory created successfully" << std::endl;
}
else {
} else {
sif::warning << "Directory creation failed!" << std::endl;
}
break;
}
case(FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): {
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")) {
if (not std::filesystem::exists("/tmp/test")) {
result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
}
else {
} else {
// Delete any leftover files to regular dir removal works
std::remove("/tmp/test/*");
}
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed successfully" << std::endl;
}
else {
} else {
sif::warning << "Directory removal failed!" << std::endl;
}
break;
}
case(FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
case (FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
result = createNonEmptyTmpDir();
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return;
}
result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) {
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed recursively successfully" << std::endl;
}
else {
} else {
sif::warning << "Recursive directory removal failed!" << std::endl;
}
break;
}
case(FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): {
case (FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): {
result = createNonEmptyTmpDir();
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return;
}
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removal attempt failed as expected" << std::endl;
}
else {
} else {
sif::warning << "Directory removal worked when it should not have!" << std::endl;
}
break;
}
case(FsOpCodes::RENAME_FILE): {
case (FsOpCodes::RENAME_FILE): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if(std::filesystem::exists("/tmp/test.txt")) {
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;
@ -394,21 +377,21 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg);
break;
}
case(FsOpCodes::APPEND_TO_FILE): {
case (FsOpCodes::APPEND_TO_FILE): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if(std::filesystem::exists("/tmp/test.txt")) {
if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
if(std::filesystem::exists("/tmp/test.txt")) {
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);
fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>(content.data()),
content.size(), 0, &cfg);
}
}
}

8
bsp_q7s/boardtest/Q7STestTask.h
View File

@ -5,12 +5,13 @@
class CoreController;
class Q7STestTask: public TestTask {
public:
class Q7STestTask : public TestTask {
public:
Q7STestTask(object_id_t objectId);
ReturnValue_t initialize() override;
private:
private:
bool doTestSdCard = false;
bool doTestScratchApi = false;
bool doTestGps = false;
@ -42,5 +43,4 @@ private:
void testFileSystemHandlerDirect(FsOpCodes opCode);
};
#endif /* BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ */

11
bsp_q7s/callbacks/gnssCallback.cpp
View File

@ -1,22 +1,21 @@
#include "gnssCallback.h"
#include "devices/gpioIds.h"
#include "devices/gpioIds.h"
#include "fsfw/tasks/TaskFactory.h"
ReturnValue_t gps::triggerGpioResetPin(void *args) {
ReturnValue_t gps::triggerGpioResetPin(void* args) {
ResetArgs* resetArgs = reinterpret_cast<ResetArgs*>(args);
if(args == nullptr) {
if (args == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if (resetArgs->gpioComIF == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
gpioId_t gpioId;
if(resetArgs->gnss1) {
if (resetArgs->gnss1) {
gpioId = gpioIds::GNSS_1_NRESET;
}
else {
} else {
gpioId = gpioIds::GNSS_0_NRESET;
}
resetArgs->gpioComIF->pullLow(gpioId);

2
bsp_q7s/callbacks/gnssCallback.h
View File

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

68
bsp_q7s/callbacks/rwSpiCallback.cpp
View File

@ -1,22 +1,20 @@
#include "rwSpiCallback.h"
#include "devices/gpioIds.h"
#include "mission/devices/RwHandler.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "devices/gpioIds.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "mission/devices/RwHandler.h"
namespace rwSpiCallback {
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData,
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
size_t sendLen, void* args) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
RwHandler* handler = reinterpret_cast<RwHandler*>(args);
if(handler == nullptr) {
sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid"
<< std::endl;
if (handler == nullptr) {
sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -28,7 +26,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0;
MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
if(mutex == nullptr or gpioIF == nullptr) {
if (mutex == nullptr or gpioIF == nullptr) {
sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -36,7 +34,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
int fileDescriptor = 0;
std::string device = cookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
return SpiComIF::OPENING_FILE_FAILED;
}
@ -56,8 +54,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
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) {
if (gpioId != gpio::NO_GPIO) {
if (gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
}
}
@ -70,8 +68,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
/** Encoding and sending command */
size_t idx = 0;
while(idx < sendLen) {
switch(*(sendData + idx)) {
while (idx < sendLen) {
switch (*(sendData + idx)) {
case 0x7E:
writeBuffer[0] = 0x7D;
writeBuffer[1] = 0x5E;
@ -107,7 +105,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
uint8_t* rxBuf = nullptr;
result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
closeSpi(gpioId, gpioIF, mutex);
return result;
}
@ -123,13 +121,13 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
*/
uint8_t byteRead = 0;
for (int idx = 0; idx < 10; idx++) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
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) {
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;
@ -152,12 +150,11 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
#endif
size_t decodedFrameLen = 0;
while(decodedFrameLen < replyBufferSize) {
while (decodedFrameLen < replyBufferSize) {
/** First byte already read in */
if (decodedFrameLen != 0) {
byteRead = 0;
if(read(fileDescriptor, &byteRead, 1) != 1) {
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
@ -167,9 +164,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
if (byteRead == FLAG_BYTE) {
/** Reached end of frame */
break;
}
else if (byteRead == 0x7D) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
} else if (byteRead == 0x7D) {
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
@ -178,20 +174,17 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
*(rxBuf + decodedFrameLen) = 0x7E;
decodedFrameLen++;
continue;
}
else if (byteRead == 0x5D) {
} else if (byteRead == 0x5D) {
*(rxBuf + decodedFrameLen) = 0x7D;
decodedFrameLen++;
continue;
}
else {
} else {
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
result = RwHandler::INVALID_SUBSTITUTE;
break;
}
}
else {
} else {
*(rxBuf + decodedFrameLen) = byteRead;
decodedFrameLen++;
continue;
@ -203,7 +196,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
* Otherwise there might be something wrong.
*/
if (decodedFrameLen == replyBufferSize) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
@ -225,14 +218,15 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
return result;
}
void closeSpi (gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
if(gpioId != gpio::NO_GPIO) {
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;;
if (mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;
;
}
}
}
} // namespace rwSpiCallback

7
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 {
@ -31,7 +30,7 @@ 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,
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
size_t sendLen, void* args);
/**
@ -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_ */

660
bsp_q7s/core/CoreController.cpp
View File

File diff suppressed because it is too large Load Diff

52
bsp_q7s/core/CoreController.h
View File

@ -2,32 +2,19 @@
#define BSP_Q7S_CORE_CORECONTROLLER_H_
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "fsfw/controller/ExtendedControllerBase.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/controller/ExtendedControllerBase.h"
class Timer;
class SdCardManager;
class CoreController: public ExtendedControllerBase {
public:
enum Chip: uint8_t {
CHIP_0,
CHIP_1,
NO_CHIP,
SELF_CHIP,
ALL_CHIP
};
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";
@ -38,23 +25,21 @@ public:
static constexpr ActionId_t REBOOT_OBC = 32;
static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
CoreController(object_id_t objectId);
virtual~ CoreController();
virtual ~CoreController();
ReturnValue_t initialize() override;
ReturnValue_t initializeAfterTaskCreation() override;
ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
ReturnValue_t handleCommandMessage(CommandMessage *message) override;
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
/**
@ -78,12 +63,12 @@ public:
* @param updateProtFile Specify whether the protection info file is updated
* @return
*/
ReturnValue_t setBootCopyProtection(Chip targetChip, Copy targetCopy,
bool protect, bool& protOperationPerformed, bool updateProtFile = true);
ReturnValue_t setBootCopyProtection(Chip targetChip, Copy targetCopy, bool protect,
bool& protOperationPerformed, bool updateProtFile = true);
bool sdInitFinished() const;
private:
private:
static Chip CURRENT_CHIP;
static Copy CURRENT_COPY;
@ -150,8 +135,7 @@ private:
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode);
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
ReturnValue_t initVersionFile();
ReturnValue_t initBootCopy();
@ -170,15 +154,15 @@ private:
void checkExternalSdCommandStatus();
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);
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);
bool& protOperationPerformed, bool selfChip, bool selfCopy,
bool allChips, bool allCopies, uint8_t arrIdx);
};
#endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */

126
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");
@ -30,10 +29,9 @@ 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);
@ -47,21 +45,21 @@ void initmission::initMission() {
void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(factory == nullptr) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
}
#endif
@ -70,15 +68,15 @@ void initmission::initTasks() {
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) {
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) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
}
@ -87,13 +85,13 @@ void initmission::initTasks() {
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) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
}
#endif
@ -102,7 +100,7 @@ void initmission::initTasks() {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
}
@ -112,7 +110,7 @@ void initmission::initTasks() {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
}
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
@ -120,17 +118,17 @@ void initmission::initTasks() {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER);
}
# if BOARD_TE0720 == 0
#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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
}
@ -138,7 +136,7 @@ void initmission::initTasks() {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::STR_HELPER);
}
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
@ -149,7 +147,7 @@ void initmission::initTasks() {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
}
#endif
@ -165,11 +163,10 @@ void initmission::initTasks() {
#endif
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
for(const auto& task: taskVector) {
if(task != nullptr) {
for (const auto& task : taskVector) {
if (task != nullptr) {
task->startTask();
}
else {
} else {
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
}
}
@ -215,21 +212,20 @@ void initmission::initTasks() {
}
void initmission::createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if BOARD_TE0720 == 0
/* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5,
missedDeadlineFunc);
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
}
else {
} else {
taskVec.push_back(spiPst);
}
#endif
@ -258,14 +254,13 @@ void initmission::createPstTasks(TaskFactory& factory,
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) {
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);
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;
@ -274,14 +269,15 @@ void initmission::createPstTasks(TaskFactory& factory,
#endif /* BOARD_TE7020 == 1 */
}
void initmission::createPusTasks(TaskFactory &factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
}
taskVec.push_back(pusVerification);
@ -289,11 +285,11 @@ void initmission::createPusTasks(TaskFactory &factory,
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) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
taskVec.push_back(pusEvents);
@ -301,11 +297,11 @@ void initmission::createPusTasks(TaskFactory &factory,
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) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);
@ -313,19 +309,19 @@ void initmission::createPusTasks(TaskFactory &factory,
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) {
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){
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) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
}
taskVec.push_back(pusMedPrio);
@ -333,39 +329,41 @@ void initmission::createPusTasks(TaskFactory &factory,
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) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
}
taskVec.push_back(pusLowPrio);
}
void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
void initmission::createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || \
(BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#endif
PeriodicTaskIF* testTask = factory.createPeriodicTask(
"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) {
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) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
}
#endif /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */

5
bsp_q7s/core/InitMission.h
View File

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

641
bsp_q7s/core/ObjectFactory.cpp
View File

@ -1,87 +1,82 @@
#include <sstream>
#include "ObjectFactory.h"
#include "bsp_q7s/devices/startracker/StrHelper.h"
#include "bsp_q7s/devices/startracker/StarTrackerDefinitions.h"
#include <sstream>
#include "OBSWConfig.h"
#include "devConf.h"
#include "ccsdsConfig.h"
#include "busConf.h"
#include "tmtc/apid.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "tmtc/pusIds.h"
#include "devices/powerSwitcherList.h"
#include "bsp_q7s/gpio/gpioCallbacks.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include "bsp_q7s/callbacks/gnssCallback.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/devices/PlocMemoryDumper.h"
#include "bsp_q7s/devices/PlocSupervisorHandler.h"
#include "bsp_q7s/devices/PlocUpdater.h"
#include "bsp_q7s/devices/PlocMemoryDumper.h"
#include "bsp_q7s/devices/startracker/StarTrackerDefinitions.h"
#include "bsp_q7s/devices/startracker/StarTrackerHandler.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/callbacks/gnssCallback.h"
#include "linux/devices/SolarArrayDeploymentHandler.h"
#include "linux/devices/devicedefinitions/SusDefinitions.h"
#include "linux/devices/SusHandler.h"
#include "linux/csp/CspCookie.h"
#include "bsp_q7s/devices/startracker/StrHelper.h"
#include "bsp_q7s/gpio/gpioCallbacks.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include "busConf.h"
#include "ccsdsConfig.h"
#include "devConf.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "devices/powerSwitcherList.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "fsfw_hal/linux/i2c/I2cCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "linux/boardtest/SpiTestClass.h"
#include "linux/csp/CspComIF.h"
#include "mission/devices/HeaterHandler.h"
#include "linux/csp/CspCookie.h"
#include "linux/devices/SolarArrayDeploymentHandler.h"
#include "linux/devices/SusHandler.h"
#include "linux/devices/devicedefinitions/SusDefinitions.h"
#include "mission/core/GenericFactory.h"
#include "mission/devices/ACUHandler.h"
#include "mission/devices/GPSHyperionHandler.h"
#include "mission/devices/GyroADIS1650XHandler.h"
#include "mission/devices/HeaterHandler.h"
#include "mission/devices/IMTQHandler.h"
#include "mission/devices/Max31865PT1000Handler.h"
#include "mission/devices/P60DockHandler.h"
#include "mission/devices/PCDUHandler.h"
#include "mission/devices/PDU1Handler.h"
#include "mission/devices/PDU2Handler.h"
#include "mission/devices/ACUHandler.h"
#include "mission/devices/PCDUHandler.h"
#include "mission/devices/P60DockHandler.h"
#include "mission/devices/Tmp1075Handler.h"
#include "mission/devices/Max31865PT1000Handler.h"
#include "mission/devices/GyroADIS1650XHandler.h"
#include "mission/devices/IMTQHandler.h"
#include "mission/devices/SyrlinksHkHandler.h"
#include "mission/devices/PlocMPSoCHandler.h"
#include "mission/devices/RadiationSensorHandler.h"
#include "mission/devices/RwHandler.h"
#include "mission/devices/SyrlinksHkHandler.h"
#include "mission/devices/Tmp1075Handler.h"
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"
#include "mission/devices/GPSHyperionHandler.h"
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
#include "mission/tmtc/CCSDSHandler.h"
#include "mission/tmtc/VirtualChannel.h"
#include "mission/utility/TmFunnel.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/linux/i2c/I2cCookie.h"
#include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "linux/boardtest/SpiTestClass.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"
#if OBSW_TEST_LIBGPIOD == 1
#include "linux/boardtest/LibgpiodTest.h"
#endif
#include <linux/obc/Ptme.h>
#include <linux/obc/PdecHandler.h>
#include <linux/obc/PapbVcInterface.h>
#include <linux/obc/PdecHandler.h>
#include <linux/obc/Ptme.h>
#include <linux/obc/PtmeConfig.h>
#include <linux/obc/PtmeRateSetter.h>
#include <linux/obc/TxRateSetterIF.h>
@ -89,9 +84,7 @@
ResetArgs resetArgsGnss0;
ResetArgs resetArgsGnss1;
void ObjectFactory::setStatics() {
Factory::setStaticFrameworkObjectIds();
}
void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@ -100,7 +93,7 @@ void Factory::setStaticFrameworkObjectIds() {
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
//DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
// DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
#if OBSW_TM_TO_PTME == 1
@ -146,22 +139,22 @@ void ObjectFactory::produce(void* args) {
createRtdComponents(gpioComIF);
#endif /* OBSW_ADD_RTD_DEVICES == 1 */
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
q7s::I2C_DEFAULT_DEV);
I2cCookie* imtqI2cCookie =
new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
createReactionWheelComponents(gpioComIF);
#if OBSW_ADD_PLOC_MPSOC == 1
UartCookie* plocMpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER,
q7s::UART_PLOC_MPSOC_DEV, UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD,
PLOC_MPSOC::MAX_REPLY_SIZE);
UartCookie* plocMpsocCookie =
new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD, PLOC_MPSOC::MAX_REPLY_SIZE);
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocMpsocCookie);
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
#if OBSW_ADD_PLOC_SUPERVISOR == 1
UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL, uart::PLOC_SUPERVISOR_BAUD,
PLOC_SPV::MAX_PACKET_SIZE * 20);
UartCookie* plocSupervisorCookie = new UartCookie(
objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL,
uart::PLOC_SUPERVISOR_BAUD, PLOC_SPV::MAX_PACKET_SIZE * 20);
plocSupervisorCookie->setNoFixedSizeReply();
PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
@ -171,13 +164,13 @@ void ObjectFactory::produce(void* args) {
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
#if OBSW_ADD_STAR_TRACKER == 1
UartCookie* starTrackerCookie = new UartCookie(objects::STAR_TRACKER,
q7s::UART_STAR_TRACKER_DEV, UartModes::NON_CANONICAL, uart::STAR_TRACKER_BAUD,
StarTracker::MAX_FRAME_SIZE* 2 + 2);
UartCookie* starTrackerCookie =
new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, UartModes::NON_CANONICAL,
uart::STAR_TRACKER_BAUD, StarTracker::MAX_FRAME_SIZE * 2 + 2);
starTrackerCookie->setNoFixedSizeReply();
StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(objects::STAR_TRACKER,
objects::UART_COM_IF, starTrackerCookie, strHelper);
StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(
objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, strHelper);
starTrackerHandler->setStartUpImmediately();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
@ -199,27 +192,27 @@ void ObjectFactory::produce(void* args) {
void ObjectFactory::createTmpComponents() {
#if BOARD_TE0720 == 1
I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
I2cCookie* i2cCookieTmp1075tcs1 =
new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
I2cCookie* i2cCookieTmp1075tcs2 =
new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
#else
I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
I2cCookie* i2cCookieTmp1075tcs1 =
new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
I2cCookie* i2cCookieTmp1075tcs2 =
new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
#endif
/* Temperature sensors */
Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(objects::TMP1075_HANDLER_1,
objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
(void) tmp1075Handler_1;
Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(objects::TMP1075_HANDLER_2,
objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
(void) tmp1075Handler_2;
Tmp1075Handler* tmp1075Handler_1 =
new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
(void)tmp1075Handler_1;
Tmp1075Handler* tmp1075Handler_2 =
new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
(void)tmp1075Handler_2;
}
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF, UartComIF** uartComIF,
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
SpiComIF** spiComIF) {
if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
@ -247,14 +240,13 @@ void ObjectFactory::createPcduComponents() {
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
/* Device Handler */
P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER,
objects::CSP_COM_IF, p60DockCspCookie);
PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
pdu1CspCookie);
PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
pdu2CspCookie);
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
acuCspCookie);
P60DockHandler* p60dockhandler =
new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
PDU1Handler* pdu1handler =
new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
PDU2Handler* pdu2handler =
new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
new PCDUHandler(objects::PCDU_HANDLER, 50);
/**
@ -276,13 +268,13 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
gpioComIF->addGpios(gpioCookieRadSensor);
SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR,
std::string(q7s::SPI_DEFAULT_DEV), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieRadSensor = new SpiCookie(
addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV),
RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
}
void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComIF* spiComIF) {
void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF) {
GpioCookie* gpioCookieSus = new GpioCookie();
GpioCallback* susgpio = nullptr;
@ -328,64 +320,55 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComI
gpioComIF->addGpios(gpioCookieSus);
SpiCookie* spiCookieSus1 = new SpiCookie(addresses::SUS_1, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus2 = new SpiCookie(addresses::SUS_2, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus3 = new SpiCookie(addresses::SUS_3, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus4 = new SpiCookie(addresses::SUS_4, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus5 = new SpiCookie(addresses::SUS_5, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus6 = new SpiCookie(addresses::SUS_6, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus7 = new SpiCookie(addresses::SUS_7, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus8 = new SpiCookie(addresses::SUS_8, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus9 = new SpiCookie(addresses::SUS_9, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus10 = new SpiCookie(addresses::SUS_10, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus11 = new SpiCookie(addresses::SUS_11, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus12 = new SpiCookie(addresses::SUS_12, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus13 = new SpiCookie(addresses::SUS_13, gpio::NO_GPIO,
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus1 =
new SpiCookie(addresses::SUS_1, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus2 =
new SpiCookie(addresses::SUS_2, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus3 =
new SpiCookie(addresses::SUS_3, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus4 =
new SpiCookie(addresses::SUS_4, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus5 =
new SpiCookie(addresses::SUS_5, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus6 =
new SpiCookie(addresses::SUS_6, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus7 =
new SpiCookie(addresses::SUS_7, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus8 =
new SpiCookie(addresses::SUS_8, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus9 =
new SpiCookie(addresses::SUS_9, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus10 =
new SpiCookie(addresses::SUS_10, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus11 =
new SpiCookie(addresses::SUS_11, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus12 =
new SpiCookie(addresses::SUS_12, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus13 =
new SpiCookie(addresses::SUS_13, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF,
gpioIds::CS_SUS_1);
new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF,
gpioIds::CS_SUS_2);
new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF,
gpioIds::CS_SUS_3);
new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF,
gpioIds::CS_SUS_4);
new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF,
gpioIds::CS_SUS_5);
new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF,
gpioIds::CS_SUS_6);
new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF,
gpioIds::CS_SUS_7);
new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF,
gpioIds::CS_SUS_8);
new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF,
gpioIds::CS_SUS_9);
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF, gpioIds::CS_SUS_1);
new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF, gpioIds::CS_SUS_2);
new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF, gpioIds::CS_SUS_3);
new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF, gpioIds::CS_SUS_4);
new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF, gpioIds::CS_SUS_5);
new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF, gpioIds::CS_SUS_6);
new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF, gpioIds::CS_SUS_7);
new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF, gpioIds::CS_SUS_8);
new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF, gpioIds::CS_SUS_9);
new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF,
gpioIds::CS_SUS_10);
new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF,
@ -396,14 +379,14 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComI
gpioIds::CS_SUS_13);
}
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF) {
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
std::stringstream consumer;
GpiodRegularByLineName* gpio = nullptr;
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(),
gpio::DIR_OUT, gpio::HIGH);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), gpio::DIR_OUT,
gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
consumer.str("");
@ -438,8 +421,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
consumer.str("");
consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(),
gpio::DIR_OUT, gpio::HIGH);
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), gpio::DIR_OUT,
gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
consumer.str("");
@ -464,8 +447,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
// Enable pins must be pulled low for regular operations
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(),
gpio::DIR_OUT, gpio::LOW);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
consumer.str("");
@ -477,8 +460,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
// Enable pins for GNSS
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(),
gpio::DIR_OUT, gpio::LOW);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
consumer.str("");
@ -490,7 +473,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
gpioComIF->addGpios(gpioCookieAcsBoard);
std::string spiDev = q7s::SPI_DEFAULT_DEV;
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
SpiCookie* spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::LIS3_TRANSITION_DELAY);
@ -499,7 +483,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
mgmLis3Handler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::RM3100_TRANSITION_DELAY);
@ -508,7 +493,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
mgmRm3100Handler->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::LIS3_TRANSITION_DELAY);
@ -517,7 +503,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
mgmLis3Handler2->setToGoToNormalMode(true);
#endif
spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
spiCookie =
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::RM3100_TRANSITION_DELAY);
@ -535,8 +522,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
spiCookie, ADIS1650X::Type::ADIS16505);
adisHandler->setStartUpImmediately();
// Gyro 1 Side A
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
spiCookie =
new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::L3G_TRANSITION_DELAY);
gyroL3gHandler->setStartUpImmediately();
@ -551,8 +539,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
spiCookie, ADIS1650X::Type::ADIS16505);
adisHandler->setStartUpImmediately();
// Gyro 3 Side B
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
spiCookie =
new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::L3G_TRANSITION_DELAY);
gyroL3gHandler->setStartUpImmediately();
@ -570,13 +559,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
resetArgsGnss0.gnss1 = false;
resetArgsGnss0.gpioComIF = gpioComIF;
resetArgsGnss0.waitPeriodMs = 100;
auto gpsHandler0 = new GPSHyperionHandler(objects::GPS_CONTROLLER, objects::NO_OBJECT,
debugGps);
auto gpsHandler0 = new GPSHyperionHandler(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
}
void ObjectFactory::createHeaterComponents() {
GpioCookie* heaterGpiosCookie = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
@ -596,24 +583,24 @@ void ObjectFactory::createHeaterComponents() {
gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(),
gpio::DIR_OUT, gpio::LOW);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(),
gpio::DIR_OUT, gpio::LOW);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(),
gpio::DIR_OUT, gpio::LOW);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(),
gpio::DIR_OUT, gpio::LOW);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(),
gpio::DIR_OUT, gpio::LOW);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
@ -626,29 +613,30 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
std::stringstream consumer;
consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0,
consumer.str(), gpio::DIR_OUT, gpio::LOW);
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
//TODO: Find out burn time. For now set to 1000 ms.
// TODO: Find out burn time. For now set to 1000 ms.
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM,
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
solarArrayDeplCookie, objects::PCDU_HANDLER,
pcduSwitches::DEPLOYMENT_MECHANISM, gpioIds::DEPLSA1,
gpioIds::DEPLSA2, 1000);
}
void ObjectFactory::createSyrlinksComponents() {
UartCookie* syrlinksUartCookie = new UartCookie(objects::SYRLINKS_HK_HANDLER,
q7s::UART_SYRLINKS_DEV, UartModes::NON_CANONICAL, uart::SYRLINKS_BAUD,
SYRLINKS::MAX_REPLY_SIZE);
UartCookie* syrlinksUartCookie =
new UartCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, UartModes::NON_CANONICAL,
uart::SYRLINKS_BAUD, SYRLINKS::MAX_REPLY_SIZE);
syrlinksUartCookie->setParityEven();
new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie);
}
void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
void ObjectFactory::createRtdComponents(LinuxLibgpioIF* gpioComIF) {
GpioCookie* rtdGpioCookie = new GpioCookie;
GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", gpio::DIR_OUT, gpio::HIGH,
@ -702,80 +690,87 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
gpioComIF->addGpios(rtdGpioCookie);
SpiCookie* spiRtdIc0 = new SpiCookie(addresses::RTD_IC_3, gpioIds::RTD_IC_3, q7s::SPI_DEFAULT_DEV,
SpiCookie* spiRtdIc0 =
new SpiCookie(addresses::RTD_IC_3, gpioIds::RTD_IC_3, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc1 = new SpiCookie(addresses::RTD_IC_4, gpioIds::RTD_IC_4, q7s::SPI_DEFAULT_DEV,
SpiCookie* spiRtdIc1 =
new SpiCookie(addresses::RTD_IC_4, gpioIds::RTD_IC_4, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc2 = new SpiCookie(addresses::RTD_IC_5, gpioIds::RTD_IC_5, q7s::SPI_DEFAULT_DEV,
SpiCookie* spiRtdIc2 =
new SpiCookie(addresses::RTD_IC_5, gpioIds::RTD_IC_5, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC_6, gpioIds::RTD_IC_6, q7s::SPI_DEFAULT_DEV,
SpiCookie* spiRtdIc3 =
new SpiCookie(addresses::RTD_IC_6, gpioIds::RTD_IC_6, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC_7, gpioIds::RTD_IC_7, q7s::SPI_DEFAULT_DEV,
SpiCookie* spiRtdIc4 =
new SpiCookie(addresses::RTD_IC_7, gpioIds::RTD_IC_7, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC_8, gpioIds::RTD_IC_8, q7s::SPI_DEFAULT_DEV,
SpiCookie* spiRtdIc5 =
new SpiCookie(addresses::RTD_IC_8, gpioIds::RTD_IC_8, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC_9, gpioIds::RTD_IC_9, q7s::SPI_DEFAULT_DEV,
SpiCookie* spiRtdIc6 =
new SpiCookie(addresses::RTD_IC_9, gpioIds::RTD_IC_9, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc7 =
new SpiCookie(addresses::RTD_IC_10, gpioIds::RTD_IC_10, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc8 =
new SpiCookie(addresses::RTD_IC_11, gpioIds::RTD_IC_11, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc9 =
new SpiCookie(addresses::RTD_IC_12, gpioIds::RTD_IC_12, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc10 =
new SpiCookie(addresses::RTD_IC_13, gpioIds::RTD_IC_13, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc11 =
new SpiCookie(addresses::RTD_IC_14, gpioIds::RTD_IC_14, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc12 =
new SpiCookie(addresses::RTD_IC_15, gpioIds::RTD_IC_15, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc13 =
new SpiCookie(addresses::RTD_IC_16, gpioIds::RTD_IC_16, std::string(q7s::SPI_DEFAULT_DEV),
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc14 =
new SpiCookie(addresses::RTD_IC_17, gpioIds::RTD_IC_17, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc15 =
new SpiCookie(addresses::RTD_IC_18, gpioIds::RTD_IC_18, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC_10, gpioIds::RTD_IC_10,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC_11, gpioIds::RTD_IC_11,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC_12, gpioIds::RTD_IC_12,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC_13, gpioIds::RTD_IC_13,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC_14, gpioIds::RTD_IC_14,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC_15, gpioIds::RTD_IC_15,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC_16, gpioIds::RTD_IC_16,
std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC_17, gpioIds::RTD_IC_17,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC_18, gpioIds::RTD_IC_18,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
Max31865PT1000Handler* rtdIc0 = new Max31865PT1000Handler(objects::RTD_IC_3, objects::SPI_COM_IF,
spiRtdIc0);
Max31865PT1000Handler* rtdIc1 = new Max31865PT1000Handler(objects::RTD_IC_4, objects::SPI_COM_IF,
spiRtdIc1);
Max31865PT1000Handler* rtdIc2 = new Max31865PT1000Handler(objects::RTD_IC_5, objects::SPI_COM_IF,
spiRtdIc2);
Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC_6, objects::SPI_COM_IF,
spiRtdIc3);
Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC_7, objects::SPI_COM_IF,
spiRtdIc4);
Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC_8, objects::SPI_COM_IF,
spiRtdIc5);
Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC_9, objects::SPI_COM_IF,
spiRtdIc6);
Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC_10,
objects::SPI_COM_IF, spiRtdIc7);
Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC_11,
objects::SPI_COM_IF, spiRtdIc8);
Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC_12,
objects::SPI_COM_IF, spiRtdIc9);
Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC_13,
objects::SPI_COM_IF, spiRtdIc10);
Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC_14,
objects::SPI_COM_IF, spiRtdIc11);
Max31865PT1000Handler* rtdIc12 = new Max31865PT1000Handler(objects::RTD_IC_15,
objects::SPI_COM_IF, spiRtdIc12);
Max31865PT1000Handler* rtdIc13 = new Max31865PT1000Handler(objects::RTD_IC_16,
objects::SPI_COM_IF, spiRtdIc13);
Max31865PT1000Handler* rtdIc14 = new Max31865PT1000Handler(objects::RTD_IC_17,
objects::SPI_COM_IF, spiRtdIc14);
Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC_18,
objects::SPI_COM_IF, spiRtdIc15);
Max31865PT1000Handler* rtdIc0 =
new Max31865PT1000Handler(objects::RTD_IC_3, objects::SPI_COM_IF, spiRtdIc0);
Max31865PT1000Handler* rtdIc1 =
new Max31865PT1000Handler(objects::RTD_IC_4, objects::SPI_COM_IF, spiRtdIc1);
Max31865PT1000Handler* rtdIc2 =
new Max31865PT1000Handler(objects::RTD_IC_5, objects::SPI_COM_IF, spiRtdIc2);
Max31865PT1000Handler* rtdIc3 =
new Max31865PT1000Handler(objects::RTD_IC_6, objects::SPI_COM_IF, spiRtdIc3);
Max31865PT1000Handler* rtdIc4 =
new Max31865PT1000Handler(objects::RTD_IC_7, objects::SPI_COM_IF, spiRtdIc4);
Max31865PT1000Handler* rtdIc5 =
new Max31865PT1000Handler(objects::RTD_IC_8, objects::SPI_COM_IF, spiRtdIc5);
Max31865PT1000Handler* rtdIc6 =
new Max31865PT1000Handler(objects::RTD_IC_9, objects::SPI_COM_IF, spiRtdIc6);
Max31865PT1000Handler* rtdIc7 =
new Max31865PT1000Handler(objects::RTD_IC_10, objects::SPI_COM_IF, spiRtdIc7);
Max31865PT1000Handler* rtdIc8 =
new Max31865PT1000Handler(objects::RTD_IC_11, objects::SPI_COM_IF, spiRtdIc8);
Max31865PT1000Handler* rtdIc9 =
new Max31865PT1000Handler(objects::RTD_IC_12, objects::SPI_COM_IF, spiRtdIc9);
Max31865PT1000Handler* rtdIc10 =
new Max31865PT1000Handler(objects::RTD_IC_13, objects::SPI_COM_IF, spiRtdIc10);
Max31865PT1000Handler* rtdIc11 =
new Max31865PT1000Handler(objects::RTD_IC_14, objects::SPI_COM_IF, spiRtdIc11);
Max31865PT1000Handler* rtdIc12 =
new Max31865PT1000Handler(objects::RTD_IC_15, objects::SPI_COM_IF, spiRtdIc12);
Max31865PT1000Handler* rtdIc13 =
new Max31865PT1000Handler(objects::RTD_IC_16, objects::SPI_COM_IF, spiRtdIc13);
Max31865PT1000Handler* rtdIc14 =
new Max31865PT1000Handler(objects::RTD_IC_17, objects::SPI_COM_IF, spiRtdIc14);
Max31865PT1000Handler* rtdIc15 =
new Max31865PT1000Handler(objects::RTD_IC_18, objects::SPI_COM_IF, spiRtdIc15);
rtdIc0->setStartUpImmediately();
rtdIc1->setStartUpImmediately();
@ -822,70 +817,70 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
std::stringstream consumer;
GpiodRegularByLineName* gpio = nullptr;
consumer << "0x" << std::hex << objects::RW1;
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpio =
new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), gpio::DIR_OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW1, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::RW2;
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpio =
new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), gpio::DIR_OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW2, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::RW3;
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpio =
new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), gpio::DIR_OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW3, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::RW4;
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpio =
new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), gpio::DIR_OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
gpioComIF->addGpios(gpioCookieRw);
auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw1SpiCookie =
new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
auto rw2SpiCookie =
new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
auto rw3SpiCookie =
new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
auto rw4SpiCookie =
new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
gpioIds::EN_RW1);
auto rwHandler1 =
new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, gpioIds::EN_RW1);
#if OBSW_DEBUG_RW == 1
rwHandler1->setStartUpImmediately();
#endif
rw1SpiCookie->setCallbackArgs(rwHandler1);
auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
gpioIds::EN_RW2);
auto rwHandler2 =
new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
#if OBSW_DEBUG_RW == 1
rwHandler2->setStartUpImmediately();
#endif
rw2SpiCookie->setCallbackArgs(rwHandler2);
auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
gpioIds::EN_RW3);
auto rwHandler3 =
new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
#if OBSW_DEBUG_RW == 1
rwHandler3->setStartUpImmediately();
#endif
rw3SpiCookie->setCallbackArgs(rwHandler3);
auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
gpioIds::EN_RW4);
auto rwHandler4 =
new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
#if OBSW_DEBUG_RW == 1
rwHandler4->setStartUpImmediately();
#endif
rw4SpiCookie->setCallbackArgs(rwHandler4);
}
void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
// GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
GpioCookie* gpioCookiePtmeIp = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
@ -952,9 +947,9 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
TxRateSetterIF* txRateSetterIF = new PtmeRateSetter(gpioIds::BIT_RATE_SEL, gpioComIF);
CCSDSHandler* ccsdsHandler = new CCSDSHandler(objects::CCSDS_HANDLER, objects::PTME,
objects::CCSDS_PACKET_DISTRIBUTOR, txRateSetterIF, gpioComIF,
gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
CCSDSHandler* ccsdsHandler = new CCSDSHandler(
objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, txRateSetterIF,
gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
VirtualChannel* vc = nullptr;
vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE);
@ -1002,7 +997,6 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
}
void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if BOARD_TE0720 == 0
new Q7STestTask(objects::TEST_TASK);
#endif
@ -1012,8 +1006,8 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
/* Configure MIO0 as input */
GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::DIR_OUT, 0, "/amba_pl/gpio@41200000", 0);
#elif OBSW_TEST_GPIO_OPEN_BY_LINE_NAME
GpiodRegularByLineName* testGpio = new GpiodRegularByLineName("test-name", "gpio-test",
gpio::DIR_OUT, 0);
GpiodRegularByLineName* testGpio =
new GpiodRegularByLineName("test-name", "gpio-test", gpio::DIR_OUT, 0);
#else
/* Configure MIO0 as input */
GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
@ -1025,24 +1019,25 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if BOARD_TE0720 == 1 && OBSW_TEST_SUS_HANDLER == 1
GpioCookie* gpioCookieSus = new GpioCookie;
GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip1"), 9,
std::string("Chip Select Sus Sensor"), gpio::DIR_OUT, 1);
GpiodRegular* chipSelectSus = new GpiodRegular(
std::string("gpiochip1"), 9, std::string("Chip Select Sus Sensor"), gpio::DIR_OUT, 1);
gpioCookieSus->addGpio(gpioIds::CS_SUS_1, chipSelectSus);
gpioComIF->addGpios(gpioCookieSus);
SpiCookie* spiCookieSus = new SpiCookie(addresses::SUS_1, std::string("/dev/spidev1.0"),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus =
new SpiCookie(addresses::SUS_1, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus, gpioComIF,
gpioIds::CS_SUS_1);
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_1);
#endif
#if BOARD_TE0720 == 1 && OBSW_TEST_CCSDS_BRIDGE == 1
GpioCookie* gpioCookieCcsdsIp = new GpioCookie;
GpiodRegular* papbBusyN = new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_VC0"));
GpiodRegular* papbBusyN =
new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_VC0"));
gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
GpiodRegular* papbEmpty = new GpiodRegular(std::string("gpiochip0"), 1,
std::string("PAPBEmpty_VC0"));
GpiodRegular* papbEmpty =
new GpiodRegular(std::string("gpiochip0"), 1, std::string("PAPBEmpty_VC0"));
gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_EMPTY, papbEmpty);
gpioComIF->addGpios(gpioCookieCcsdsIp);
@ -1053,32 +1048,33 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if BOARD_TE0720 == 1 && OBSW_TEST_RADIATION_SENSOR_HANDLER == 1
GpioCookie* gpioCookieRadSensor = new GpioCookie;
GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip1"), 0,
std::string("Chip select radiation sensor"), gpio::DIR_OUT, 1);
GpiodRegular* chipSelectRadSensor = new GpiodRegular(
std::string("gpiochip1"), 0, std::string("Chip select radiation sensor"), gpio::DIR_OUT, 1);
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
gpioComIF->addGpios(gpioCookieRadSensor);
SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR,
std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieRadSensor =
new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string("/dev/spidev1.0"),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
RadiationSensorHandler* radSensor = new RadiationSensorHandler(objects::RAD_SENSOR,
objects::SPI_COM_IF, spiCookieRadSensor);
RadiationSensorHandler* radSensor =
new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
radSensor->setStartUpImmediately();
#endif
#if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_MPSOC == 1
UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200,
PLOC_MPSOC::MAX_REPLY_SIZE);
UartCookie* plocUartCookie =
new UartCookie(std::string("/dev/ttyPS1"), 115200, PLOC_MPSOC::MAX_REPLY_SIZE);
/* Testing PlocMPSoCHandler on TE0720-03-1CFA */
PlocMPSoCHandler* mpsocPlocHandler = new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF,
plocUartCookie);
PlocMPSoCHandler* mpsocPlocHandler =
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocUartCookie);
mpsocPlocHandler->setStartUpImmediately();
#endif
#if BOARD_TE0720 == 1 && OBSW_TEST_TE7020_HEATER == 1
/* Configuration for MIO0 on TE0720-03-1CFA */
GpiodRegular* heaterGpio = new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
GpiodRegular* heaterGpio =
new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
GpioCookie* gpioCookie = new GpioCookie;
gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
@ -1087,9 +1083,9 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_SUPERVISOR == 1
/* Configuration for MIO0 on TE0720-03-1CFA */
UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
std::string("/dev/ttyPS1"), UartModes::NON_CANONICAL, 115200,
PLOC_SPV::MAX_PACKET_SIZE * 20);
UartCookie* plocSupervisorCookie =
new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"),
UartModes::NON_CANONICAL, 115200, PLOC_SPV::MAX_PACKET_SIZE * 20);
plocSupervisorCookie->setNoFixedSizeReply();
PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
@ -1099,5 +1095,4 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if OBSW_ADD_SPI_TEST_CODE == 1
new SpiTestClass(objects::SPI_TEST, gpioComIF);
#endif
}

4
bsp_q7s/core/ObjectFactory.h
View File

@ -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; }

8
bsp_q7s/core/ParameterHandler.h
View File

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

31
bsp_q7s/core/obsw.cpp
View File

@ -1,14 +1,14 @@
#include "obsw.h"
#include "OBSWVersion.h"
#include "OBSWConfig.h"
#include "InitMission.h"
#include "watchdogConf.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/FSFWVersion.h"
#include <iostream>
#include <filesystem>
#include <iostream>
#include "InitMission.h"
#include "OBSWConfig.h"
#include "OBSWVersion.h"
#include "fsfw/FSFWVersion.h"
#include "fsfw/tasks/TaskFactory.h"
#include "watchdogConf.h"
static int OBSW_ALREADY_RUNNING = -2;
@ -19,23 +19,24 @@ int obsw::obsw() {
#else
std::cout << "-- Compiled for Linux (TE0720) --" << std::endl;
#endif
std::cout << "-- OBSW v" << SW_VERSION << "." << SW_SUBVERSION <<
"." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "." <<
FSFW_REVISION << "--" << std::endl;
std::cout << "-- OBSW v" << SW_VERSION << "." << SW_SUBVERSION << "." << SW_REVISION << ", FSFW v"
<< FSFW_VERSION << "." << FSFW_SUBVERSION << "." << FSFW_REVISION << "--" << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
#if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1
// Check special file here. This file is created or deleted by the eive-watchdog application
// or systemd service!
if(std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
sif::warning << "File " << watchdog::RUNNING_FILE_NAME << " exists so the software might "
"already be running. Check if obsw systemd service has been stopped." << std::endl;
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();
for(;;) {
for (;;) {
/* Suspend main thread by sleeping it. */
TaskFactory::delayTask(5000);
}

60
bsp_q7s/devices/PlocMemoryDumper.cpp
View File

@ -1,21 +1,21 @@
#include <fsfw/src/fsfw/serialize/SerializeAdapter.h>
#include "fsfw/ipc/QueueFactory.h"
#include "PlocMemoryDumper.h"
#include <fstream>
#include <fsfw/src/fsfw/serialize/SerializeAdapter.h>
#include <filesystem>
#include <fstream>
#include <string>
PlocMemoryDumper::PlocMemoryDumper(object_id_t objectId) :
SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
#include "fsfw/ipc/QueueFactory.h"
PlocMemoryDumper::PlocMemoryDumper(object_id_t objectId)
: SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
}
PlocMemoryDumper::~PlocMemoryDumper() {
}
PlocMemoryDumper::~PlocMemoryDumper() {}
ReturnValue_t PlocMemoryDumper::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
@ -38,9 +38,8 @@ ReturnValue_t PlocMemoryDumper::performOperation(uint8_t operationCode) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocMemoryDumper::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
ReturnValue_t PlocMemoryDumper::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
if (state != State::IDLE) {
return IS_BUSY;
}
@ -71,13 +70,9 @@ ReturnValue_t PlocMemoryDumper::executeAction(ActionId_t actionId,
return EXECUTION_FINISHED;
}
MessageQueueId_t PlocMemoryDumper::getCommandQueue() const {
return commandQueue->getId();
}
MessageQueueId_t PlocMemoryDumper::getCommandQueue() const { return commandQueue->getId(); }
MessageQueueIF* PlocMemoryDumper::getCommandQueuePtr() {
return commandQueue;
}
MessageQueueIF* PlocMemoryDumper::getCommandQueuePtr() { return commandQueue; }
void PlocMemoryDumper::readCommandQueue() {
CommandMessage message;
@ -121,17 +116,12 @@ void PlocMemoryDumper::doStateMachine() {
}
}
void PlocMemoryDumper::stepSuccessfulReceived(ActionId_t actionId,
uint8_t step) {
}
void PlocMemoryDumper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
void PlocMemoryDumper::stepFailedReceived(ActionId_t actionId, uint8_t step,
ReturnValue_t returnCode) {
}
ReturnValue_t returnCode) {}
void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
}
void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
switch (pendingCommand) {
@ -140,8 +130,7 @@ void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
if (mram.endAddress == mram.startAddress) {
triggerEvent(MRAM_DUMP_FINISHED);
state = State::IDLE;
}
else {
} else {
state = State::COMMAND_CONSECUTIVE_MRAM_DUMP;
}
break;
@ -153,11 +142,10 @@ void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
}
}
void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId,
ReturnValue_t returnCode) {
switch(pendingCommand) {
case(PLOC_SPV::FIRST_MRAM_DUMP):
case(PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
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:
@ -179,8 +167,7 @@ void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
tempEndAddress = mram.startAddress + MAX_MRAM_DUMP_SIZE;
mram.startAddress += MAX_MRAM_DUMP_SIZE;
mram.lastStartAddress = tempStartAddress;
}
else {
} else {
tempStartAddress = mram.startAddress;
tempEndAddress = mram.endAddress;
mram.startAddress = mram.endAddress;
@ -188,8 +175,8 @@ void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
MemoryParams params(tempStartAddress, tempEndAddress);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
dumpCommand, &params);
result =
commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, dumpCommand, &params);
if (result != RETURN_OK) {
sif::warning << "PlocMemoryDumper::commandNextMramDump: Failed to send mram dump command "
<< "with start address " << tempStartAddress << " and end address "
@ -203,4 +190,3 @@ void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
pendingCommand = dumpCommand;
return;
}

23
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
@ -29,8 +29,7 @@ class PlocMemoryDumper : public SystemObject,
public ExecutableObjectIF,
public HasReturnvaluesIF,
public CommandsActionsIF {
public:
public:
static const ActionId_t NONE = 0;
static const ActionId_t DUMP_MRAM = 1;
@ -49,13 +48,13 @@ public:
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
private:
private:
static const uint32_t QUEUE_SIZE = 10;
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MEMORY_DUMPER;
//! [EXPORT] : [COMMENT] The capacity of the MRAM amounts to 512 kB. Thus the maximum address must not be higher than 0x7d000.
//! [EXPORT] : [COMMENT] The capacity of the MRAM amounts to 512 kB. Thus the maximum address must
//! not be higher than 0x7d000.
static const ReturnValue_t MRAM_ADDRESS_TOO_HIGH = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] The specified end address is lower than the start address
static const ReturnValue_t MRAM_INVALID_ADDRESS_COMBINATION = MAKE_RETURN_CODE(0xA1);
@ -82,7 +81,7 @@ private:
ActionHelper actionHelper;
enum class State: uint8_t {
enum class State : uint8_t {
IDLE,
COMMAND_FIRST_MRAM_DUMP,
COMMAND_CONSECUTIVE_MRAM_DUMP,

425
bsp_q7s/devices/PlocSupervisorHandler.cpp
View File

@ -1,26 +1,28 @@
#include <sstream>
#include <string>
#include <fstream>
#include <filesystem>
#include "PlocSupervisorHandler.h"
#include "OBSWConfig.h"
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/timemanager/Clock.h>
#include <filesystem>
#include <fstream>
#include <sstream>
#include <string>
#include "OBSWConfig.h"
PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid,
CookieIF * comCookie) :
DeviceHandlerBase(objectId, uartComIFid, comCookie), hkset(this), bootStatusReport(this), latchupStatusReport(
this) {
CookieIF* comCookie)
: DeviceHandlerBase(objectId, uartComIFid, comCookie),
hkset(this),
bootStatusReport(this),
latchupStatusReport(this) {
if (comCookie == NULL) {
sif::error << "PlocSupervisorHandler: Invalid com cookie" << std::endl;
}
}
PlocSupervisorHandler::~PlocSupervisorHandler() {
}
PlocSupervisorHandler::~PlocSupervisorHandler() {}
ReturnValue_t PlocSupervisorHandler::initialize() {
ReturnValue_t result = RETURN_OK;
@ -41,8 +43,7 @@ ReturnValue_t PlocSupervisorHandler::initialize() {
return result;
}
void PlocSupervisorHandler::doStartUp(){
void PlocSupervisorHandler::doStartUp() {
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
@ -50,210 +51,206 @@ void PlocSupervisorHandler::doStartUp(){
#endif
}
void PlocSupervisorHandler::doShutDown(){
setMode(_MODE_POWER_DOWN);
}
void PlocSupervisorHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(
DeviceCommandId_t * id) {
ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
return NOTHING_TO_SEND;
}
ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(
DeviceCommandId_t * id){
ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
return NOTHING_TO_SEND;
}
ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = RETURN_FAILED;
switch(deviceCommand) {
case(PLOC_SPV::GET_HK_REPORT): {
switch (deviceCommand) {
case (PLOC_SPV::GET_HK_REPORT): {
prepareEmptyCmd(PLOC_SPV::APID_GET_HK_REPORT);
result = RETURN_OK;
break;
}
case(PLOC_SPV::RESTART_MPSOC): {
case (PLOC_SPV::RESTART_MPSOC): {
prepareEmptyCmd(PLOC_SPV::APID_RESTART_MPSOC);
result = RETURN_OK;
break;
}
case(PLOC_SPV::START_MPSOC): {
case (PLOC_SPV::START_MPSOC): {
prepareEmptyCmd(PLOC_SPV::APID_START_MPSOC);
result = RETURN_OK;
break;
}
case(PLOC_SPV::SHUTDOWN_MPSOC): {
case (PLOC_SPV::SHUTDOWN_MPSOC): {
prepareEmptyCmd(PLOC_SPV::APID_SHUTWOWN_MPSOC);
result = RETURN_OK;
break;
}
case(PLOC_SPV::SEL_MPSOC_BOOT_IMAGE): {
case (PLOC_SPV::SEL_MPSOC_BOOT_IMAGE): {
prepareSelBootImageCmd(commandData);
result = RETURN_OK;
break;
}
case(PLOC_SPV::RESET_MPSOC): {
case (PLOC_SPV::RESET_MPSOC): {
prepareEmptyCmd(PLOC_SPV::APID_RESET_MPSOC);
result = RETURN_OK;
break;
}
case(PLOC_SPV::SET_TIME_REF): {
case (PLOC_SPV::SET_TIME_REF): {
result = prepareSetTimeRefCmd();
break;
}
case(PLOC_SPV::SET_BOOT_TIMEOUT): {
case (PLOC_SPV::SET_BOOT_TIMEOUT): {
prepareSetBootTimeoutCmd(commandData);
result = RETURN_OK;
break;
}
case(PLOC_SPV::SET_MAX_RESTART_TRIES): {
case (PLOC_SPV::SET_MAX_RESTART_TRIES): {
prepareRestartTriesCmd(commandData);
result = RETURN_OK;
break;
}
case(PLOC_SPV::DISABLE_PERIOIC_HK_TRANSMISSION): {
case (PLOC_SPV::DISABLE_PERIOIC_HK_TRANSMISSION): {
prepareDisableHk();
result = RETURN_OK;
break;
}
case(PLOC_SPV::GET_BOOT_STATUS_REPORT): {
case (PLOC_SPV::GET_BOOT_STATUS_REPORT): {
prepareEmptyCmd(PLOC_SPV::APID_GET_BOOT_STATUS_RPT);
result = RETURN_OK;
break;
}
case(PLOC_SPV::WATCHDOGS_ENABLE): {
case (PLOC_SPV::WATCHDOGS_ENABLE): {
prepareWatchdogsEnableCmd(commandData);
result = RETURN_OK;
break;
}
case(PLOC_SPV::WATCHDOGS_CONFIG_TIMEOUT): {
case (PLOC_SPV::WATCHDOGS_CONFIG_TIMEOUT): {
result = prepareWatchdogsConfigTimeoutCmd(commandData);
break;
}
case(PLOC_SPV::ENABLE_LATCHUP_ALERT): {
case (PLOC_SPV::ENABLE_LATCHUP_ALERT): {
result = prepareLatchupConfigCmd(commandData, deviceCommand);
break;
}
case(PLOC_SPV::DISABLE_LATCHUP_ALERT): {
case (PLOC_SPV::DISABLE_LATCHUP_ALERT): {
result = prepareLatchupConfigCmd(commandData, deviceCommand);
break;
}
case(PLOC_SPV::AUTO_CALIBRATE_ALERT): {
case (PLOC_SPV::AUTO_CALIBRATE_ALERT): {
result = prepareAutoCalibrateAlertCmd(commandData);
break;
}
case(PLOC_SPV::SET_ALERT_LIMIT): {
case (PLOC_SPV::SET_ALERT_LIMIT): {
result = prepareSetAlertLimitCmd(commandData);
break;
}
case(PLOC_SPV::SET_ALERT_IRQ_FILTER): {
case (PLOC_SPV::SET_ALERT_IRQ_FILTER): {
result = prepareSetAlertIrqFilterCmd(commandData);
break;
}
case(PLOC_SPV::SET_ADC_SWEEP_PERIOD): {
case (PLOC_SPV::SET_ADC_SWEEP_PERIOD): {
result = prepareSetAdcSweetPeriodCmd(commandData);
break;
}
case(PLOC_SPV::SET_ADC_ENABLED_CHANNELS): {
case (PLOC_SPV::SET_ADC_ENABLED_CHANNELS): {
prepareSetAdcEnabledChannelsCmd(commandData);
result = RETURN_OK;
break;
}
case(PLOC_SPV::SET_ADC_WINDOW_AND_STRIDE): {
case (PLOC_SPV::SET_ADC_WINDOW_AND_STRIDE): {
prepareSetAdcWindowAndStrideCmd(commandData);
result = RETURN_OK;
break;
}
case(PLOC_SPV::SET_ADC_THRESHOLD): {
case (PLOC_SPV::SET_ADC_THRESHOLD): {
prepareSetAdcThresholdCmd(commandData);
result = RETURN_OK;
break;
}
case(PLOC_SPV::GET_LATCHUP_STATUS_REPORT): {
case (PLOC_SPV::GET_LATCHUP_STATUS_REPORT): {
prepareEmptyCmd(PLOC_SPV::APID_GET_LATCHUP_STATUS_REPORT);
result = RETURN_OK;
break;
}
case(PLOC_SPV::COPY_ADC_DATA_TO_MRAM): {
case (PLOC_SPV::COPY_ADC_DATA_TO_MRAM): {
prepareEmptyCmd(PLOC_SPV::APID_COPY_ADC_DATA_TO_MRAM);
result = RETURN_OK;
break;
}
case(PLOC_SPV::ENABLE_NVMS): {
case (PLOC_SPV::ENABLE_NVMS): {
prepareEnableNvmsCmd(commandData);
result = RETURN_OK;
break;
}
case(PLOC_SPV::SELECT_NVM): {
case (PLOC_SPV::SELECT_NVM): {
prepareSelectNvmCmd(commandData);
result = RETURN_OK;
break;
}
case(PLOC_SPV::RUN_AUTO_EM_TESTS): {
case (PLOC_SPV::RUN_AUTO_EM_TESTS): {
result = prepareRunAutoEmTest(commandData);
break;
}
case(PLOC_SPV::WIPE_MRAM): {
case (PLOC_SPV::WIPE_MRAM): {
result = prepareWipeMramCmd(commandData);
break;
}
case(PLOC_SPV::FIRST_MRAM_DUMP):
case(PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
case (PLOC_SPV::FIRST_MRAM_DUMP):
case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
result = prepareDumpMramCmd(commandData);
break;
case(PLOC_SPV::PRINT_CPU_STATS): {
case (PLOC_SPV::PRINT_CPU_STATS): {
preparePrintCpuStatsCmd(commandData);
result = RETURN_OK;
break;
}
case(PLOC_SPV::SET_DBG_VERBOSITY): {
case (PLOC_SPV::SET_DBG_VERBOSITY): {
prepareSetDbgVerbosityCmd(commandData);
result = RETURN_OK;
break;
}
case(PLOC_SPV::CAN_LOOPBACK_TEST): {
case (PLOC_SPV::CAN_LOOPBACK_TEST): {
prepareEmptyCmd(PLOC_SPV::APID_CAN_LOOPBACK_TEST);
result = RETURN_OK;
break;
}
case(PLOC_SPV::SET_GPIO): {
case (PLOC_SPV::SET_GPIO): {
prepareSetGpioCmd(commandData);
result = RETURN_OK;
break;
}
case(PLOC_SPV::READ_GPIO): {
case (PLOC_SPV::READ_GPIO): {
prepareReadGpioCmd(commandData);
result = RETURN_OK;
break;
}
case(PLOC_SPV::RESTART_SUPERVISOR): {
case (PLOC_SPV::RESTART_SUPERVISOR): {
prepareEmptyCmd(PLOC_SPV::APID_RESTART_SUPERVISOR);
result = RETURN_OK;
break;
}
case(PLOC_SPV::FACTORY_RESET_CLEAR_ALL): {
case (PLOC_SPV::FACTORY_RESET_CLEAR_ALL): {
PLOC_SPV::FactoryReset packet(PLOC_SPV::FactoryReset::Op::CLEAR_ALL);
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
result = RETURN_OK;
break;
}
case(PLOC_SPV::FACTORY_RESET_CLEAR_MIRROR): {
case (PLOC_SPV::FACTORY_RESET_CLEAR_MIRROR): {
PLOC_SPV::FactoryReset packet(PLOC_SPV::FactoryReset::Op::MIRROR_ENTRIES);
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
result = RETURN_OK;
break;
}
case(PLOC_SPV::FACTORY_RESET_CLEAR_CIRCULAR): {
case (PLOC_SPV::FACTORY_RESET_CLEAR_CIRCULAR): {
PLOC_SPV::FactoryReset packet(PLOC_SPV::FactoryReset::Op::CIRCULAR_ENTRIES);
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
result = RETURN_OK;
break;
}
case(PLOC_SPV::UPDATE_AVAILABLE):
case(PLOC_SPV::UPDATE_IMAGE_DATA):
case(PLOC_SPV::UPDATE_VERIFY):
case (PLOC_SPV::UPDATE_AVAILABLE):
case (PLOC_SPV::UPDATE_IMAGE_DATA):
case (PLOC_SPV::UPDATE_VERIFY):
// Simply forward data from PLOC Updater to supervisor
std::memcpy(commandBuffer, commandData, commandDataLen);
rawPacket = commandBuffer;
@ -330,14 +327,12 @@ void PlocSupervisorHandler::fillCommandAndReplyMap() {
PLOC_SPV::SIZE_LATCHUP_STATUS_REPORT);
}
ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t *start,
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
if (nextReplyId == PLOC_SPV::FIRST_MRAM_DUMP) {
*foundId = PLOC_SPV::FIRST_MRAM_DUMP;
return parseMramPackets(start, remainingSize, foundLen);
}
else if (nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
} else if (nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
*foundId = PLOC_SPV::CONSECUTIVE_MRAM_DUMP;
return parseMramPackets(start, remainingSize, foundLen);
}
@ -346,32 +341,32 @@ ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t *start,
uint16_t apid = (*(start) << 8 | *(start + 1)) & APID_MASK;
switch(apid) {
case(PLOC_SPV::APID_ACK_SUCCESS):
switch (apid) {
case (PLOC_SPV::APID_ACK_SUCCESS):
*foundLen = PLOC_SPV::SIZE_ACK_REPORT;
*foundId = PLOC_SPV::ACK_REPORT;
break;
case(PLOC_SPV::APID_ACK_FAILURE):
case (PLOC_SPV::APID_ACK_FAILURE):
*foundLen = PLOC_SPV::SIZE_ACK_REPORT;
*foundId = PLOC_SPV::ACK_REPORT;
break;
case(PLOC_SPV::APID_HK_REPORT):
case (PLOC_SPV::APID_HK_REPORT):
*foundLen = PLOC_SPV::SIZE_HK_REPORT;
*foundId = PLOC_SPV::HK_REPORT;
break;
case(PLOC_SPV::APID_BOOT_STATUS_REPORT):
case (PLOC_SPV::APID_BOOT_STATUS_REPORT):
*foundLen = PLOC_SPV::SIZE_BOOT_STATUS_REPORT;
*foundId = PLOC_SPV::BOOT_STATUS_REPORT;
break;
case(PLOC_SPV::APID_LATCHUP_STATUS_REPORT):
case (PLOC_SPV::APID_LATCHUP_STATUS_REPORT):
*foundLen = PLOC_SPV::SIZE_LATCHUP_STATUS_REPORT;
*foundId = PLOC_SPV::LATCHUP_REPORT;
break;
case(PLOC_SPV::APID_EXE_SUCCESS):
case (PLOC_SPV::APID_EXE_SUCCESS):
*foundLen = PLOC_SPV::SIZE_EXE_REPORT;
*foundId = PLOC_SPV::EXE_REPORT;
break;
case(PLOC_SPV::APID_EXE_FAILURE):
case (PLOC_SPV::APID_EXE_FAILURE):
*foundLen = PLOC_SPV::SIZE_EXE_REPORT;
*foundId = PLOC_SPV::EXE_REPORT;
break;
@ -386,8 +381,7 @@ ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t *start,
}
ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
const uint8_t* packet) {
ReturnValue_t result = RETURN_OK;
switch (id) {
@ -416,7 +410,8 @@ ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
break;
}
default: {
sif::debug << "PlocSupervisorHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
sif::debug << "PlocSupervisorHandler::interpretDeviceReply: Unknown device reply id"
<< std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
@ -424,63 +419,58 @@ ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
return result;
}
void PlocSupervisorHandler::setNormalDatapoolEntriesInvalid(){
void PlocSupervisorHandler::setNormalDatapoolEntriesInvalid() {}
}
uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
return 500;
}
uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(PLOC_SPV::NUM_TMS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::TEMP_PS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::TEMP_PL, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::SOC_STATE, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::NVM0_1_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::NVM3_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::MISSION_IO_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::FMC_STATE, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::NUM_TCS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::UPTIME, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::CPULOAD, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::AVAILABLEHEAP, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::NUM_TMS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::TEMP_PS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::TEMP_PL, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::SOC_STATE, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::NVM0_1_STATE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::NVM3_STATE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::MISSION_IO_STATE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::FMC_STATE, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::NUM_TCS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::UPTIME, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::CPULOAD, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::AVAILABLEHEAP, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::BOOT_SIGNAL, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::RESET_COUNTER, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::BOOT_AFTER_MS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::BOOT_TIMEOUT_MS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::ACTIVE_NVM, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::BP0_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::BP1_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::BP2_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::BOOT_SIGNAL, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::RESET_COUNTER, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::BOOT_AFTER_MS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::BOOT_TIMEOUT_MS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::ACTIVE_NVM, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::BP0_STATE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::BP1_STATE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::BP2_STATE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_ID, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::CNT0, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::CNT1, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::CNT2, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::CNT3, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::CNT4, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::CNT5, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::CNT6, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_SEC, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_MIN, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_HOUR, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_DAY, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_MON, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_YEAR, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_MSEC, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_IS_SET, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_ID, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::CNT0, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::CNT1, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::CNT2, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::CNT3, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::CNT4, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::CNT5, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::CNT6, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_SEC, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_MIN, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_HOUR, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_DAY, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_MON, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_YEAR, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_MSEC, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_IS_SET, new PoolEntry<uint32_t>({0}));
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies, bool useAlternateId,
uint8_t expectedReplies,
bool useAlternateId,
DeviceCommandId_t alternateReplyID) {
ReturnValue_t result = RETURN_OK;
uint8_t enabledReplies = 0;
@ -585,15 +575,15 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
* Every command causes at least one acknowledgment and one execution report. Therefore both
* replies will be enabled here.
*/
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
PLOC_SPV::ACK_REPORT);
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, PLOC_SPV::ACK_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
<< PLOC_SPV::ACK_REPORT << " not in replyMap" << std::endl;
}
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
PLOC_SPV::EXE_REPORT);
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, PLOC_SPV::EXE_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
<< PLOC_SPV::EXE_REPORT << " not in replyMap" << std::endl;
@ -603,7 +593,6 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
}
ReturnValue_t PlocSupervisorHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);
uint16_t recalculatedCrc = CRC::crc16ccitt(start, foundLen - 2);
@ -616,11 +605,10 @@ ReturnValue_t PlocSupervisorHandler::verifyPacket(const uint8_t* start, size_t f
}
ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_ACK_REPORT);
if(result == CRC_FAILURE) {
if (result == CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleAckReport: CRC failure" << std::endl;
nextReplyId = PLOC_SPV::NONE;
replyRawReplyIfnotWiretapped(data, PLOC_SPV::SIZE_ACK_REPORT);
@ -632,10 +620,11 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
switch(apid) {
switch (apid) {
case PLOC_SPV::APID_ACK_FAILURE: {
//TODO: Interpretation of status field in acknowledgment report
sif::debug << "PlocSupervisorHandler::handleAckReport: Received Ack failure report" << std::endl;
// TODO: Interpretation of status field in acknowledgment report
sif::debug << "PlocSupervisorHandler::handleAckReport: Received Ack failure report"
<< std::endl;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(SUPV_ACK_FAILURE, commandId);
@ -651,7 +640,8 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
break;
}
default: {
sif::debug << "PlocSupervisorHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
sif::debug << "PlocSupervisorHandler::handleAckReport: Invalid APID in Ack report"
<< std::endl;
result = RETURN_FAILED;
break;
}
@ -661,11 +651,10 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
}
ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_EXE_REPORT);
if(result == CRC_FAILURE) {
if (result == CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleExecutionReport: CRC failure" << std::endl;
nextReplyId = PLOC_SPV::NONE;
return result;
@ -678,15 +667,16 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data)
break;
}
case (PLOC_SPV::APID_EXE_FAILURE): {
//TODO: Interpretation of status field in execution report
sif::error << "PlocSupervisorHandler::handleExecutionReport: Received execution failure report"
// TODO: Interpretation of status field in execution report
sif::error
<< "PlocSupervisorHandler::handleExecutionReport: Received execution failure report"
<< std::endl;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(SUPV_EXE_FAILURE, commandId);
}
else {
sif::debug << "PlocSupervisorHandler::handleExecutionReport: Unknown command id" << std::endl;
} else {
sif::debug << "PlocSupervisorHandler::handleExecutionReport: Unknown command id"
<< std::endl;
}
sendFailureReport(PLOC_SPV::EXE_REPORT, RECEIVED_EXE_FAILURE);
disableExeReportReply();
@ -706,43 +696,41 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data)
}
ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_HK_REPORT);
if(result == CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleHkReport: Hk report has invalid crc"
<< std::endl;
if (result == CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleHkReport: Hk report has invalid crc" << std::endl;
}
uint16_t offset = PLOC_SPV::DATA_FIELD_OFFSET;
hkset.tempPs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.tempPs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.tempPl = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.tempPl = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.tempSup = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.tempSup = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.uptime = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.uptime = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.cpuLoad = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.cpuLoad = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.availableHeap = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.availableHeap = *(data + offset) << 24 | *(data + offset + 1) << 16 |
*(data + offset + 2) << 8 | *(data + offset + 3);
offset += 4;
hkset.numTcs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.numTcs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.numTms = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.numTms = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.socState = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.socState = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.nvm0_1_state = *(data + offset);
offset += 1;
@ -761,7 +749,8 @@ ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
sif::info << "PlocSupervisorHandler::handleHkReport: temp_sup: " << hkset.tempSup << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: uptime: " << hkset.uptime << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: cpu_load: " << hkset.cpuLoad << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: available_heap: " << hkset.availableHeap << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: available_heap: " << hkset.availableHeap
<< std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: num_tcs: " << hkset.numTcs << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: num_tms: " << hkset.numTms << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: soc_state: " << hkset.socState << std::endl;
@ -780,14 +769,14 @@ ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
}
ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_BOOT_STATUS_REPORT);
if(result == CRC_FAILURE) {
if (result == CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleBootStatusReport: Boot status report has invalid"
" crc" << std::endl;
" crc"
<< std::endl;
return result;
}
@ -835,12 +824,11 @@ ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data)
}
ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_LATCHUP_STATUS_REPORT);
if(result == CRC_FAILURE) {
if (result == CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleLatchupStatusReport: Latchup status report has "
<< "invalid crc" << std::endl;
return result;
@ -921,15 +909,15 @@ ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* da
<< latchupStatusReport.timeYear << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Msec: "
<< latchupStatusReport.timeMsec << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: isSet: 0x"
<< std::hex << latchupStatusReport.timeMsec << std::dec << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: isSet: 0x" << std::hex
<< latchupStatusReport.timeMsec << std::dec << std::endl;
#endif
return result;
}
void PlocSupervisorHandler::setNextReplyId() {
switch(getPendingCommand()) {
switch (getPendingCommand()) {
case PLOC_SPV::GET_HK_REPORT:
nextReplyId = PLOC_SPV::HK_REPORT;
break;
@ -952,16 +940,14 @@ void PlocSupervisorHandler::setNextReplyId() {
}
}
size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId){
size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId) {
size_t replyLen = 0;
if (nextReplyId == PLOC_SPV::NONE) {
return replyLen;
}
if (nextReplyId == PLOC_SPV::FIRST_MRAM_DUMP
|| nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
if (nextReplyId == PLOC_SPV::FIRST_MRAM_DUMP || nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
/**
* Try to read 20 MRAM packets. If reply is larger, the packets will be read with the
* next doSendRead call. The command will be as long active as the packet with the sequence
@ -978,8 +964,7 @@ size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId){
return replyLen;
}
replyLen = iter->second.replyLen;
}
else {
} else {
sif::debug << "PlocSupervisorHandler::getNextReplyLength: No entry for reply with reply id "
<< std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
}
@ -987,8 +972,8 @@ size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId){
return replyLen;
}
void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
DeviceCommandId_t replyId) {
ReturnValue_t result = RETURN_OK;
if (wiretappingMode == RAW) {
@ -1018,7 +1003,7 @@ void PlocSupervisorHandler::prepareEmptyCmd(uint16_t apid) {
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}
void PlocSupervisorHandler::prepareSelBootImageCmd(const uint8_t * commandData) {
void PlocSupervisorHandler::prepareSelBootImageCmd(const uint8_t* commandData) {
PLOC_SPV::MPSoCBootSelect packet(*commandData, *(commandData + 1), *(commandData + 2),
*(commandData + 3));
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
@ -1042,20 +1027,20 @@ void PlocSupervisorHandler::prepareDisableHk() {
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}
void PlocSupervisorHandler::prepareSetBootTimeoutCmd(const uint8_t * commandData) {
uint32_t timeout = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
| *(commandData + 3);
void PlocSupervisorHandler::prepareSetBootTimeoutCmd(const uint8_t* commandData) {
uint32_t timeout = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
*(commandData + 3);
PLOC_SPV::SetBootTimeout packet(timeout);
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}
void PlocSupervisorHandler::prepareRestartTriesCmd(const uint8_t * commandData) {
void PlocSupervisorHandler::prepareRestartTriesCmd(const uint8_t* commandData) {
uint8_t restartTries = *(commandData);
PLOC_SPV::SetRestartTries packet(restartTries);
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}
void PlocSupervisorHandler::prepareWatchdogsEnableCmd(const uint8_t * commandData) {
void PlocSupervisorHandler::prepareWatchdogsEnableCmd(const uint8_t* commandData) {
uint8_t offset = 0;
uint8_t watchdogPs = *(commandData + offset);
offset += 1;
@ -1066,15 +1051,15 @@ void PlocSupervisorHandler::prepareWatchdogsEnableCmd(const uint8_t * commandDat
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}
ReturnValue_t PlocSupervisorHandler::prepareWatchdogsConfigTimeoutCmd(const uint8_t * commandData) {
ReturnValue_t PlocSupervisorHandler::prepareWatchdogsConfigTimeoutCmd(const uint8_t* commandData) {
uint8_t offset = 0;
uint8_t watchdog = *(commandData + offset);
offset += 1;
if (watchdog > 2) {
return INVALID_WATCHDOG;
}
uint32_t timeout = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
| *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
uint32_t timeout = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
*(commandData + offset + 2) << 8 | *(commandData + offset + 3);
if (timeout < 1000 || timeout > 360000) {
return INVALID_WATCHDOG_TIMEOUT;
}
@ -1115,8 +1100,8 @@ ReturnValue_t PlocSupervisorHandler::prepareAutoCalibrateAlertCmd(const uint8_t*
uint8_t offset = 0;
uint8_t latchupId = *commandData;
offset += 1;
uint32_t mg = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
| *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
uint32_t mg = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
*(commandData + offset + 2) << 8 | *(commandData + offset + 3);
if (latchupId > 6) {
return INVALID_LATCHUP_ID;
}
@ -1141,8 +1126,8 @@ ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* comm
uint8_t offset = 0;
uint8_t latchupId = *commandData;
offset += 1;
uint32_t dutycycle = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
| *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
uint32_t dutycycle = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
*(commandData + offset + 2) << 8 | *(commandData + offset + 3);
if (latchupId > 6) {
return INVALID_LATCHUP_ID;
}
@ -1152,8 +1137,8 @@ ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* comm
}
ReturnValue_t PlocSupervisorHandler::prepareSetAdcSweetPeriodCmd(const uint8_t* commandData) {
uint32_t sweepPeriod = *(commandData) << 24 | *(commandData + 1) << 16
| *(commandData + 2) << 8 | *(commandData + 3);
uint32_t sweepPeriod = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
*(commandData + 3);
if (sweepPeriod < 21) {
return SWEEP_PERIOD_TOO_SMALL;
}
@ -1178,8 +1163,8 @@ void PlocSupervisorHandler::prepareSetAdcWindowAndStrideCmd(const uint8_t* comma
}
void PlocSupervisorHandler::prepareSetAdcThresholdCmd(const uint8_t* commandData) {
uint32_t threshold = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
| *(commandData + 3);
uint32_t threshold = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
*(commandData + 3);
PLOC_SPV::SetAdcThreshold packet(threshold);
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}
@ -1275,12 +1260,11 @@ void PlocSupervisorHandler::packetToOutBuffer(uint8_t* packetData, size_t fullSi
}
void PlocSupervisorHandler::disableAllReplies() {
DeviceReplyMap::iterator iter;
/* Disable ack reply */
iter = deviceReplyMap.find(PLOC_SPV::ACK_REPORT);
DeviceReplyInfo *info = &(iter->second);
DeviceReplyInfo* info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
@ -1305,7 +1289,6 @@ void PlocSupervisorHandler::disableAllReplies() {
}
void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
DeviceReplyIter iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
@ -1316,7 +1299,8 @@ void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnV
DeviceCommandInfo* info = &(iter->second.command->second);
if (info == nullptr) {
sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply has no active command" << std::endl;
sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply has no active command"
<< std::endl;
return;
}
@ -1328,14 +1312,14 @@ void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnV
void PlocSupervisorHandler::disableExeReportReply() {
DeviceReplyIter iter = deviceReplyMap.find(PLOC_SPV::EXE_REPORT);
DeviceReplyInfo *info = &(iter->second);
DeviceReplyInfo* info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
/* Expected replies is set to one here. The value will set to 0 in replyToReply() */
info->command->second.expectedReplies = 1;
}
ReturnValue_t PlocSupervisorHandler::parseMramPackets(const uint8_t *packet, size_t remainingSize,
ReturnValue_t PlocSupervisorHandler::parseMramPackets(const uint8_t* packet, size_t remainingSize,
size_t* foundLen) {
ReturnValue_t result = IGNORE_FULL_PACKET;
uint16_t packetLen = 0;
@ -1367,7 +1351,6 @@ ReturnValue_t PlocSupervisorHandler::parseMramPackets(const uint8_t *packet, siz
}
ReturnValue_t PlocSupervisorHandler::handleMramDumpPacket(DeviceCommandId_t id) {
ReturnValue_t result = RETURN_FAILED;
// Prepare packet for downlink
@ -1380,8 +1363,7 @@ ReturnValue_t PlocSupervisorHandler::handleMramDumpPacket(DeviceCommandId_t id)
}
handleMramDumpFile(id);
if (downlinkMramDump == true) {
handleDeviceTM(spacePacketBuffer + PLOC_SPV::SPACE_PACKET_HEADER_LENGTH, packetLen - 1,
id);
handleDeviceTM(spacePacketBuffer + PLOC_SPV::SPACE_PACKET_HEADER_LENGTH, packetLen - 1, id);
}
packetInBuffer = false;
receivedMramDumpPackets++;
@ -1407,35 +1389,34 @@ void PlocSupervisorHandler::increaseExpectedMramReplies(DeviceCommandId_t id) {
<< "in reply map" << std::endl;
return;
}
DeviceReplyInfo *mramReplyInfo = &(mramDumpIter->second);
DeviceReplyInfo* mramReplyInfo = &(mramDumpIter->second);
if (mramReplyInfo == nullptr) {
sif::debug << "PlocSupervisorHandler::increaseExpectedReplies: MRAM reply info nullptr"
<< std::endl;
return;
}
DeviceReplyInfo *exeReplyInfo = &(exeReportIter->second);
DeviceReplyInfo* exeReplyInfo = &(exeReportIter->second);
if (exeReplyInfo == nullptr) {
sif::debug << "PlocSupervisorHandler::increaseExpectedReplies: Execution reply info"
<< " nullptr" << std::endl;
return;
}
DeviceCommandInfo* info = &(mramReplyInfo->command->second);
if (info == nullptr){
if (info == nullptr) {
sif::debug << "PlocSupervisorHandler::increaseExpectedReplies: Command info nullptr"
<< std::endl;
return;
}
uint8_t sequenceFlags = spacePacketBuffer[2] >> 6;
if (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT)
&& (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
if (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT) &&
(sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
// Command expects at least one MRAM packet more and the execution report
info->expectedReplies = 2;
// Wait maximum of 2 cycles for next MRAM packet
mramReplyInfo->delayCycles = 2;
// Also adapting delay cycles for execution report
exeReplyInfo->delayCycles = 3;
}
else {
} else {
// Command expects the execution report
info->expectedReplies = 1;
mramReplyInfo->delayCycles = 0;
@ -1456,8 +1437,8 @@ ReturnValue_t PlocSupervisorHandler::handleMramDumpFile(DeviceCommandId_t id) {
uint16_t packetLen = readSpacePacketLength(spacePacketBuffer);
uint8_t sequenceFlags = readSequenceFlags(spacePacketBuffer);
if (id == PLOC_SPV::FIRST_MRAM_DUMP) {
if (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT)
|| (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
if (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT) ||
(sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
result = createMramDumpFile();
if (result != RETURN_OK) {
return result;
@ -1523,8 +1504,8 @@ ReturnValue_t PlocSupervisorHandler::getTimeStampString(std::string& timeStamp)
<< std::endl;
return GET_TIME_FAILURE;
}
timeStamp = std::to_string(time.year) + "-" + std::to_string(time.month) + "-"
+ std::to_string(time.day) + "--" + std::to_string(time.hour) + "-"
+ std::to_string(time.minute) + "-" + std::to_string(time.second);
timeStamp = std::to_string(time.year) + "-" + std::to_string(time.month) + "-" +
std::to_string(time.day) + "--" + std::to_string(time.hour) + "-" +
std::to_string(time.minute) + "-" + std::to_string(time.second);
return RETURN_OK;
}

65
bsp_q7s/devices/PlocSupervisorHandler.h
View File

@ -1,12 +1,12 @@
#ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#include "devicedefinitions/PlocSupervisorDefinitions.h"
#include <bsp_q7s/memory/SdCardManager.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw_hal/linux/uart/UartComIF.h>
#include "devicedefinitions/PlocSupervisorDefinitions.h"
/**
* @brief This is the device handler for the supervisor of the PLOC which is programmed by
* Thales.
@ -19,26 +19,24 @@
* Arbeitsdaten/08_Used%20Components/PLOC&fileid=940960
* @author J. Meier
*/
class PlocSupervisorHandler: public DeviceHandlerBase {
public:
PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF * comCookie);
class PlocSupervisorHandler : public DeviceHandlerBase {
public:
PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie);
virtual ~PlocSupervisorHandler();
virtual ReturnValue_t initialize() override;
protected:
protected:
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) 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;
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,
@ -48,8 +46,7 @@ protected:
DeviceCommandId_t alternateReplyID = 0) override;
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
private:
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPERVISOR_HANDLER;
//! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
@ -64,25 +61,32 @@ private:
static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Invalid communication interface specified
static const ReturnValue_t INVALID_UART_COM_IF = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0 for PS, 1 for PL and 2 for INT
//! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0
//! for PS, 1 for PL and 2 for INT
static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid timeouts must be in the range between 1000 and 360000 ms.
//! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid
//! timeouts must be in the range between 1000 and 360000 ms.
static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA8);
//! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be larger than 21.
//! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be
//! larger than 21.
static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA9);
//! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1 and 2.
//! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1
//! and 2.
static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xAA);
//! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAB);
//! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM wipe commands are invalid (e.g. start address bigger than stop address)
//! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM wipe
//! commands are invalid (e.g. start address bigger than stop address)
static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAC);
//! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with other apid.
//! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with
//! other apid.
static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAD);
//! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have been created with the reception of the first dump packet.
//! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have
//! been created with the reception of the first dump packet.
static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAF);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
@ -209,7 +213,7 @@ private:
/**
* @brief This function initializes the space packet to select the boot image of the MPSoC.
*/
void prepareSelBootImageCmd(const uint8_t * commandData);
void prepareSelBootImageCmd(const uint8_t* commandData);
void prepareDisableHk();
@ -223,21 +227,21 @@ private:
* @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 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);
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);
ReturnValue_t prepareWatchdogsConfigTimeoutCmd(const uint8_t* commandData);
ReturnValue_t prepareLatchupConfigCmd(const uint8_t* commandData,
DeviceCommandId_t deviceCommand);
@ -258,7 +262,6 @@ private:
void prepareSetGpioCmd(const uint8_t* commandData);
void prepareReadGpioCmd(const uint8_t* commandData);
/**
* @brief Copies the content of a space packet to the command buffer.
*/
@ -290,7 +293,7 @@ private:
* @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);
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.

96
bsp_q7s/devices/PlocUpdater.cpp
View File

@ -1,17 +1,17 @@
#include "fsfw/ipc/QueueFactory.h"
#include "PlocUpdater.h"
#include <fstream>
#include <filesystem>
#include <fstream>
#include <string>
PlocUpdater::PlocUpdater(object_id_t objectId) :
SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
#include "fsfw/ipc/QueueFactory.h"
PlocUpdater::PlocUpdater(object_id_t objectId)
: SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
}
PlocUpdater::~PlocUpdater() {
}
PlocUpdater::~PlocUpdater() {}
ReturnValue_t PlocUpdater::initialize() {
#if BOARD_TE0720 == 0
@ -39,8 +39,8 @@ ReturnValue_t PlocUpdater::performOperation(uint8_t operationCode) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
ReturnValue_t result = RETURN_FAILED;
if (state != State::IDLE) {
@ -99,13 +99,9 @@ ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId,
return EXECUTION_FINISHED;
}
MessageQueueId_t PlocUpdater::getCommandQueue() const {
return commandQueue->getId();
}
MessageQueueId_t PlocUpdater::getCommandQueue() const { return commandQueue->getId(); }
MessageQueueIF* PlocUpdater::getCommandQueuePtr() {
return commandQueue;
}
MessageQueueIF* PlocUpdater::getCommandQueuePtr() { return commandQueue; }
void PlocUpdater::readCommandQueue() {
CommandMessage message;
@ -167,43 +163,37 @@ ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
#if BOARD_TE0720 == 0
// Check if file is stored on SD card and if associated SD card is mounted
if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (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)) {
} 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 {
// update image not stored on SD card
}
#endif /* BOARD_TE0720 == 0 */
updateFile = std::string(reinterpret_cast<const char*>(data), size);
// Check if file exists
if(not std::filesystem::exists(updateFile)) {
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) {
@ -214,8 +204,7 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
if (remainingPackets == 0) {
packetsSent = 0; // Reset packets sent variable for next update sequence
state = State::UPDATE_VERIFY;
}
else {
} else {
state = State::UPDATE_TRANSFER;
}
break;
@ -232,24 +221,22 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
}
}
void PlocUpdater::completionFailedReceived(ActionId_t actionId,
ReturnValue_t returnCode) {
switch(pendingCommand) {
case(PLOC_SPV::UPDATE_AVAILABLE): {
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): {
case (PLOC_SPV::UPDATE_IMAGE_DATA): {
triggerEvent(UPDATE_TRANSFER_FAILED, packetsSent);
break;
}
case(PLOC_SPV::UPDATE_VERIFY): {
case (PLOC_SPV::UPDATE_VERIFY): {
triggerEvent(UPDATE_VERIFY_FAILED);
break;
}
default:
sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command "
<< std::endl;
sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command " << std::endl;
break;
}
state = State::IDLE;
@ -269,7 +256,7 @@ void PlocUpdater::commandUpdateAvailable() {
imageSize = static_cast<size_t>(file.tellg());
file.close();
numOfUpdatePackets = imageSize / MAX_SP_DATA ;
numOfUpdatePackets = imageSize / MAX_SP_DATA;
if (imageSize % MAX_SP_DATA) {
numOfUpdatePackets++;
}
@ -280,10 +267,12 @@ void PlocUpdater::commandUpdateAvailable() {
calcImageCrc();
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
static_cast<uint8_t>(partition), imageSize, imageCrc,
numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(), packet.getFullSize());
PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(),
packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
<< " packet to supervisor handler" << std::endl;
@ -313,8 +302,7 @@ void PlocUpdater::commandUpdatePacket() {
if (remainingPackets == 1) {
payloadLength = imageSize - static_cast<uint16_t>(file.tellg());
}
else {
} else {
payloadLength = MAX_SP_DATA;
}
@ -329,7 +317,8 @@ void PlocUpdater::commandUpdatePacket() {
packet.makeCrc();
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(), packet.getFullSize());
PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(),
packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
@ -351,10 +340,12 @@ void PlocUpdater::commandUpdateVerify() {
ReturnValue_t result = RETURN_OK;
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
static_cast<uint8_t>(partition), imageSize, imageCrc,
numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_VERIFY, packet.getWholeData(), packet.getFullSize());
result =
commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, PLOC_SPV::UPDATE_VERIFY,
packet.getWholeData(), packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
<< " packet to supervisor handler" << std::endl;
@ -394,12 +385,9 @@ void PlocUpdater::calcImageCrc() {
void PlocUpdater::adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet) {
if (packetsSent == 0) {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT));
}
else if (remainingPackets == 1) {
} else if (remainingPackets == 1) {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT));
}
else {
} else {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT));
}
}

47
bsp_q7s/devices/PlocUpdater.h
View File

@ -2,27 +2,25 @@
#define MISSION_DEVICES_PLOCUPDATER_H_
#include "OBSWConfig.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "devicedefinitions/PlocSupervisorDefinitions.h"
#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/ActionHelper.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/CommandsActionsIF.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "linux/fsfwconfig/objects/systemObjectList.h"
#include "fsfw/tmtcpacket/SpacePacket.h"
#include "linux/fsfwconfig/objects/systemObjectList.h"
/**
* @brief An object of this class can be used to perform the software updates of the PLOC. The
* software update will be read from one of the SD cards, split into multiple space
* packets and sent to the PlocSupervisorHandler.
*
* @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition A
* and Partition B)
* @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition
* A and Partition B)
*
* @author J. Meier
*/
@ -31,8 +29,7 @@ class PlocUpdater : public SystemObject,
public ExecutableObjectIF,
public HasReturnvaluesIF,
public CommandsActionsIF {
public:
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;
@ -57,15 +54,15 @@ public:
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
private:
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_UPDATER;
//! [EXPORT] : [COMMENT] Updater is already performing an update
static const ReturnValue_t UPDATER_BUSY = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Received update command with invalid path string (too long).
static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Received command to initiate update but SD card with update image not mounted.
//! [EXPORT] : [COMMENT] Received command to initiate update but SD card with update image not
//! mounted.
static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Update file received with update command does not exist.
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA3);
@ -74,13 +71,15 @@ private:
//! [EXPORT] : [COMMENT] Try to read update file but the file does not exist.
//! P1: Indicates in which state the file read fails
//! P2: During the update transfer the second parameter gives information about the number of already sent packets
//! P2: During the update transfer the second parameter gives information about the number of
//! already sent packets
static const Event UPDATE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to send command to supervisor handler
//! P1: Return value of CommandActionHelper::commandAction
//! P2: Action ID of command to send
static const Event ACTION_COMMANDING_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor handler replied action message indicating a command execution failure of the update available command
//! [EXPORT] : [COMMENT] Supervisor handler replied action message indicating a command execution
//! failure of the update available command
static const Event UPDATE_AVAILABLE_FAILED = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor handler failed to transfer an update space packet.
//! P1: Parameter holds the number of update packets already sent (inclusive the failed packet)
@ -110,7 +109,7 @@ private:
ActionHelper actionHelper;
enum class State: uint8_t {
enum class State : uint8_t {
IDLE,
UPDATE_AVAILABLE,
UPDATE_TRANSFER,
@ -122,21 +121,11 @@ private:
ActionId_t pendingCommand = PLOC_SPV::NONE;
enum class Image: uint8_t {
NONE,
A,
B
};
enum class Image : uint8_t { NONE, A, B };
Image image = Image::NONE;
enum class Partition: uint8_t {
NONE,
UBOOT,
BITSTREAM,
LINUX_OS,
APP_SW
};
enum class Partition : uint8_t { NONE, UBOOT, BITSTREAM, LINUX_OS, APP_SW };
Partition partition = Partition::NONE;

15
bsp_q7s/devices/devicedefinitions/PlocMemDumpDefinitions.h
View File

@ -3,20 +3,19 @@
#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) {
MemoryParams(uint32_t startAddress, uint32_t endAddress)
: startAddress(startAddress), endAddress(endAddress) {
setLinks();
}
private:
private:
void setLinks() {
setStart(&startAddress);
startAddress.setNext(&endAddress);
@ -24,10 +23,6 @@ private:
SerializeElement<uint32_t> startAddress;
SerializeElement<uint32_t> endAddress;
};
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_ */

615
bsp_q7s/devices/devicedefinitions/PlocSupervisorDefinitions.h
View File

File diff suppressed because it is too large Load Diff

36
bsp_q7s/devices/startracker/ArcsecDatalinkLayer.cpp
View File

@ -1,11 +1,8 @@
#include "ArcsecDatalinkLayer.h"
ArcsecDatalinkLayer::ArcsecDatalinkLayer() {
slipInit();
}
ArcsecDatalinkLayer::ArcsecDatalinkLayer() { slipInit(); }
ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {
}
ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {}
void ArcsecDatalinkLayer::slipInit() {
slipInfo.buffer = rxBuffer;
@ -19,8 +16,8 @@ ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t ra
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);
enum arc_dec_result decResult =
arc_transport_decode_body(*(rawData + bytePos), &slipInfo, decodedFrame, &decFrameSize);
*bytesLeft = rawDataSize - bytePos - 1;
switch (decResult) {
case ARC_DEC_INPROGRESS: {
@ -48,31 +45,18 @@ ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t ra
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);
}
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); }

10
bsp_q7s/devices/startracker/ArcsecDatalinkLayer.h
View File

@ -5,15 +5,14 @@
#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;
//! [EXPORT] : [COMMENT] More data required to complete frame
@ -75,8 +74,7 @@ public:
*/
uint8_t getId();
private:
private:
static const uint8_t ID_OFFSET = 1;
static const uint8_t STATUS_OFFSET = 2;

214
bsp_q7s/devices/startracker/ArcsecJsonKeys.h
View File

@ -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_ */

1
bsp_q7s/devices/startracker/ArcsecJsonParamBase.cpp
View File

@ -1,4 +1,5 @@
#include "ArcsecJsonParamBase.h"
#include "ArcsecJsonKeys.h"
ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {}

17
bsp_q7s/devices/startracker/ArcsecJsonParamBase.h
View File

@ -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;
@ -23,8 +23,7 @@ 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);
@ -54,8 +53,7 @@ public:
*/
virtual size_t getSize() = 0;
protected:
protected:
/**
* @brief Reads the value of a parameter from a json set
*
@ -113,8 +111,7 @@ protected:
void addSetParamHeader(uint8_t* buffer, uint8_t setId);
private:
private:
json properties;
json set;
std::string setName;

831
bsp_q7s/devices/startracker/StarTrackerDefinitions.h
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File diff suppressed because it is too large Load Diff

674
bsp_q7s/devices/startracker/StarTrackerHandler.cpp
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File diff suppressed because it is too large Load Diff

61
bsp_q7s/devices/startracker/StarTrackerHandler.h
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@ -1,15 +1,16 @@
#ifndef MISSION_DEVICES_STARTRACKERHANDLER_H_
#define MISSION_DEVICES_STARTRACKERHANDLER_H_
#include <fsfw/datapool/PoolReadGuard.h>
#include "ArcsecDatalinkLayer.h"
#include "ArcsecJsonParamBase.h"
#include "StarTrackerDefinitions.h"
#include "StrHelper.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
#include "fsfw/timemanager/Countdown.h"
#include "thirdparty/arcsec_star_tracker/common/SLIP.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include "ArcsecDatalinkLayer.h"
#include "StarTrackerDefinitions.h"
#include "ArcsecJsonParamBase.h"
#include "StrHelper.h"
/**
* @brief This is the device handler for the star tracker from arcsec.
@ -19,9 +20,8 @@
* Sagitta%201.0%20Datapack&fileid=659181
* @author J. Meier
*/
class StarTrackerHandler: public DeviceHandlerBase {
public:
class StarTrackerHandler : public DeviceHandlerBase {
public:
/**
* @brief Constructor
*
@ -32,7 +32,7 @@ public:
* @param enablePin GPIO connected to the enable pin of the reaction wheels. Must be pulled
* to high to enable the device.
*/
StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
StrHelper* strHelper);
virtual ~StarTrackerHandler();
@ -47,19 +47,18 @@ public:
void performOperationHook() override;
protected:
protected:
void doStartUp() override;
void doShutDown() override;
void doOffActivity() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) 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;
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,
@ -70,8 +69,7 @@ protected:
virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
virtual ReturnValue_t doSendReadHook() override;
private:
private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] Received reply is too short
@ -115,7 +113,8 @@ private:
static const ReturnValue_t REPLY_ERROR = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] Status field of contrast reply signals error
static const ReturnValue_t CONTRAST_REQ_FAILED = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] Received command which is too short (some data is missing for proper execution)
//! [EXPORT] : [COMMENT] Received command which is too short (some data is missing for proper
//! execution)
static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAF);
//! [EXPORT] : [COMMENT] Received command with invalid length (too few or too many parameters)
static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xB0);
@ -140,7 +139,7 @@ private:
// position (uint32) + 1024 image data
static const size_t UPLOAD_COMMAND_LEN = 1028;
// Max valid position value in upload image command
static const uint16_t MAX_POSITION= 4095;
static const uint16_t MAX_POSITION = 4095;
static const uint8_t STATUS_OFFSET = 1;
static const uint8_t PARAMS_OFFSET = 1;
static const uint8_t TICKS_OFFSET = 2;
@ -275,9 +274,7 @@ private:
std::string paramJsonFile = "/mnt/sd0/startracker/full.json";
enum class InternalState {
TEMPERATURE_REQUEST
};
enum class InternalState { TEMPERATURE_REQUEST };
InternalState internalState = InternalState::TEMPERATURE_REQUEST;
@ -321,10 +318,10 @@ private:
*/
void slipInit();
ReturnValue_t scanForActionReply(DeviceCommandId_t *foundId);
ReturnValue_t scanForSetParameterReply(DeviceCommandId_t *foundId);
ReturnValue_t scanForGetParameterReply(DeviceCommandId_t *foundId);
ReturnValue_t scanForTmReply(DeviceCommandId_t *foundId);
ReturnValue_t scanForActionReply(DeviceCommandId_t* foundId);
ReturnValue_t scanForSetParameterReply(DeviceCommandId_t* foundId);
ReturnValue_t scanForGetParameterReply(DeviceCommandId_t* foundId);
ReturnValue_t scanForTmReply(DeviceCommandId_t* foundId);
/**
* @brief Fills command buffer with data to ping the star tracker
@ -483,14 +480,12 @@ private:
/**
* @brief Fills command buffer with data to request matched star coordinates.
*/
ReturnValue_t prepareDownloadDbImageCommand(const uint8_t* commandData,
size_t commandDataLen);
ReturnValue_t prepareDownloadDbImageCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with data to request output of the blob filter algorithm.
*/
ReturnValue_t prepareDownloadBlobPixelCommand(const uint8_t* commandData,
size_t commandDataLen);
ReturnValue_t prepareDownloadBlobPixelCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief With this command the FPGA update will be applied to the star tracker

49
bsp_q7s/devices/startracker/StarTrackerJsonCommands.cpp
View File

@ -1,11 +1,10 @@
#include "StarTrackerJsonCommands.h"
#include "ArcsecJsonKeys.h"
Limits::Limits() : ArcsecJsonParamBase(arcseckeys::LIMITS) {}
size_t Limits::getSize() {
return COMMAND_SIZE;
}
size_t Limits::getSize() { return COMMAND_SIZE; }
ReturnValue_t Limits::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
@ -81,12 +80,9 @@ ReturnValue_t Limits::createCommand(uint8_t* buffer) {
return RETURN_OK;
}
Tracking::Tracking() : ArcsecJsonParamBase(arcseckeys::TRACKING) {}
size_t Tracking::getSize() {
return COMMAND_SIZE;
}
size_t Tracking::getSize() { return COMMAND_SIZE; }
ReturnValue_t Tracking::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
@ -120,12 +116,9 @@ ReturnValue_t Tracking::createCommand(uint8_t* buffer) {
return RETURN_OK;
}
Mounting::Mounting() : ArcsecJsonParamBase(arcseckeys::MOUNTING) {}
size_t Mounting::getSize() {
return COMMAND_SIZE;
}
size_t Mounting::getSize() { return COMMAND_SIZE; }
ReturnValue_t Mounting::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
@ -159,12 +152,9 @@ ReturnValue_t Mounting::createCommand(uint8_t* buffer) {
return RETURN_OK;
}
Camera::Camera() : ArcsecJsonParamBase(arcseckeys::CAMERA) {}
size_t Camera::getSize() {
return COMMAND_SIZE;
}
size_t Camera::getSize() { return COMMAND_SIZE; }
ReturnValue_t Camera::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
@ -324,12 +314,9 @@ ReturnValue_t Camera::createCommand(uint8_t* buffer) {
return RETURN_OK;
}
Blob::Blob() : ArcsecJsonParamBase(arcseckeys::BLOB) {}
size_t Blob::getSize() {
return COMMAND_SIZE;
}
size_t Blob::getSize() { return COMMAND_SIZE; }
ReturnValue_t Blob::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
@ -430,12 +417,9 @@ ReturnValue_t Blob::createCommand(uint8_t* buffer) {
return RETURN_OK;
}
Centroiding::Centroiding() : ArcsecJsonParamBase(arcseckeys::CENTROIDING) {}
size_t Centroiding::getSize() {
return COMMAND_SIZE;
}
size_t Centroiding::getSize() { return COMMAND_SIZE; }
ReturnValue_t Centroiding::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
@ -517,12 +501,9 @@ ReturnValue_t Centroiding::createCommand(uint8_t* buffer) {
return RETURN_OK;
}
Lisa::Lisa() : ArcsecJsonParamBase(arcseckeys::LISA) {}
size_t Lisa::getSize() {
return COMMAND_SIZE;
}
size_t Lisa::getSize() { return COMMAND_SIZE; }
ReturnValue_t Lisa::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
@ -605,12 +586,9 @@ ReturnValue_t Lisa::createCommand(uint8_t* buffer) {
return RETURN_OK;
}
Matching::Matching() : ArcsecJsonParamBase(arcseckeys::MATCHING) {}
size_t Matching::getSize() {
return COMMAND_SIZE;
}
size_t Matching::getSize() { return COMMAND_SIZE; }
ReturnValue_t Matching::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
@ -632,12 +610,9 @@ ReturnValue_t Matching::createCommand(uint8_t* buffer) {
return RETURN_OK;
}
Validation::Validation() : ArcsecJsonParamBase(arcseckeys::VALIDATION) {}
size_t Validation::getSize() {
return COMMAND_SIZE;
}
size_t Validation::getSize() { return COMMAND_SIZE; }
ReturnValue_t Validation::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
@ -673,9 +648,7 @@ ReturnValue_t Validation::createCommand(uint8_t* buffer) {
Algo::Algo() : ArcsecJsonParamBase(arcseckeys::ALGO) {}
size_t Algo::getSize() {
return COMMAND_SIZE;
}
size_t Algo::getSize() { return COMMAND_SIZE; }
ReturnValue_t Algo::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;

81
bsp_q7s/devices/startracker/StarTrackerJsonCommands.h
View File

@ -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();
size_t getSize();
private:
private:
static const size_t COMMAND_SIZE = 43;
virtual ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the tracking algorithm.
*
*/
class Tracking : public ArcsecJsonParamBase {
public:
public:
Tracking();
size_t getSize();
private:
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();
size_t getSize();
private:
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();
size_t getSize();
private:
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();
size_t getSize();
private:
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();
size_t getSize();
private:
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();
size_t getSize();
private:
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();
size_t getSize();
private:
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();
size_t getSize();
private:
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();
size_t getSize();
private:
private:
static const size_t COMMAND_SIZE = 13;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_ */

150
bsp_q7s/devices/startracker/StrHelper.cpp
View File

@ -1,16 +1,13 @@
#include "StrHelper.h"
#include <filesystem>
#include <fstream>
#include "mission/utility/Timestamp.h"
#include <fstream>
#include <filesystem>
StrHelper::StrHelper(object_id_t objectId) : SystemObject(objectId) {}
StrHelper::StrHelper(object_id_t objectId) : SystemObject(objectId){
}
StrHelper::~StrHelper() {
}
StrHelper::~StrHelper() {}
ReturnValue_t StrHelper::initialize() {
sdcMan = SdCardManager::instance();
@ -24,18 +21,17 @@ ReturnValue_t StrHelper::initialize() {
ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
ReturnValue_t result = RETURN_OK;
semaphore.acquire();
while(true) {
switch(internalState) {
while (true) {
switch (internalState) {
case InternalState::IDLE: {
semaphore.acquire();
break;
}
case InternalState::UPLOAD_IMAGE: {
result = performImageUpload();
if (result == RETURN_OK){
if (result == RETURN_OK) {
triggerEvent(IMAGE_UPLOAD_SUCCESSFUL);
}
else {
} else {
triggerEvent(IMAGE_UPLOAD_FAILED);
}
internalState = InternalState::IDLE;
@ -43,10 +39,9 @@ ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
}
case InternalState::DOWNLOAD_IMAGE: {
result = performImageDownload();
if (result == RETURN_OK){
if (result == RETURN_OK) {
triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL);
}
else {
} else {
triggerEvent(IMAGE_DOWNLOAD_FAILED);
}
internalState = InternalState::IDLE;
@ -54,10 +49,9 @@ ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
}
case InternalState::FLASH_WRITE: {
result = performFlashWrite();
if (result == RETURN_OK){
if (result == RETURN_OK) {
triggerEvent(FLASH_WRITE_SUCCESSFUL);
}
else {
} else {
triggerEvent(FLASH_WRITE_FAILED);
}
internalState = InternalState::IDLE;
@ -65,10 +59,9 @@ ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
}
case InternalState::FLASH_READ: {
result = performFlashRead();
if (result == RETURN_OK){
if (result == RETURN_OK) {
triggerEvent(FLASH_READ_SUCCESSFUL);
}
else {
} else {
triggerEvent(FLASH_READ_FAILED);
}
internalState = InternalState::IDLE;
@ -76,10 +69,9 @@ ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
}
case InternalState::DOWNLOAD_FPGA_IMAGE: {
result = performFpgaDownload();
if (result == RETURN_OK){
if (result == RETURN_OK) {
triggerEvent(FPGA_DOWNLOAD_SUCCESSFUL);
}
else {
} else {
triggerEvent(FPGA_DOWNLOAD_FAILED);
}
internalState = InternalState::IDLE;
@ -87,10 +79,9 @@ ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
}
case InternalState::UPLOAD_FPGA_IMAGE: {
result = performFpgaUpload();
if (result == RETURN_OK){
if (result == RETURN_OK) {
triggerEvent(FPGA_UPLOAD_SUCCESSFUL);
}
else {
} else {
triggerEvent(FPGA_UPLOAD_FAILED);
}
internalState = InternalState::IDLE;
@ -112,9 +103,7 @@ ReturnValue_t StrHelper::setComIF(DeviceCommunicationIF* communicationInterface_
return RETURN_OK;
}
void StrHelper::setComCookie(CookieIF* comCookie_) {
comCookie = comCookie_;
}
void StrHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
ReturnValue_t StrHelper::startImageUpload(std::string fullname) {
ReturnValue_t result = checkPath(fullname);
@ -122,7 +111,7 @@ ReturnValue_t StrHelper::startImageUpload(std::string fullname) {
return result;
}
uploadImage.uploadFile = fullname;
if(not std::filesystem::exists(fullname)) {
if (not std::filesystem::exists(fullname)) {
return FILE_NOT_EXISTS;
}
internalState = InternalState::UPLOAD_IMAGE;
@ -136,7 +125,7 @@ ReturnValue_t StrHelper::startImageDownload(std::string path) {
if (result != RETURN_OK) {
return result;
}
if(not std::filesystem::exists(path)) {
if (not std::filesystem::exists(path)) {
return PATH_NOT_EXISTS;
}
downloadImage.path = path;
@ -146,30 +135,21 @@ ReturnValue_t StrHelper::startImageDownload(std::string path) {
return RETURN_OK;
}
void StrHelper::stopProcess() {
terminate = true;
}
void StrHelper::stopProcess() { terminate = true; }
void StrHelper::setDownloadImageName(std::string filename) {
downloadImage.filename = filename;
}
void StrHelper::setDownloadImageName(std::string filename) { downloadImage.filename = filename; }
void StrHelper::setFlashReadFilename(std::string filename) {
flashRead.filename = filename;
}
void StrHelper::setFlashReadFilename(std::string filename) { flashRead.filename = filename; }
void StrHelper::setDownloadFpgaImage(std::string filename) {
fpgaDownload.fileName = filename;
}
void StrHelper::setDownloadFpgaImage(std::string filename) { fpgaDownload.fileName = filename; }
ReturnValue_t StrHelper::startFlashWrite(std::string fullname, uint8_t region,
uint32_t address) {
ReturnValue_t StrHelper::startFlashWrite(std::string fullname, uint8_t region, uint32_t address) {
ReturnValue_t result = checkPath(fullname);
if (result != RETURN_OK) {
return result;
}
flashWrite.fullname = fullname;
if(not std::filesystem::exists(flashWrite.fullname)) {
if (not std::filesystem::exists(flashWrite.fullname)) {
return FILE_NOT_EXISTS;
}
flashWrite.address = address;
@ -180,14 +160,14 @@ ReturnValue_t StrHelper::startFlashWrite(std::string fullname, uint8_t region,
return RETURN_OK;
}
ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t region,
uint32_t address, uint32_t length) {
ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t region, uint32_t address,
uint32_t length) {
ReturnValue_t result = checkPath(path);
if (result != RETURN_OK) {
return result;
}
flashRead.path = path;
if(not std::filesystem::exists(flashRead.path)) {
if (not std::filesystem::exists(flashRead.path)) {
return FILE_NOT_EXISTS;
}
flashRead.address = address;
@ -224,13 +204,13 @@ ReturnValue_t StrHelper::performImageDownload() {
uint32_t size = 0;
uint32_t retries = 0;
Timestamp timestamp;
std::string image = downloadImage.path + "/" + timestamp.str() + downloadImage.filename ;
std::string image = downloadImage.path + "/" + timestamp.str() + downloadImage.filename;
std::ofstream file(image, std::ios_base::app | std::ios_base::out);
if(not std::filesystem::exists(image)) {
if (not std::filesystem::exists(image)) {
return FILE_CREATION_FAILED;
}
downloadReq.position = 0;
while(downloadReq.position < ImageDownload::LAST_POSITION) {
while (downloadReq.position < ImageDownload::LAST_POSITION) {
if (terminate) {
return RETURN_OK;
}
@ -291,7 +271,7 @@ ReturnValue_t StrHelper::performImageUpload() {
file.seekg(0, file.end);
// tellg returns position of character in input stream
imageSize = file.tellg();
while((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) {
while ((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) {
if (terminate) {
return RETURN_OK;
}
@ -344,7 +324,7 @@ ReturnValue_t StrHelper::performFlashWrite() {
req.region = flashWrite.region;
req.address = flashWrite.address;
req.length = MAX_FLASH_DATA;
while(remainingBytes >= MAX_FLASH_DATA) {
while (remainingBytes >= MAX_FLASH_DATA) {
if (terminate) {
return RETURN_OK;
}
@ -383,20 +363,19 @@ ReturnValue_t StrHelper::performFlashRead() {
uint32_t size = 0;
uint32_t retries = 0;
Timestamp timestamp;
std::string fullname = flashRead.path + "/" + timestamp.str() + flashRead.filename ;
std::string fullname = flashRead.path + "/" + timestamp.str() + flashRead.filename;
std::ofstream file(fullname, std::ios_base::app | std::ios_base::out);
if (not std::filesystem::exists(fullname)) {
return FILE_CREATION_FAILED;
}
req.region = flashRead.region;
while(bytesRead < flashRead.size) {
while (bytesRead < flashRead.size) {
if (terminate) {
return RETURN_OK;
}
if ((flashRead.size - bytesRead) < MAX_FLASH_DATA) {
req.length = flashRead.size - bytesRead;
}
else {
} else {
req.length = MAX_FLASH_DATA;
}
req.address = flashRead.address + bytesRead;
@ -448,18 +427,17 @@ ReturnValue_t StrHelper::performFpgaDownload() {
Timestamp timestamp;
std::string image = fpgaDownload.path + "/" + timestamp.str() + fpgaDownload.fileName;
std::ofstream file(image, std::ios_base::app | std::ios_base::out);
if(not std::filesystem::exists(image)) {
if (not std::filesystem::exists(image)) {
return FILE_CREATION_FAILED;
}
req.pos = fpgaDownload.startPosition;
while(req.pos < fpgaDownload.length) {
while (req.pos < fpgaDownload.length) {
if (terminate) {
return RETURN_OK;
}
if (fpgaDownload.length - req.pos >= FpgaDownload::MAX_DATA) {
req.length = FpgaDownload::MAX_DATA;
}
else {
} else {
req.length = fpgaDownload.length - req.pos;
}
arc_pack_downloadfpgaimage_action_req(&req, commandBuffer, &size);
@ -507,14 +485,13 @@ ReturnValue_t StrHelper::performFpgaUpload() {
file.seekg(0, file.end);
fileSize = file.tellg();
req.pos = 0;
while(bytesUploaded <= fileSize) {
while (bytesUploaded <= fileSize) {
if (terminate) {
return RETURN_OK;
}
if (fileSize - bytesUploaded > FpgaUpload::MAX_DATA) {
req.length = FpgaUpload::MAX_DATA;
}
else {
} else {
req.length = fileSize - bytesUploaded;
}
file.seekg(bytesUploaded, file.beg);
@ -537,7 +514,7 @@ ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter) {
ReturnValue_t result = RETURN_OK;
ReturnValue_t decResult = RETURN_OK;
size_t receivedDataLen = 0;
uint8_t *receivedData = nullptr;
uint8_t* receivedData = nullptr;
size_t bytesLeft = 0;
uint32_t missedReplies = 0;
datalinkLayer.encodeFrame(commandBuffer, size);
@ -550,8 +527,7 @@ ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter) {
}
decResult = ArcsecDatalinkLayer::DEC_IN_PROGRESS;
while (decResult == ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
result = uartComIF->requestReceiveMessage(comCookie,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
result = uartComIF->requestReceiveMessage(comCookie, StarTracker::MAX_FRAME_SIZE * 2 + 2);
if (result != RETURN_OK) {
sif::warning << "StrHelper::sendAndRead: Failed to request reply" << std::endl;
triggerEvent(STR_HELPER_REQUESTING_MSG_FAILED, result, parameter);
@ -566,12 +542,10 @@ ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter) {
if (receivedDataLen == 0 && missedReplies < MAX_POLLS) {
missedReplies++;
continue;
}
else if ((receivedDataLen == 0) && (missedReplies >= MAX_POLLS)) {
} else if ((receivedDataLen == 0) && (missedReplies >= MAX_POLLS)) {
triggerEvent(STR_HELPER_NO_REPLY, parameter);
return RETURN_FAILED;
}
else {
} else {
missedReplies = 0;
}
decResult = datalinkLayer.decodeFrame(receivedData, receivedDataLen, &bytesLeft);
@ -592,8 +566,7 @@ ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter) {
ReturnValue_t StrHelper::checkActionReply() {
uint8_t type = datalinkLayer.getReplyFrameType();
if (type != TMTC_ACTIONREPLY) {
sif::warning << "StrHelper::checkActionReply: Received reply with invalid type ID"
<< std::endl;
sif::warning << "StrHelper::checkActionReply: Received reply with invalid type ID" << std::endl;
return INVALID_TYPE_ID;
}
uint8_t status = datalinkLayer.getStatusField();
@ -627,8 +600,8 @@ ReturnValue_t StrHelper::checkFlashActionReply(uint8_t region_, uint32_t address
uint32_t address;
const uint8_t* addressData = data + ADDRESS_OFFSET;
size_t size = sizeof(address);
result = SerializeAdapter::deSerialize(&address, &addressData, &size,
SerializeIF::Endianness::LITTLE);
result =
SerializeAdapter::deSerialize(&address, &addressData, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFlashActionReply: Deserialization of address failed"
<< std::endl;
@ -637,8 +610,8 @@ ReturnValue_t StrHelper::checkFlashActionReply(uint8_t region_, uint32_t address
uint16_t length = 0;
size = sizeof(length);
const uint8_t* lengthData = data + LENGTH_OFFSET;
result = SerializeAdapter::deSerialize(&length, lengthData, &size,
SerializeIF::Endianness::LITTLE);
result =
SerializeAdapter::deSerialize(&length, lengthData, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFlashActionReply: Deserialization of length failed"
<< std::endl;
@ -655,8 +628,7 @@ ReturnValue_t StrHelper::checkFlashActionReply(uint8_t region_, uint32_t address
return RETURN_OK;
}
ReturnValue_t StrHelper::checkFpgaActionReply(uint32_t expectedPosition,
uint32_t expectedLength) {
ReturnValue_t StrHelper::checkFpgaActionReply(uint32_t expectedPosition, uint32_t expectedLength) {
ReturnValue_t result = RETURN_OK;
result = checkActionReply();
if (result != RETURN_OK) {
@ -665,8 +637,7 @@ ReturnValue_t StrHelper::checkFpgaActionReply(uint32_t expectedPosition,
const uint8_t* data = datalinkLayer.getReply() + ACTION_DATA_OFFSET;
uint32_t position;
size_t size = sizeof(position);
result = SerializeAdapter::deSerialize(&position, &data, &size,
SerializeIF::Endianness::LITTLE);
result = SerializeAdapter::deSerialize(&position, &data, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFpgaActionReply: Deserialization of position failed"
<< std::endl;
@ -674,8 +645,7 @@ ReturnValue_t StrHelper::checkFpgaActionReply(uint32_t expectedPosition,
}
uint32_t length;
size = sizeof(length);
result = SerializeAdapter::deSerialize(&length, &data, &size,
SerializeIF::Endianness::LITTLE);
result = SerializeAdapter::deSerialize(&length, &data, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFpgaActionReply: Deserialization of length failed"
<< std::endl;
@ -685,14 +655,14 @@ ReturnValue_t StrHelper::checkFpgaActionReply(uint32_t expectedPosition,
}
ReturnValue_t StrHelper::checkPath(std::string name) {
if (name.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT))
== std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (name.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT)) ==
std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "StrHelper::checkPath: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
} else if (name.substr(0, sizeof(SdCardManager::SD_1_MOUNT_POINT))
== std::string(SdCardManager::SD_1_MOUNT_POINT)) {
} else if (name.substr(0, sizeof(SdCardManager::SD_1_MOUNT_POINT)) ==
std::string(SdCardManager::SD_1_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "StrHelper::checkPath: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED;

48
bsp_q7s/devices/startracker/StrHelper.h
View File

@ -2,26 +2,26 @@
#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;
//! [EXPORT] : [COMMENT] Image upload failed
@ -49,33 +49,35 @@ public:
//! [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
//! 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
//! 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
//! 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
// 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
//! 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
//! 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
//! 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);
@ -119,8 +121,7 @@ public:
* @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);
ReturnValue_t startFlashRead(std::string path, uint8_t region, uint32_t address, uint32_t length);
/**
* @brief Starts the download of the FPGA image
@ -159,8 +160,7 @@ public:
*/
void setDownloadFpgaImage(std::string filename);
private:
private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
//! [EXPORT] : [COMMENT] SD card specified in path string not mounted

180
bsp_q7s/gpio/gpioCallbacks.cpp
View File

@ -1,18 +1,17 @@
#include "gpioCallbacks.h"
#include "busConf.h"
#include <devices/gpioIds.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include "busConf.h"
namespace gpioCallbacks {
GpioIF* gpioComInterface;
void initSpiCsDecoder(GpioIF* gpioComIF) {
ReturnValue_t result;
if (gpioComIF == nullptr) {
@ -38,15 +37,15 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
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",
@ -58,8 +57,8 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_6_PIN, "SPI Mux Bit 6",
gpio::DIR_OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit);
GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_CS,
"EN_RW_CS", gpio::DIR_OUT, gpio::HIGH);
GpiodRegularByLineName* enRwDecoder =
new GpiodRegularByLineName(q7s::gpioNames::EN_RW_CS, "EN_RW_CS", gpio::DIR_OUT, gpio::HIGH);
spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
result = gpioComInterface->addGpios(spiMuxGpios);
@ -71,7 +70,6 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
void* args) {
if (gpioComInterface == nullptr) {
sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder "
<< "to specify gpioComIF" << std::endl;
@ -85,305 +83,304 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev
if (value == gpio::HIGH) {
switch (gpioId) {
case(gpioIds::RTD_IC_3): {
case (gpioIds::RTD_IC_3): {
disableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_4): {
case (gpioIds::RTD_IC_4): {
disableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_5): {
case (gpioIds::RTD_IC_5): {
disableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_6): {
case (gpioIds::RTD_IC_6): {
disableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_7): {
case (gpioIds::RTD_IC_7): {
disableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_8): {
case (gpioIds::RTD_IC_8): {
disableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_9): {
case (gpioIds::RTD_IC_9): {
disableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_10): {
case (gpioIds::RTD_IC_10): {
disableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_11): {
case (gpioIds::RTD_IC_11): {
disableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_12): {
case (gpioIds::RTD_IC_12): {
disableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_13): {
case (gpioIds::RTD_IC_13): {
disableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_14): {
case (gpioIds::RTD_IC_14): {
disableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_15): {
case (gpioIds::RTD_IC_15): {
disableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_16): {
case (gpioIds::RTD_IC_16): {
disableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_17): {
case (gpioIds::RTD_IC_17): {
disableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_18): {
case (gpioIds::RTD_IC_18): {
disableDecoderTcsIc2();
break;
}
case(gpioIds::CS_SUS_1): {
case (gpioIds::CS_SUS_1): {
disableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_2): {
case (gpioIds::CS_SUS_2): {
disableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_3): {
case (gpioIds::CS_SUS_3): {
disableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_4): {
case (gpioIds::CS_SUS_4): {
disableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_5): {
case (gpioIds::CS_SUS_5): {
disableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_6): {
case (gpioIds::CS_SUS_6): {
disableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_7): {
case (gpioIds::CS_SUS_7): {
disableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_8): {
case (gpioIds::CS_SUS_8): {
disableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_9): {
case (gpioIds::CS_SUS_9): {
disableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_10): {
case (gpioIds::CS_SUS_10): {
disableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_11): {
case (gpioIds::CS_SUS_11): {
disableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_12): {
case (gpioIds::CS_SUS_12): {
disableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_13): {
case (gpioIds::CS_SUS_13): {
disableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_RW1): {
case (gpioIds::CS_RW1): {
disableRwDecoder();
break;
}
case(gpioIds::CS_RW2): {
case (gpioIds::CS_RW2): {
disableRwDecoder();
break;
}
case(gpioIds::CS_RW3): {
case (gpioIds::CS_RW3): {
disableRwDecoder();
break;
}
case(gpioIds::CS_RW4): {
case (gpioIds::CS_RW4): {
disableRwDecoder();
break;
}
default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
}
}
else if (value == gpio::LOW) {
} else if (value == gpio::LOW) {
switch (gpioId) {
case(gpioIds::RTD_IC_3): {
case (gpioIds::RTD_IC_3): {
selectY7();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_4): {
case (gpioIds::RTD_IC_4): {
selectY6();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_5): {
case (gpioIds::RTD_IC_5): {
selectY5();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_6): {
case (gpioIds::RTD_IC_6): {
selectY4();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_7): {
case (gpioIds::RTD_IC_7): {
selectY3();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_8): {
case (gpioIds::RTD_IC_8): {
selectY2();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_9): {
case (gpioIds::RTD_IC_9): {
selectY1();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_10): {
case (gpioIds::RTD_IC_10): {
selectY0();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_11): {
case (gpioIds::RTD_IC_11): {
selectY7();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_12): {
case (gpioIds::RTD_IC_12): {
selectY6();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_13): {
case (gpioIds::RTD_IC_13): {
selectY5();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_14): {
case (gpioIds::RTD_IC_14): {
selectY4();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_15): {
case (gpioIds::RTD_IC_15): {
selectY3();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_16): {
case (gpioIds::RTD_IC_16): {
selectY2();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_17): {
case (gpioIds::RTD_IC_17): {
selectY1();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_18): {
case (gpioIds::RTD_IC_18): {
selectY0();
enableDecoderTcsIc2();
break;
}
case(gpioIds::CS_SUS_1): {
case (gpioIds::CS_SUS_1): {
selectY0();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_2): {
case (gpioIds::CS_SUS_2): {
selectY1();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_3): {
case (gpioIds::CS_SUS_3): {
selectY0();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_4): {
case (gpioIds::CS_SUS_4): {
selectY1();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_5): {
case (gpioIds::CS_SUS_5): {
selectY2();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_6): {
case (gpioIds::CS_SUS_6): {
selectY2();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_7): {
case (gpioIds::CS_SUS_7): {
selectY3();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_8): {
case (gpioIds::CS_SUS_8): {
selectY3();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_9): {
case (gpioIds::CS_SUS_9): {
selectY4();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_10): {
case (gpioIds::CS_SUS_10): {
selectY5();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_11): {
case (gpioIds::CS_SUS_11): {
selectY4();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_12): {
case (gpioIds::CS_SUS_12): {
selectY5();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_13): {
case (gpioIds::CS_SUS_13): {
selectY6();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_RW1): {
case (gpioIds::CS_RW1): {
selectY0();
enableRwDecoder();
break;
}
case(gpioIds::CS_RW2): {
case (gpioIds::CS_RW2): {
selectY1();
enableRwDecoder();
break;
}
case(gpioIds::CS_RW3): {
case (gpioIds::CS_RW3): {
selectY2();
enableRwDecoder();
break;
}
case(gpioIds::CS_RW4): {
case (gpioIds::CS_RW4): {
selectY3();
enableRwDecoder();
break;
@ -391,8 +388,7 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev
default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
}
}
else {
} else {
sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl;
}
}
@ -446,13 +442,9 @@ void disableDecoderInterfaceBoardIc2() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
}
void enableRwDecoder() {
gpioComInterface->pullHigh(gpioIds::EN_RW_CS);
}
void enableRwDecoder() { gpioComInterface->pullHigh(gpioIds::EN_RW_CS); }
void disableRwDecoder() {
gpioComInterface->pullLow(gpioIds::EN_RW_CS);
}
void disableRwDecoder() { gpioComInterface->pullLow(gpioIds::EN_RW_CS); }
void selectY0() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
@ -509,4 +501,4 @@ void disableAllDecoder() {
gpioComInterface->pullLow(gpioIds::EN_RW_CS);
}
}
} // namespace gpioCallbacks

67
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);
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);
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();
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();
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();
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();
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();
void enableRwDecoder();
void disableRwDecoder();
/**
/**
* @brief This function disables all decoder.
*/
void disableAllDecoder();
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_ */

3
bsp_q7s/main.cpp
View File

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

170
bsp_q7s/memory/FileSystemHandler.cpp
View File

@ -1,65 +1,58 @@
#include "FileSystemHandler.h"
#include "bsp_q7s/core/CoreController.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/memory/GenericFileSystemMessage.h"
#include "fsfw/ipc/QueueFactory.h"
#include <cstring>
#include <fstream>
#include <filesystem>
#include <fstream>
FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler):
SystemObject(fileSystemHandler) {
#include "bsp_q7s/core/CoreController.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/memory/GenericFileSystemMessage.h"
#include "fsfw/tasks/TaskFactory.h"
FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler)
: SystemObject(fileSystemHandler) {
mq = QueueFactory::instance()->createMessageQueue(FS_MAX_QUEUE_SIZE);
}
FileSystemHandler::~FileSystemHandler() {
QueueFactory::instance()->deleteMessageQueue(mq);
}
FileSystemHandler::~FileSystemHandler() { QueueFactory::instance()->deleteMessageQueue(mq); }
ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
while(true) {
while (true) {
try {
fileSystemHandlerLoop();
}
catch(std::bad_alloc& e) {
} catch (std::bad_alloc& e) {
// Restart OBSW, hints at a memory leak
sif::error << "Allocation error in FileSystemHandler::performOperation"
<< e.what() << std::endl;
sif::error << "Allocation error in FileSystemHandler::performOperation" << e.what()
<< std::endl;
// Set up an error file or a special flag in the scratch buffer for these cases
triggerEvent(CoreController::ALLOC_FAILURE, 0 , 0);
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()) {
while (true) {
if (opCounter % 5 == 0) {
if (coreCtrl->sdInitFinished()) {
fileSystemCheckup();
}
}
result = mq->receiveMessage(&filemsg);
if(result == MessageQueueIF::EMPTY) {
if (result == MessageQueueIF::EMPTY) {
break;
}
else if(result != HasReturnvaluesIF::RETURN_FAILED) {
sif::warning << "FileSystemHandler::performOperation: Message reception failed!"
<< std::endl;
} else if (result != HasReturnvaluesIF::RETURN_FAILED) {
sif::warning << "FileSystemHandler::performOperation: Message reception failed!" << std::endl;
break;
}
Command_t command = filemsg.getCommand();
switch(command) {
case(GenericFileSystemMessage::CMD_CREATE_DIRECTORY): {
switch (command) {
case (GenericFileSystemMessage::CMD_CREATE_DIRECTORY): {
break;
}
case(GenericFileSystemMessage::CMD_CREATE_FILE): {
case (GenericFileSystemMessage::CMD_CREATE_FILE): {
break;
}
}
@ -78,29 +71,26 @@ void FileSystemHandler::fileSystemCheckup() {
sdcMan->getSdCardActiveStatus(statusPair);
sd::SdCard preferredSdCard;
sdcMan->getPreferredSdCard(preferredSdCard);
if((preferredSdCard == sd::SdCard::SLOT_0) and
(statusPair.first == sd::SdState::MOUNTED)) {
if ((preferredSdCard == sd::SdCard::SLOT_0) and (statusPair.first == sd::SdState::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
}
else if((preferredSdCard == sd::SdCard::SLOT_1) and
} else if ((preferredSdCard == sd::SdCard::SLOT_1) and
(statusPair.second == sd::SdState::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
}
else {
} else {
std::string sdString;
if(preferredSdCard == sd::SdCard::SLOT_0) {
if (preferredSdCard == sd::SdCard::SLOT_0) {
sdString = "0";
}
else {
} else {
sdString = "1";
}
sif::warning << "FileSystemHandler::performOperation: "
"Inconsistent state detected" << std::endl;
sif::warning << "Preferred SD card is " << sdString <<
" but does not appear to be mounted. Attempting fix.." << std::endl;
"Inconsistent state detected"
<< std::endl;
sif::warning << "Preferred SD card is " << sdString
<< " but does not appear to be mounted. Attempting fix.." << std::endl;
// This function will appear to fix the inconsistent state
ReturnValue_t result = sdcMan->sanitizeState(&statusPair, preferredSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
// Oh no.
triggerEvent(SdCardManager::SANITIZATION_FAILED, 0, 0);
sif::error << "FileSystemHandler::fileSystemCheckup: Sanitization failed" << std::endl;
@ -108,81 +98,79 @@ void FileSystemHandler::fileSystemCheckup() {
}
}
MessageQueueId_t FileSystemHandler::getCommandQueue() const {
return mq->getId();
}
MessageQueueId_t FileSystemHandler::getCommandQueue() const { return mq->getId(); }
ReturnValue_t FileSystemHandler::initialize() {
coreCtrl = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
if(coreCtrl == nullptr) {
sif::error << "FileSystemHandler::initialize: Could not retrieve core controller handle" <<
std::endl;
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if(preferredSdCard == sd::SdCard::SLOT_0) {
if (preferredSdCard == sd::SdCard::SLOT_0) {
currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
}
else if(preferredSdCard == sd::SdCard::SLOT_1) {
} else if (preferredSdCard == sd::SdCard::SLOT_1) {
currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::appendToFile(const char* repositoryPath,
const char* filename, const uint8_t* data, size_t size,
ReturnValue_t FileSystemHandler::appendToFile(const char* repositoryPath, const char* filename,
const uint8_t* data, size_t size,
uint16_t packetNumber, FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / filename;
if(not std::filesystem::exists(path)) {
if (not std::filesystem::exists(path)) {
return FILE_DOES_NOT_EXIST;
}
std::ofstream file(path, std::ios_base::app|std::ios_base::out);
std::ofstream file(path, std::ios_base::app | std::ios_base::out);
file.write(reinterpret_cast<const char*>(data), size);
if(not file.good()) {
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) {
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)) {
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()) {
if (not file.good()) {
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::removeFile(const char* repositoryPath,
const char* filename, FileSystemArgsIF* args) {
ReturnValue_t FileSystemHandler::removeFile(const char* repositoryPath, const char* filename,
FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / filename;
if(not std::filesystem::exists(path)) {
if (not std::filesystem::exists(path)) {
return FILE_DOES_NOT_EXIST;
}
int result = std::remove(path.c_str());
if(result != 0) {
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,
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)) {
if (std::filesystem::exists(path)) {
return DIRECTORY_ALREADY_EXISTS;
}
if(std::filesystem::create_directory(path)) {
if (std::filesystem::create_directory(path)) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::warning << "Creating directory " << path << " failed" << std::endl;
@ -192,39 +180,35 @@ ReturnValue_t FileSystemHandler:: createDirectory(const char* repositoryPath, co
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)) {
if (not std::filesystem::exists(path)) {
return DIRECTORY_DOES_NOT_EXIST;
}
std::error_code err;
if(not deleteRecurively) {
if(std::filesystem::remove(path, err)) {
if (not deleteRecurively) {
if (std::filesystem::remove(path, err)) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
} else {
// Check error code. Most probably denied permissions because folder is not empty
sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
"code " << err.value() << ": " << strerror(err.value()) << std::endl;
if(err.value() == ENOTEMPTY) {
"code "
<< err.value() << ": " << strerror(err.value()) << std::endl;
if (err.value() == ENOTEMPTY) {
return DIRECTORY_NOT_EMPTY;
}
else {
} else {
return GENERIC_FILE_ERROR;
}
}
}
else {
if(std::filesystem::remove_all(path, err)) {
} else {
if (std::filesystem::remove_all(path, err)) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
} else {
sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
"code " << err.value() << ": " << strerror(err.value()) << std::endl;
"code "
<< err.value() << ": " << strerror(err.value()) << std::endl;
// Check error code
if(err.value() == ENOTEMPTY) {
if (err.value() == ENOTEMPTY) {
return DIRECTORY_NOT_EMPTY;
}
else {
} else {
return GENERIC_FILE_ERROR;
}
}
@ -233,15 +217,15 @@ ReturnValue_t FileSystemHandler::removeDirectory(const char* repositoryPath, con
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::renameFile(const char *repositoryPath, const char *oldFilename,
const char *newFilename, FileSystemArgsIF *args) {
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) {
void FileSystemHandler::parseCfg(FsCommandCfg* cfg, bool& useMountPrefix) {
if (cfg != nullptr) {
useMountPrefix = cfg->useMountPrefix;
}
}
@ -250,7 +234,7 @@ std::filesystem::path FileSystemHandler::getInitPath(FileSystemArgsIF* args) {
bool useMountPrefix = true;
parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
std::string path;
if(useMountPrefix) {
if (useMountPrefix) {
path = currentMountPrefix;
}
return std::filesystem::path(path);

50
bsp_q7s/memory/FileSystemHandler.h
View File

@ -1,31 +1,28 @@
#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 {
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();
virtual ~FileSystemHandler();
ReturnValue_t performOperation(uint8_t) override;
@ -36,22 +33,23 @@ public:
* @return MessageQueueId_t of the object
*/
MessageQueueId_t getCommandQueue() const override;
ReturnValue_t appendToFile(const char* repositoryPath,
const char* filename, const uint8_t* data, size_t size,
uint16_t packetNumber, FileSystemArgsIF* args = nullptr) override;
ReturnValue_t createFile(const char* repositoryPath,
const char* filename, const uint8_t* data = nullptr,
size_t size = 0, FileSystemArgsIF* args = nullptr) override;
ReturnValue_t removeFile(const char* repositoryPath,
const char* filename, FileSystemArgsIF* args = nullptr) override;
ReturnValue_t appendToFile(const char* repositoryPath, const char* filename, const uint8_t* data,
size_t size, uint16_t packetNumber,
FileSystemArgsIF* args = nullptr) override;
ReturnValue_t createFile(const char* repositoryPath, const char* filename,
const uint8_t* data = nullptr, size_t size = 0,
FileSystemArgsIF* args = nullptr) override;
ReturnValue_t removeFile(const char* repositoryPath, const char* filename,
FileSystemArgsIF* args = nullptr) override;
ReturnValue_t createDirectory(const char* repositoryPath, const char* dirname,
bool createParentDirs, FileSystemArgsIF* args = nullptr) override;
ReturnValue_t removeDirectory(const char* repositoryPath, const char* dirname,
bool deleteRecurively = false, FileSystemArgsIF* args = nullptr) override;
bool deleteRecurively = false,
FileSystemArgsIF* args = nullptr) override;
ReturnValue_t renameFile(const char* repositoryPath, const char* oldFilename,
const char* newFilename, FileSystemArgsIF* args = nullptr) override;
private:
private:
CoreController* coreCtrl = nullptr;
MessageQueueIF* mq = nullptr;
std::string currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
@ -66,6 +64,4 @@ private:
void parseCfg(FsCommandCfg* cfg, bool& useMountPrefix);
};
#endif /* BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_ */

247
bsp_q7s/memory/SdCardManager.cpp
View File

@ -1,28 +1,25 @@
#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) {
if (factoryInstance == nullptr) {
factoryInstance = new SdCardManager();
}
}
@ -35,62 +32,57 @@ SdCardManager* SdCardManager::instance() {
ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
SdStatePair* statusPair) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(doMountSdCard) {
if(not blocking) {
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;
"Forcing blocking mode.."
<< std::endl;
blocking = true;
}
}
std::unique_ptr<SdStatePair> sdStatusPtr;
if(statusPair == nullptr) {
if (statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get();
result = getSdCardActiveStatus(*statusPair);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
// Not allowed, this function turns on one SD card
if(sdCard == sd::SdCard::BOTH) {
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) {
if (sdCard == sd::SdCard::SLOT_0) {
currentState = statusPair->first;
}
else if(sdCard == sd::SdCard::SLOT_1) {
} else if (sdCard == sd::SdCard::SLOT_1) {
currentState = statusPair->second;
}
else {
} else {
// Should not happen
currentState = sd::SdState::OFF;
}
if(currentState == sd::SdState::ON) {
if(not doMountSdCard) {
if (currentState == sd::SdState::ON) {
if (not doMountSdCard) {
return ALREADY_ON;
}
else {
} else {
return mountSdCard(sdCard);
}
}
else if(currentState == sd::SdState::MOUNTED) {
} else if (currentState == sd::SdState::MOUNTED) {
result = ALREADY_MOUNTED;
}
else if(currentState == sd::SdState::OFF) {
} else if (currentState == sd::SdState::OFF) {
result = setSdCardState(sdCard, true);
}
else {
} else {
result = HasReturnvaluesIF::RETURN_FAILED;
}
if(result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) {
if (result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) {
return result;
}
@ -101,36 +93,36 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
SdStatePair* statusPair) {
std::pair<sd::SdState, sd::SdState> active;
ReturnValue_t result = getSdCardActiveStatus(active);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if(doUnmountSdCard) {
if(not blocking) {
if (doUnmountSdCard) {
if (not blocking) {
sif::warning << "SdCardManager::switchOffSdCard: Two-step command but manager is"
" not configured for blocking operation. Forcing blocking mode.." << std::endl;
" not configured for blocking operation. Forcing blocking mode.."
<< std::endl;
blocking = true;
}
}
// Not allowed, this function turns off one SD card
if(sdCard == sd::SdCard::BOTH) {
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) {
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) {
} else if (sdCard == sd::SdCard::SLOT_1) {
if (active.second == sd::SdState::OFF) {
return ALREADY_OFF;
}
}
if(doUnmountSdCard) {
if (doUnmountSdCard) {
result = unmountSdCard(sdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
@ -140,22 +132,20 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
using namespace std;
if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
string sdstring = "";
string statestring = "";
if(sdCard == sd::SdCard::SLOT_0) {
if (sdCard == sd::SdCard::SLOT_0) {
sdstring = "0";
}
else if(sdCard == sd::SdCard::SLOT_1) {
} else if (sdCard == sd::SdCard::SLOT_1) {
sdstring = "1";
}
if(on) {
if (on) {
currentOp = Operations::SWITCHING_ON;
statestring = "on";
}
else {
} else {
currentOp = Operations::SWITCHING_OFF;
statestring = "off";
}
@ -163,7 +153,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
command << "q7hw sd set " << sdstring << " " << statestring;
cmdExecutor.load(command.str(), blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if(blocking and result != HasReturnvaluesIF::RETURN_OK) {
if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState");
}
return result;
@ -171,7 +161,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) {
using namespace std;
if(not filesystem::exists(SD_STATE_FILE)) {
if (not filesystem::exists(SD_STATE_FILE)) {
return STATUS_FILE_NEXISTS;
}
@ -192,76 +182,75 @@ ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) {
ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
using namespace std;
if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
if(sdCard == sd::SdCard::BOTH) {
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) {
if (sdCard == sd::SdCard::SLOT_0) {
mountDev = SD_0_DEV_NAME;
mountPoint = SD_0_MOUNT_POINT;
}
else if(sdCard == sd::SdCard::SLOT_1) {
} else if (sdCard == sd::SdCard::SLOT_1) {
mountDev = SD_1_DEV_NAME;
mountPoint = SD_1_MOUNT_POINT;
}
if(not filesystem::exists(mountDev)) {
if (not filesystem::exists(mountDev)) {
sif::warning << "SdCardManager::mountSdCard: Device file does not exists. Make sure to"
" turn on the SD card" << std::endl;
" turn on the SD card"
<< std::endl;
return MOUNT_ERROR;
}
if(not blocking) {
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) {
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) {
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
using namespace std;
if(sdCard == sd::SdCard::BOTH) {
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) {
if (sdCard == sd::SdCard::SLOT_0) {
mountPoint = SD_0_MOUNT_POINT;
}
else if(sdCard == sd::SdCard::SLOT_1) {
} else if (sdCard == sd::SdCard::SLOT_1) {
mountPoint = SD_1_MOUNT_POINT;
}
if(not filesystem::exists(mountPoint)) {
sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint <<
"does not exist" << std::endl;
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)) {
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) {
if (not blocking) {
currentOp = Operations::UNMOUNTING;
}
cmdExecutor.load(sdUnmountCommand, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if(blocking and result != HasReturnvaluesIF::RETURN_OK) {
if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::unmountSdCard");
}
return result;
@ -272,26 +261,27 @@ ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard p
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) {
if (not this->blocking) {
blocking = true;
resetNonBlockingState = true;
}
if(prefSdCard == sd::SdCard::NONE) {
if (prefSdCard == sd::SdCard::NONE) {
result = getPreferredSdCard(prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {}
if (result != HasReturnvaluesIF::RETURN_OK) {
}
if(statusPair == nullptr) {
}
if (statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get();
getSdCardActiveStatus(*statusPair);
}
if(statusPair->first == sd::SdState::ON) {
if (statusPair->first == sd::SdState::ON) {
result = mountSdCard(prefSdCard);
}
result = switchOnSdCard(prefSdCard, true, statusPair);
if(resetNonBlockingState) {
if (resetNonBlockingState) {
blocking = false;
}
return result;
@ -302,56 +292,53 @@ void SdCardManager::resetState() {
currentOp = Operations::IDLE;
}
void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState> &active,
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) {
while (iss >> word) {
if (word == "Slot") {
slotLine = true;
}
if(word == "Mounted") {
if (word == "Mounted") {
mountLine = true;
}
if(slotLine) {
if (slotLine) {
if (word == "1:") {
currentSd = sd::SdCard::SLOT_1;
}
if(word == "on") {
if(currentSd == sd::SdCard::SLOT_0) {
if (word == "on") {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::ON;
}
else {
} else {
active.second = sd::SdState::ON;
}
}
else if (word == "off") {
if(currentSd == sd::SdCard::SLOT_0) {
} else if (word == "off") {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::OFF;
}
else {
} else {
active.second = sd::SdState::OFF;
}
}
}
if(mountLine) {
if(currentSd == sd::SdCard::SLOT_0) {
if (mountLine) {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::MOUNTED;
}
else {
} else {
active.second = sd::SdState::MOUNTED;
}
}
if(idx > 5) {
if (idx > 5) {
sif::warning << "SdCardManager::sdCardActive: /tmp/sd_status.txt has more than 6 "
"lines and might be invalid!" << std::endl;
"lines and might be invalid!"
<< std::endl;
}
}
idx++;
@ -360,7 +347,7 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState> &act
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
sdCard = static_cast<sd::SdCard>(prefSdCard);
@ -368,44 +355,43 @@ ReturnValue_t SdCardManager::getPreferredSdCard(sd::SdCard& sdCard) const {
}
ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
if(sdCard == sd::SdCard::BOTH) {
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) {
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) {
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) {
if (prefSdCard == sd::SdCard::NONE) {
ReturnValue_t result = getPreferredSdCard(prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return SD_0_MOUNT_POINT;
}
}
if(prefSdCard == sd::SdCard::SLOT_0) {
if (prefSdCard == sd::SdCard::SLOT_0) {
return SD_0_MOUNT_POINT;
}
else {
} else {
return SD_1_MOUNT_POINT;
}
}
SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations &currentOp) {
SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
CommandExecutor::States state = cmdExecutor.getCurrentState();
if(state == CommandExecutor::States::IDLE or state == CommandExecutor::States::COMMAND_LOADED) {
if (state == CommandExecutor::States::IDLE or state == CommandExecutor::States::COMMAND_LOADED) {
return OpStatus::IDLE;
}
currentOp = this->currentOp;
@ -416,27 +402,27 @@ SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations &currentOp) {
timer.setTimer(100);
uint32_t remainingTimeMs = 0;
#endif
while(true) {
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) {
if (remainingTimeMs == 0) {
sif::error << "SdCardManager::checkCurrentOp: Timeout!" << std::endl;
return OpStatus::FAIL;
}
#endif
switch(result) {
case(CommandExecutor::BYTES_READ): {
switch (result) {
case (CommandExecutor::BYTES_READ): {
continue;
}
case(CommandExecutor::EXECUTION_FINISHED): {
case (CommandExecutor::EXECUTION_FINISHED): {
return OpStatus::SUCCESS;
}
case(HasReturnvaluesIF::RETURN_OK): {
case (HasReturnvaluesIF::RETURN_OK): {
return OpStatus::ONGOING;
}
case(HasReturnvaluesIF::RETURN_FAILED): {
case (HasReturnvaluesIF::RETURN_FAILED): {
return OpStatus::FAIL;
}
default: {
@ -446,14 +432,9 @@ SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations &currentOp) {
}
}
void SdCardManager::setBlocking(bool blocking) {
this->blocking = blocking;
}
void SdCardManager::setBlocking(bool blocking) { this->blocking = blocking; }
void SdCardManager::setPrintCommandOutput(bool print) {
this->printCmdOutput = print;
}
void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = print; }
bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
SdCardManager::SdStatePair active;
@ -465,23 +446,17 @@ bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
if (sdCard == sd::SLOT_0) {
if (active.first == sd::MOUNTED) {
return true;
}
else {
} else {
return false;
}
}
else if (sdCard == sd::SLOT_1) {
} else if (sdCard == sd::SLOT_1) {
if (active.second == sd::MOUNTED) {
return true;
}
else {
} else {
return false;
}
}
else {
} else {
sif::debug << "SdCardManager::isSdCardMounted: Unknown SD card specified" << std::endl;
}
return false;
}

57
bsp_q7s/memory/SdCardManager.h
View File

@ -1,21 +1,20 @@
#ifndef BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_
#define BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_
#include "fsfw_hal/linux/CommandExecutor.h"
#include "definitions.h"
#include "returnvalues/classIds.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/events/Event.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <poll.h>
#include <cstdint>
#include <utility>
#include <string>
#include <optional>
#include <array>
#include <cstdint>
#include <optional>
#include <string>
#include <utility>
#include "definitions.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/events/Event.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw_hal/linux/CommandExecutor.h"
#include "returnvalues/classIds.h"
class MutexIF;
@ -25,41 +24,26 @@ class MutexIF;
*/
class SdCardManager {
friend class SdCardAccess;
public:
enum class Operations {
SWITCHING_ON,
SWITCHING_OFF,
MOUNTING,
UNMOUNTING,
IDLE
};
enum class OpStatus {
IDLE,
TIMEOUT,
ONGOING,
SUCCESS,
FAIL
};
public:
enum class Operations { SWITCHING_ON, SWITCHING_OFF, MOUNTING, UNMOUNTING, IDLE };
enum class OpStatus { IDLE, TIMEOUT, ONGOING, SUCCESS, FAIL };
using SdStatePair = std::pair<sd::SdState, sd::SdState>;
static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;
static constexpr ReturnValue_t OP_ONGOING =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
static constexpr ReturnValue_t ALREADY_ON =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
static constexpr ReturnValue_t OP_ONGOING = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
static constexpr ReturnValue_t ALREADY_ON = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
static constexpr ReturnValue_t ALREADY_MOUNTED =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
static constexpr ReturnValue_t ALREADY_OFF =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
static constexpr ReturnValue_t ALREADY_OFF = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
static constexpr ReturnValue_t STATUS_FILE_NEXISTS =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 10);
static constexpr ReturnValue_t STATUS_FILE_FORMAT_INVALID =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 11);
static constexpr ReturnValue_t MOUNT_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 12);
static constexpr ReturnValue_t MOUNT_ERROR = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 12);
static constexpr ReturnValue_t UNMOUNT_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 13);
static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
@ -204,7 +188,8 @@ public:
* @return true if mounted, otherwise false
*/
bool isSdCardMounted(sd::SdCard sdCard);
private:
private:
CommandExecutor cmdExecutor;
Operations currentOp = Operations::IDLE;
bool blocking = false;

13
bsp_q7s/memory/definitions.h
View File

@ -5,22 +5,15 @@
namespace sd {
enum SdState: uint8_t {
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_ */

11
bsp_q7s/memory/scratchApi.cpp
View File

@ -4,7 +4,7 @@ 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) {
if (result != 0) {
utility::handleSystemError(result, "scratch::writeString");
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -15,7 +15,7 @@ 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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
@ -26,9 +26,10 @@ ReturnValue_t scratch::readString(std::string key, std::string &string) {
}
size_t pos = line.find("=");
if(pos == std::string::npos) {
if (pos == std::string::npos) {
sif::warning << "scratch::readNumber: Output file format invalid, "
"no \"=\" found" << std::endl;
"no \"=\" found"
<< std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
@ -41,7 +42,7 @@ 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) {
if (result != 0) {
utility::handleSystemError(result, "scratch::clearValue");
return HasReturnvaluesIF::RETURN_FAILED;
}

42
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;
/**
@ -59,10 +59,9 @@ 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 {
@ -75,14 +74,13 @@ ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& fil
oss << "xsc_scratch read " << name << " > " << filename;
int result = std::system(oss.str().c_str());
if(result != 0) {
if(result == 256) {
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 {
} else {
utility::handleSystemError(result, "scratch::readNumber");
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
@ -94,25 +92,25 @@ ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& fil
} // 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) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
std::remove(filename.c_str());
return result;
}
@ -124,9 +122,10 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
}
size_t pos = line.find("=");
if(pos == string::npos) {
if (pos == string::npos) {
sif::warning << "scratch::readNumber: Output file format invalid, "
"no \"=\" found" << std::endl;
"no \"=\" found"
<< std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
@ -134,8 +133,7 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
std::string valueAsString = line.substr(pos + 1);
try {
num = std::stoi(valueAsString);
}
catch(std::invalid_argument& e) {
} catch (std::invalid_argument& e) {
sif::warning << "scratch::readNumber: stoi call failed with " << e.what() << std::endl;
}
@ -143,6 +141,6 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
return HasReturnvaluesIF::RETURN_OK;
}
}
} // namespace scratch
#endif /* BSP_Q7S_MEMORY_SCRATCHAPI_H_ */

6
bsp_q7s/simple/simple.cpp
View File

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

8
bsp_q7s/spi/Q7sSpiComIF.cpp
View File

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

5
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.
@ -17,8 +16,8 @@
* 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:
class Q7sSpiComIF : public SpiComIF {
public:
/**
* @brief Constructor
*

16
linux/archive/gpio/GpioCookie.cpp
View File

@ -1,21 +1,21 @@
#include "GpioCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
GpioCookie::GpioCookie() {
}
GpioCookie::GpioCookie() {}
ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig){
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()) {
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;
sif::error << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
<< std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -27,8 +27,6 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig){
return HasReturnvaluesIF::RETURN_FAILED;
}
GpioMap GpioCookie::getGpioMap() const {
return gpioMap;
}
GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
GpioCookie::~GpioCookie() {}

12
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
@ -16,9 +17,8 @@
*
* @author J. Meier
*/
class GpioCookie: public CookieIF {
public:
class GpioCookie : public CookieIF {
public:
GpioCookie();
virtual ~GpioCookie();
@ -29,7 +29,7 @@ public:
*/
GpioMap getGpioMap() const;
private:
private:
/**
* Returns a copy of the internal GPIO map.
*/

10
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;
@ -13,9 +14,8 @@ class GpioCookie;
* @author J. Meier
*/
class GpioIF : public HasReturnvaluesIF {
public:
virtual ~GpioIF() {};
public:
virtual ~GpioIF(){};
/**
* @brief Called by the GPIO using object.

145
linux/archive/gpio/LinuxLibgpioIF.cpp
View File

@ -1,13 +1,13 @@
#include "LinuxLibgpioIF.h"
#include "GpioCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <gpiod.h>
#include <linux/gpio/gpioDefinitions.h>
#include <unistd.h>
#include <utility>
#include <unistd.h>
#include <gpiod.h>
#include "GpioCookie.h"
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
struct gpiod_chip* chip = gpiod_chip_open_by_label("/amba_pl/gpio@42030000");
@ -15,12 +15,11 @@ LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
sif::debug << chip->name << std::endl;
}
LinuxLibgpioIF::~LinuxLibgpioIF() {
}
LinuxLibgpioIF::~LinuxLibgpioIF() {}
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
ReturnValue_t result;
if(gpioCookie == nullptr) {
if (gpioCookie == nullptr) {
sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
return RETURN_FAILED;
}
@ -29,7 +28,7 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
/* Check whether this ID already exists in the map and remove duplicates */
result = checkForConflicts(mapToAdd);
if (result != RETURN_OK){
if (result != RETURN_OK) {
return result;
}
@ -45,22 +44,22 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
}
ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
for(auto& gpioConfig: mapToAdd) {
switch(gpioConfig.second->gpioType) {
case(gpio::GpioTypes::NONE): {
for (auto& gpioConfig : mapToAdd) {
switch (gpioConfig.second->gpioType) {
case (gpio::GpioTypes::NONE): {
return GPIO_INVALID_INSTANCE;
}
case(gpio::GpioTypes::GPIOD_REGULAR): {
case (gpio::GpioTypes::GPIOD_REGULAR): {
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
if(regularGpio == nullptr) {
if (regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureRegularGpio(gpioConfig.first, regularGpio);
break;
}
case(gpio::GpioTypes::CALLBACK): {
case (gpio::GpioTypes::CALLBACK): {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
if(gpioCallback->callback == nullptr) {
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
@ -71,28 +70,28 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio) {
std::string chipname;
unsigned int lineNum;
struct gpiod_chip *chip;
struct gpiod_chip* chip;
gpio::Direction direction;
std::string consumer;
struct gpiod_line *lineHandle;
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;
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open chip " << chipname
<< ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
lineNum = regularGpio->lineNum;
lineHandle = gpiod_chip_get_line(chip, lineNum);
if (!lineHandle) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line for GPIO with id "
<< gpioId << std::endl;
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line for GPIO with id " << gpioId
<< std::endl;
gpiod_chip_close(chip);
return RETURN_FAILED;
}
@ -101,33 +100,30 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
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);
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;
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): {
case (gpio::IN): {
result = gpiod_line_request_input(lineHandle, consumer.c_str());
if (result < 0) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
<< lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum
<< " from GPIO instance with ID: " << gpioId << std::endl;
gpiod_line_release(lineHandle);
return RETURN_FAILED;
}
break;
}
default: {
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
<< std::endl;
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
return GPIO_INVALID_INSTANCE;
}
}
/**
* Write line handle to GPIO configuration instance so it can later be used to set or
@ -144,16 +140,15 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
return UNKNOWN_GPIO_ID;
}
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
}
else {
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if(gpioCallback->callback == nullptr) {
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
1, gpioCallback->callbackArgs);
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, 1,
gpioCallback->callbackArgs);
}
return GPIO_TYPE_FAILURE;
}
@ -165,30 +160,29 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
return UNKNOWN_GPIO_ID;
}
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
}
else {
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if(gpioCallback->callback == nullptr) {
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
0, gpioCallback->callbackArgs);
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, 0,
gpioCallback->callbackArgs);
}
return GPIO_TYPE_FAILURE;
}
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
GpiodRegular* regularGpio, unsigned int logicLevel) {
if(regularGpio == nullptr) {
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio,
unsigned int logicLevel) {
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
if (result < 0) {
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
" to logic level " << logicLevel << std::endl;
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
<< " to logic level " << logicLevel << std::endl;
return DRIVE_GPIO_FAILURE;
}
@ -197,77 +191,74 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()){
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) {
if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
if(regularGpio == nullptr) {
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
*gpioState = gpiod_line_get_value(regularGpio->lineHandle);
} else {
}
else {
}
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
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): {
for (auto& gpioConfig : mapToAdd) {
switch (gpioConfig.second->gpioType) {
case (gpio::GpioTypes::GPIOD_REGULAR): {
auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
if(regularGpio == nullptr) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
break;
}
case(gpio::GpioTypes::CALLBACK): {
case (gpio::GpioTypes::CALLBACK): {
auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
if(callbackGpio == nullptr) {
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
break;
}
default: {
}
}
}
return status;
}
ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
GpiodRegular* gpioToCheck, GpioMap& mapToAdd) {
GpiodRegular* gpioToCheck,
GpioMap& mapToAdd) {
/* Cross check with private map */
gpioMapIter = gpioMap.find(gpioIdToCheck);
if(gpioMapIter != gpioMap.end()) {
if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIOD_REGULAR) {
if (gpioMapIter != gpioMap.end()) {
if (gpioMapIter->second->gpioType != gpio::GpioTypes::GPIOD_REGULAR) {
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
"GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
"GPIO type"
<< gpioIdToCheck << ". Removing duplicate." << std::endl;
mapToAdd.erase(gpioIdToCheck);
return HasReturnvaluesIF::RETURN_OK;
}
auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
if(ownRegularGpio == nullptr) {
if (ownRegularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
@ -281,13 +272,15 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToChec
}
ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck,
GpioCallback *callbackGpio, GpioMap& mapToAdd) {
GpioCallback* callbackGpio,
GpioMap& mapToAdd) {
/* Cross check with private map */
gpioMapIter = gpioMap.find(gpioIdToCheck);
if(gpioMapIter != gpioMap.end()) {
if(gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) {
if (gpioMapIter != gpioMap.end()) {
if (gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) {
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
"GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
"GPIO type"
<< gpioIdToCheck << ". Removing duplicate." << std::endl;
mapToAdd.erase(gpioIdToCheck);
return HasReturnvaluesIF::RETURN_OK;
}

10
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;
@ -15,8 +15,7 @@ class GpioCookie;
* 2019.1.
*/
class LinuxLibgpioIF : public GpioIF, public SystemObject {
public:
public:
static const uint8_t gpioRetvalId = CLASS_ID::LINUX_LIBGPIO_IF;
static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
@ -36,7 +35,7 @@ public:
ReturnValue_t pullLow(gpioId_t gpioId) override;
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
private:
private:
/* Holds the information and configuration of all used GPIOs */
GpioMap gpioMap;
GpioMapIter gpioMapIter;
@ -71,7 +70,6 @@ private:
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
*/
ReturnValue_t configureGpios(GpioMap& mapToAdd);
};
#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

65
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
@ -47,15 +34,13 @@ static constexpr gpioId_t NO_GPIO = -1;
* pointer.
*/
class GpioBase {
public:
public:
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;
@ -64,34 +49,34 @@ public:
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_) {}
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:
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),
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 (*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;

54
linux/archive/tmtc/CCSDSIPCoreBridge.cpp
View File

@ -1,17 +1,18 @@
#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();
@ -26,8 +27,8 @@ ReturnValue_t CCSDSIPCoreBridge::initialize() {
* 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));
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;
@ -38,45 +39,37 @@ ReturnValue_t CCSDSIPCoreBridge::initialize() {
}
ReturnValue_t CCSDSIPCoreBridge::handleTm() {
#if OBSW_TEST_CCSDS_PTME == 1
return sendTestFrame();
#else
return TmTcBridge::handleTm();
#endif
}
ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t * data, size_t dataLen) {
if(pollPapbBusySignal() == RETURN_OK) {
ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t* data, size_t dataLen) {
if (pollPapbBusySignal() == RETURN_OK) {
startPacketTransfer();
}
for(size_t idx = 0; idx < dataLen; idx++) {
if(pollPapbBusySignal() == RETURN_OK) {
for (size_t idx = 0; idx < dataLen; idx++) {
if (pollPapbBusySignal() == RETURN_OK) {
*(ptmeBaseAddress + PTME_DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx));
}
else {
} else {
sif::debug << "CCSDSIPCoreBridge::sendTm: Only written " << idx - 1 << " of " << dataLen
<< " data" << std::endl;
return RETURN_FAILED;
}
}
if(pollPapbBusySignal() == 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;
@ -111,8 +104,7 @@ void CCSDSIPCoreBridge::isPtmeBufferEmpty() {
if (papbEmptyState == 1) {
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is empty" << std::endl;
}
else {
} else {
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is not empty" << std::endl;
}
return;
@ -123,12 +115,12 @@ ReturnValue_t CCSDSIPCoreBridge::sendTestFrame() {
uint8_t testPacket[1105];
/** Fill one test packet */
for(int idx = 0; idx < 1105; idx++) {
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) {
if (result != RETURN_OK) {
return result;
}

18
linux/archive/tmtc/CCSDSIPCoreBridge.h
View File

@ -1,20 +1,21 @@
#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:
class CCSDSIPCoreBridge : public TmTcBridge {
public:
/**
* @brief Constructor
*
@ -37,25 +38,22 @@ public:
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;
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
private:
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;
static const ReturnValue_t PAPB_BUSY = MAKE_RETURN_CODE(0xA0);
/** Size of mapped address space. 4k (minimal size of pl device) */
// static const int MAP_SIZE = 0xFA0;
// static const int MAP_SIZE = 0xFA0;
static const int MAP_SIZE = 0x1000;
/**

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; }

8
linux/boardtest/I2cTestClass.h
View File

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

82
linux/boardtest/LibgpiodTest.cpp
View File

@ -1,15 +1,13 @@
#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) {
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;
@ -18,54 +16,48 @@ LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId,
testCase = TestCases::BLINK;
}
LibgpiodTest::~LibgpiodTest() {
}
LibgpiodTest::~LibgpiodTest() {}
ReturnValue_t LibgpiodTest::performPeriodicAction() {
int gpioState;
ReturnValue_t result;
switch(testCase) {
case(TestCases::READ): {
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;
sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl;
return RETURN_FAILED;
}
else {
} else {
sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << gpioState
<< std::endl;
}
break;
}
case(TestCases::LOOPBACK): {
case (TestCases::LOOPBACK): {
break;
}
case(TestCases::BLINK): {
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;
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) {
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO low!"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
else if (gpioState == 0) {
} else if (gpioState == 0) {
result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO high!"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
else {
} else {
sif::warning << "LibgpiodTest::performPeriodicAction: Invalid GPIO state" << std::endl;
}
@ -76,7 +68,6 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
break;
}
return RETURN_OK;
}
@ -84,46 +75,47 @@ ReturnValue_t LibgpiodTest::performOneShotAction() {
int gpioState;
ReturnValue_t result;
switch(testCase) {
case(TestCases::READ): {
switch (testCase) {
case (TestCases::READ): {
break;
}
case(TestCases::BLINK): {
case (TestCases::BLINK): {
break;
}
case(TestCases::LOOPBACK): {
case (TestCases::LOOPBACK): {
result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
if(result == HasReturnvaluesIF::RETURN_OK) {
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO pulled high successfully for loopback test" << std::endl;
}
else {
"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) {
if (result == HasReturnvaluesIF::RETURN_OK and gpioState == 1) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO state read successfully and is high" << std::endl;
}
else {
"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) {
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO pulled low successfully for loopback test" << std::endl;
"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) {
if (result == HasReturnvaluesIF::RETURN_OK and gpioState == 0) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO state read successfully and is low" << std::endl;
}
else {
"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;

21
linux/boardtest/LibgpiodTest.h
View File

@ -1,33 +1,30 @@
#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;
LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, GpioCookie* gpioCookie);
virtual ~LibgpiodTest();
protected:
protected:
ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
private:
private:
GpioIF* gpioInterface;
};

248
linux/boardtest/SpiTestClass.cpp
View File

@ -1,27 +1,25 @@
#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) {
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;
@ -30,19 +28,19 @@ gpioIF(gpioIF) {
}
ReturnValue_t SpiTestClass::performOneShotAction() {
switch(testMode) {
case(TestModes::NONE): {
switch (testMode) {
case (TestModes::NONE): {
break;
}
case(TestModes::MGM_LIS3MDL): {
case (TestModes::MGM_LIS3MDL): {
performLis3MdlTest(mgm0Lis3mdlChipSelect);
break;
}
case(TestModes::MGM_RM3100): {
case (TestModes::MGM_RM3100): {
performRm3100Test(mgm1Rm3100ChipSelect);
break;
}
case(TestModes::GYRO_L3GD20H): {
case (TestModes::GYRO_L3GD20H): {
performL3gTest(gyro1L3gd20ChipSelect);
break;
}
@ -50,24 +48,21 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
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();
/* Adapt accordingly */
if(mgmId != mgm1Rm3100ChipSelect and mgmId != mgm3Rm3100ChipSelect) {
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) {
if (chipSelectPin == mgm1Rm3100ChipSelect) {
currentGpioId = gpioIds::MGM_1_RM3100_CS;
}
else {
} else {
currentGpioId = gpioIds::MGM_3_RM3100_CS;
}
uint32_t rm3100speed = 976'000;
@ -81,10 +76,8 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
#endif
int fileDescriptor = 0;
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface");
if(fileHelper.getOpenResult()) {
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
if (fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performRm3100Test: File descriptor could not be opened!"
<< std::endl;
return;
@ -92,14 +85,14 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
setSpiSpeedAndMode(fileDescriptor, rm3100mode, rm3100speed);
uint8_t revId = readRegister(fileDescriptor, currentGpioId, rm3100revidReg);
sif::info << "SpiTestClass::performRm3100Test: Revision ID 0b" << std::bitset<8>(revId) <<
std::endl;
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;
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];
@ -115,19 +108,19 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
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;
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;
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) {
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) {
if ((statusReg & 0b1000'0000) == 0) {
return;
}
}
@ -159,17 +152,16 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
acsInit();
/* Adapt accordingly */
if(lis3Id != mgm0Lis3mdlChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
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) {
if (chipSelectPin == mgm0Lis3mdlChipSelect) {
currentGpioId = gpioIds::MGM_0_LIS3_CS;
}
else {
} else {
currentGpioId = gpioIds::MGM_2_LIS3_CS;
}
uint32_t spiSpeed = 10'000'000;
@ -181,9 +173,8 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
#endif
int fileDescriptor = 0;
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface");
if(fileHelper.getOpenResult()) {
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
if (fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
<< std::endl;
return;
@ -192,16 +183,13 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
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;
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();
@ -211,10 +199,9 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
uint8_t whoAmIReg = 0b0000'1111;
uint8_t whoAmIRegExpectedVal = 0b1101'0111;
if(chipSelectPin == gyro1L3gd20ChipSelect) {
if (chipSelectPin == gyro1L3gd20ChipSelect) {
currentGpioId = gpioIds::GYRO_1_L3G_CS;
}
else {
} else {
currentGpioId = gpioIds::GYRO_3_L3G_CS;
}
uint32_t spiSpeed = 3'900'000;
@ -226,20 +213,18 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
#endif
int fileDescriptor = 0;
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface");
if(fileHelper.getOpenResult()) {
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;
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;
@ -254,12 +239,11 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
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;
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;
}
}
}
@ -269,8 +253,8 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
sizeof(readOutBuffer));
uint8_t statusReg = readOutBuffer[7];
sif::info << "SpiTestClass::performL3gTest: Status Register 0b" <<
std::bitset<8>(statusReg) << std::endl;
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;
@ -287,65 +271,64 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
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;
GpiodRegularByChip *gpio = nullptr;
std::string rpiGpioName = "gpiochip0";
gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
gpio::DIR_OUT, gpio::HIGH);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
@ -366,13 +349,13 @@ void SpiTestClass::acsInit() {
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) {
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) {
if (retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
}
}
@ -382,21 +365,21 @@ void SpiTestClass::writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8
sendBuffer[0] = reg;
sendBuffer[1] = value;
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) {
if (retval < 0) {
utility::handleIoctlError("SpiTestClass::writeRegister: Write failed");
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
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) {
if (autoIncrement) {
reg |= STM_AUTO_INCR_MASK;
}
writeRegister(fd, chipSelect, reg, value);
@ -404,7 +387,7 @@ void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, ui
void SpiTestClass::writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
uint8_t *values, size_t len) {
if(values == nullptr) {
if (values == nullptr) {
return;
}
@ -412,12 +395,11 @@ void SpiTestClass::writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_
/* 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) {
void SpiTestClass::writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *values,
size_t len) {
if (values == nullptr) {
return;
}
@ -425,14 +407,14 @@ void SpiTestClass::writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t r
std::memcpy(sendBuffer.data() + 1, values, len);
spiTransferStruct.len = len + 1;
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) {
if (retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
}
@ -441,34 +423,33 @@ uint8_t SpiTestClass::readRm3100Register(int fd, gpioId_t chipSelect, uint8_t re
return readStmRegister(fd, chipSelect, reg, false);
}
void SpiTestClass::readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
size_t 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) {
if (reply == nullptr) {
return;
}
spiTransferStruct.len = len + 1;
sendBuffer[0] = reg | STM_READ_MASK;
for(uint8_t idx = 0; idx < len ; idx ++) {
for (uint8_t idx = 0; idx < len; idx++) {
sendBuffer[idx + 1] = 0;
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) {
if (retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
std::memcpy(reply, recvBuffer.data() + 1, len);
@ -477,26 +458,25 @@ void SpiTestClass::readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t re
uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg,
bool autoIncrement) {
reg |= STM_READ_MASK;
if(autoIncrement) {
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;
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) {
if (retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
return recvBuffer[1];

17
linux/boardtest/SpiTestClass.h
View File

@ -13,8 +13,8 @@
#include <vector>
class SpiTestClass: public TestTask {
public:
class SpiTestClass : public TestTask {
public:
enum TestModes {
NONE,
MGM_LIS3MDL,
@ -28,8 +28,8 @@ public:
ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
private:
private:
GpioIF* gpioIF;
std::array<uint8_t, 128> recvBuffer;
@ -75,21 +75,16 @@ private:
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,
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,
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 readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* reply, size_t len);
};
#endif /* LINUX_BOARDTEST_SPITESTCLASS_H_ */

51
linux/boardtest/UartTestClass.cpp
View File

@ -5,29 +5,27 @@
#include "q7sConfig.h"
#endif
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "lwgps/lwgps.h"
#include <fcntl.h> // Contains file controls like O_RDWR
#include <errno.h> // Error integer and strerror() function
#include <fcntl.h> // Contains file controls like O_RDWR
#include <unistd.h> // write(), read(), close()
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "lwgps/lwgps.h"
#define GPS_REPLY_WIRETAPPING 0
UartTestClass::UartTestClass(object_id_t objectId): TestTask(objectId) {
}
UartTestClass::UartTestClass(object_id_t objectId) : TestTask(objectId) {}
ReturnValue_t UartTestClass::initialize() {
#if RPI_TEST_GPS_DEVICE == 1
int result = lwgps_init(&gpsData);
if(result == 0) {
if (result == 0) {
sif::warning << "lwgps_init error: " << result << std::endl;
}
/* Get file descriptor */
serialPort = open("/dev/serial0", O_RDWR);
if(serialPort < 0) {
if (serialPort < 0) {
sif::warning << "open call failed with error [" << errno << ", " << strerror(errno)
<< std::endl;
}
@ -45,7 +43,8 @@ ReturnValue_t UartTestClass::initialize() {
tty.c_lflag &= ~ECHONL; // Disable new-line echo
tty.c_lflag &= ~ISIG; // Disable interpretation of INTR, QUIT and SUSP
tty.c_iflag &= ~(IXON | IXOFF | IXANY); // Turn off s/w flow ctrl
tty.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL); // Disable any special handling of received bytes
tty.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR |
ICRNL); // Disable any special handling of received bytes
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
@ -56,8 +55,9 @@ ReturnValue_t UartTestClass::initialize() {
cfsetispeed(&tty, B9600);
cfsetospeed(&tty, B9600);
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
sif::warning << "tcsetattr call failed with error [" << errno << ", " <<
strerror(errno) << std::endl;;
sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno)
<< std::endl;
;
}
// Flush received and unread data. Those are old NMEA strings which are not relevant anymore
tcflush(serialPort, TCIFLUSH);
@ -75,30 +75,27 @@ ReturnValue_t UartTestClass::performPeriodicAction() {
#if RPI_TEST_GPS_DEVICE == 1
int bytesRead = 0;
do {
bytesRead = read(serialPort,
reinterpret_cast<void*>(recBuf.data()),
bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
static_cast<unsigned int>(recBuf.size()));
if(bytesRead < 0) {
sif::warning << "UartTestClass::performPeriodicAction: read call failed with error [" <<
errno << ", " << strerror(errno) << "]" << std::endl;
if (bytesRead < 0) {
sif::warning << "UartTestClass::performPeriodicAction: read call failed with error [" << errno
<< ", " << strerror(errno) << "]" << std::endl;
break;
}
else if(bytesRead >= static_cast<int>(recBuf.size())) {
} else if (bytesRead >= static_cast<int>(recBuf.size())) {
sif::debug << "UartTestClass::performPeriodicAction: "
"recv buffer might not be large enough" << std::endl;
}
else if(bytesRead > 0) {
"recv buffer might not be large enough"
<< std::endl;
} else if (bytesRead > 0) {
// pass data to lwgps for processing
#if GPS_REPLY_WIRETAPPING == 1
sif::info << recBuf.data() << std::endl;
#endif
int result = lwgps_process(&gpsData, recBuf.data(), bytesRead);
if(result == 0) {
sif::warning << "UartTestClass::performPeriodicAction: lwgps_process error"
<< std::endl;
if (result == 0) {
sif::warning << "UartTestClass::performPeriodicAction: lwgps_process error" << std::endl;
}
recvCnt++;
if(recvCnt == 6) {
if (recvCnt == 6) {
recvCnt = 0;
sif::info << "GPS Data" << std::endl;
// Print messages
@ -108,7 +105,7 @@ ReturnValue_t UartTestClass::performPeriodicAction() {
printf("Altitude: %f meters\n", gpsData.altitude);
}
}
} while(bytesRead > 0);
} while (bytesRead > 0);
#endif
return HasReturnvaluesIF::RETURN_OK;
}

16
linux/boardtest/UartTestClass.h
View File

@ -1,27 +1,27 @@
#ifndef LINUX_BOARDTEST_UARTTESTCLASS_H_
#define LINUX_BOARDTEST_UARTTESTCLASS_H_
#include "test/testtasks/TestTask.h"
#include "lwgps/lwgps.h"
#include <array>
#include <termios.h> // Contains POSIX terminal control definitions
class UartTestClass: public TestTask {
public:
#include <array>
#include "lwgps/lwgps.h"
#include "test/testtasks/TestTask.h"
class UartTestClass : public TestTask {
public:
UartTestClass(object_id_t objectId);
ReturnValue_t initialize() override;
ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
private:
private:
lwgps_t gpsData = {};
struct termios tty = {};
int serialPort = 0;
std::array<uint8_t, 512> recBuf;
uint8_t recvCnt = 0;
};
#endif /* LINUX_BOARDTEST_UARTTESTCLASS_H_ */

117
linux/csp/CspComIF.cpp
View File

@ -1,43 +1,41 @@
#include "CspComIF.h"
#include "CspCookie.h"
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <csp/drivers/can_socketcan.h>
#include <fsfw/serialize/SerializeAdapter.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
CspComIF::CspComIF(object_id_t objectId) :
SystemObject(objectId) {
}
#include "CspCookie.h"
CspComIF::~CspComIF() {
}
CspComIF::CspComIF(object_id_t objectId) : SystemObject(objectId) {}
ReturnValue_t CspComIF::initializeInterface(CookieIF *cookie) {
if(cookie == nullptr) {
CspComIF::~CspComIF() {}
ReturnValue_t CspComIF::initializeInterface(CookieIF* cookie) {
if (cookie == nullptr) {
return NULLPOINTER;
}
CspCookie* cspCookie = dynamic_cast<CspCookie*>(cookie);
if(cspCookie == nullptr) {
if (cspCookie == nullptr) {
return NULLPOINTER;
}
/* Perform CAN and CSP initialization only once */
if(cspDeviceMap.empty()){
if (cspDeviceMap.empty()) {
sif::info << "Performing " << canInterface << " initialization.." << std::endl;
/* Define the memory to allocate for the CSP stack */
int buf_count = 10;
int buf_size = 300;
/* Init CSP and CSP buffer system */
if (csp_init(cspOwnAddress) != CSP_ERR_NONE
|| csp_buffer_init(buf_count, buf_size) != CSP_ERR_NONE) {
if (csp_init(cspOwnAddress) != CSP_ERR_NONE ||
csp_buffer_init(buf_count, buf_size) != CSP_ERR_NONE) {
sif::error << "Failed to init CSP\r\n" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
int promisc = 0; // Set filter mode on
csp_iface_t *csp_if_ptr = &csp_if;
csp_iface_t* csp_if_ptr = &csp_if;
csp_if_ptr = csp_can_socketcan_init(canInterface, bitrate, promisc);
/* Set default route and start router */
@ -45,9 +43,8 @@ ReturnValue_t CspComIF::initializeInterface(CookieIF *cookie) {
uint8_t netmask = 0;
uint8_t mac = CSP_NODE_MAC;
int result = csp_rtable_set(address, netmask, csp_if_ptr, mac);
if(result != CSP_ERR_NONE){
sif::error << "Failed to add can interface to router table"
<< std::endl;
if (result != CSP_ERR_NONE) {
sif::error << "Failed to add can interface to router table" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -55,7 +52,7 @@ ReturnValue_t CspComIF::initializeInterface(CookieIF *cookie) {
unsigned int task_stack_size = 500;
unsigned int priority = 0;
result = csp_route_start_task(task_stack_size, priority);
if(result != CSP_ERR_NONE){
if (result != CSP_ERR_NONE) {
sif::error << "Failed to start csp route task" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -64,7 +61,7 @@ ReturnValue_t CspComIF::initializeInterface(CookieIF *cookie) {
uint8_t cspAddress = cspCookie->getCspAddress();
uint16_t maxReplyLength = cspCookie->getMaxReplyLength();
if(cspDeviceMap.find(cspAddress) == cspDeviceMap.end()){
if (cspDeviceMap.find(cspAddress) == cspDeviceMap.end()) {
/* Insert device information in CSP map */
cspDeviceMap.emplace(cspAddress, vectorBuffer(maxReplyLength));
}
@ -72,14 +69,13 @@ ReturnValue_t CspComIF::initializeInterface(CookieIF *cookie) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::sendMessage(CookieIF *cookie,
const uint8_t * sendData, size_t sendLen) {
ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
int result;
if(cookie == NULL){
if (cookie == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
CspCookie* cspCookie = dynamic_cast<CspCookie*> (cookie);
if(cspCookie == NULL){
CspCookie* cspCookie = dynamic_cast<CspCookie*>(cookie);
if (cspCookie == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -87,26 +83,25 @@ ReturnValue_t CspComIF::sendMessage(CookieIF *cookie,
uint8_t cspPort;
uint16_t querySize = 0;
result = getPortAndQuerySize(&sendData, &sendLen, &cspPort, &querySize);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
uint8_t cspAddress = cspCookie->getCspAddress();
switch(cspPort) {
case(Ports::CSP_PING): {
switch (cspPort) {
case (Ports::CSP_PING): {
initiatePingRequest(cspAddress, querySize);
break;
}
case(Ports::CSP_REBOOT): {
case (Ports::CSP_REBOOT): {
csp_reboot(cspAddress);
break;
}
case(Ports::P60_PORT_GNDWDT_RESET):
case(Ports::P60_PORT_RPARAM): {
case (Ports::P60_PORT_GNDWDT_RESET):
case (Ports::P60_PORT_RPARAM): {
/* No CSP fixed port was selected. Send data to the specified port and
* wait for querySize number of bytes */
result = cspTransfer(cspAddress, cspPort, sendData, sendLen,
querySize);
if(result != HasReturnvaluesIF::RETURN_OK){
result = cspTransfer(cspAddress, cspPort, sendData, sendLen, querySize);
if (result != HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
replySize = querySize;
@ -119,22 +114,18 @@ ReturnValue_t CspComIF::sendMessage(CookieIF *cookie,
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::getSendSuccess(CookieIF *cookie) {
ReturnValue_t CspComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
ReturnValue_t CspComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::requestReceiveMessage(CookieIF *cookie,
size_t requestLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::readReceivedMessage(CookieIF *cookie,
uint8_t** buffer, size_t* size) {
if(cookie == NULL){
ReturnValue_t CspComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
if (cookie == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
CspCookie* cspCookie = dynamic_cast<CspCookie*> (cookie);
if(cspCookie == NULL){
CspCookie* cspCookie = dynamic_cast<CspCookie*>(cookie);
if (cspCookie == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -146,21 +137,19 @@ ReturnValue_t CspComIF::readReceivedMessage(CookieIF *cookie,
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort,
const uint8_t* cmdBuffer, int cmdLen, uint16_t querySize) {
ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort, const uint8_t* cmdBuffer,
int cmdLen, uint16_t querySize) {
uint32_t timeout_ms = 1000;
uint16_t bytesRead = 0;
int32_t expectedSize = (int32_t)querySize;
vectorBufferIter iter = cspDeviceMap.find(cspAddress);
if(iter == cspDeviceMap.end()){
if (iter == cspDeviceMap.end()) {
sif::error << "CSP device with address " << cspAddress << " no found in"
<< " device map" << std::endl;
}
uint8_t* replyBuffer = iter->second.data();
csp_conn_t * conn = csp_connect(CSP_PRIO_HIGH, cspAddress, cspPort, 0,
CSP_O_NONE);
csp_conn_t* conn = csp_connect(CSP_PRIO_HIGH, cspAddress, cspPort, 0, CSP_O_NONE);
csp_packet_t* commandPacket = (csp_packet_t*)csp_buffer_get(cmdLen);
if (commandPacket == NULL) {
@ -185,7 +174,7 @@ ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort,
return RETURN_OK;
}
csp_packet_t * reply;
csp_packet_t* reply;
reply = csp_read(conn, timeout_ms);
if (reply == NULL) {
sif::error << "CspComIF::cspTransfer: Failed to read csp packet" << std::endl;
@ -215,7 +204,7 @@ ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort,
csp_buffer_free(reply);
}
if(expectedSize != 0){
if (expectedSize != 0) {
sif::error << "CspComIF::cspTransfer: Received more bytes than requested" << std::endl;
sif::debug << "CspComIF::cspTransfer: Received bytes: " << bytesRead << std::endl;
csp_close(conn);
@ -227,18 +216,17 @@ ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort,
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::getPortAndQuerySize(const uint8_t** sendData,
size_t* sendLen, uint8_t* cspPort, uint16_t* querySize) {
ReturnValue_t result = SerializeAdapter::deSerialize(cspPort, sendData,
sendLen, SerializeIF::Endianness::BIG);
if(result != HasReturnvaluesIF::RETURN_OK){
ReturnValue_t CspComIF::getPortAndQuerySize(const uint8_t** sendData, size_t* sendLen,
uint8_t* cspPort, uint16_t* querySize) {
ReturnValue_t result =
SerializeAdapter::deSerialize(cspPort, sendData, sendLen, SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "CspComIF: Failed to deserialize CSP port from command "
<< "buffer" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
SerializeAdapter::deSerialize(querySize, sendData, sendLen,
SerializeIF::Endianness::BIG);
if(result != HasReturnvaluesIF::RETURN_OK){
SerializeAdapter::deSerialize(querySize, sendData, sendLen, SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "CspComIF: Failed to deserialize querySize from command "
<< "buffer" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
@ -246,12 +234,11 @@ ReturnValue_t CspComIF::getPortAndQuerySize(const uint8_t** sendData,
return HasReturnvaluesIF::RETURN_OK;
}
void CspComIF::initiatePingRequest(uint8_t cspAddress, uint16_t querySize){
void CspComIF::initiatePingRequest(uint8_t cspAddress, uint16_t querySize) {
uint32_t timeout_ms = 500;
uint32_t replyTime = csp_ping(cspAddress, timeout_ms, querySize,
CSP_O_NONE);
sif::info << "Ping address: " << cspAddress << ", reply after "
<< replyTime << " ms" << std::endl;
uint32_t replyTime = csp_ping(cspAddress, timeout_ms, querySize, CSP_O_NONE);
sif::info << "Ping address: " << cspAddress << ", reply after " << replyTime << " ms"
<< std::endl;
/* Store reply time in reply buffer * */
uint8_t* replyBuffer = cspDeviceMap[cspAddress].data();
memcpy(replyBuffer, &replyTime, sizeof(replyTime));

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