eive/eive-obsw
eive/eive-obsw
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Merge branch 'mueller/master' into mueller/bpx-handler
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Robin Müller 2022-02-02 13:09:23 +01:00
commit d6e256a5d2
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54 changed files with 1410 additions and 562 deletions
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13
README.md
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@ -20,6 +20,7 @@
13. [Eclipse](#eclipse) 13. [Eclipse](#eclipse)
14. [Running the OBSW on a Raspberry Pi](#rpi) 14. [Running the OBSW on a Raspberry Pi](#rpi)
15. [FSFW](#fsfw) 15. [FSFW](#fsfw)
16. [Coding Style](#coding-style)
# <a id="general"></a> General information # <a id="general"></a> General information
@ -1151,3 +1152,15 @@ git merge upstream/master
Alternatively, changes from other upstreams (forks) and branches can be merged like that Alternatively, changes from other upstreams (forks) and branches can be merged like that
in the same way. in the same way.
# <a id="coding-style"></a> Coding Style
* the formatting is based on the clang-format tools
## Setting up eclipse auto-fromatter with clang-format
1. Help &rarr; Install New Software &rarr; Add
2. In location insert the link http://www.cppstyle.com/luna
3. The software package CppStyle should now be available for installation
4. On windows download the clang-formatting tools from https://llvm.org/builds/. On linux clang-format can be installed with the package manager.
5. Navigate to Preferences &rarr; C/C++ &rarr; CppStyle
6. Insert the path to the clang-format executable
7. Under C/C++ &rarr; Code Style &rarr; Formatter, change the formatter to CppStyle (clang-format)
8. Code can now be formatted with the clang tool by using the key combination Ctrl + Shift + f

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

28
bsp_q7s/boardconfig/busConf.h
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@ -3,20 +3,30 @@
namespace q7s { namespace q7s {
static constexpr char SPI_DEFAULT_DEV[] = "/dev/spidev2.0"; static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
static constexpr char SPI_RW_DEV[] = "/dev/spidev3.0"; static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";
static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-1"; static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";
static constexpr char UART_GNSS_DEV[] = "/dev/ttyUL0"; static constexpr char UART_GNSS_DEV[] = "/dev/ul-gps";
static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL2"; static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul-plmpsoc";
static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL3"; static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ul-plsv";
static constexpr char UART_SYRLINKS_DEV[] = "/dev/ttyUL4"; static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul-syrlinks";
static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL7"; static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ul-str";
static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0"; static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2"; static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
static constexpr char UIO_PDEC_RAM[] = "/dev/uio3"; static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
static constexpr char UIO_PTME[] = "/dev/uio1";
static constexpr int MAP_ID_PTME_CONFIG = 3;
namespace uiomapids {
static const int PTME_VC0 = 0;
static const int PTME_VC1 = 1;
static const int PTME_VC2 = 2;
static const int PTME_VC3 = 3;
static const int PTME_CONFIG = 4;
} // namespace uiomapids
namespace gpioNames { namespace gpioNames {
static constexpr char GYRO_0_ADIS_CS[] = "gyro_0_adis_chip_select"; static constexpr char GYRO_0_ADIS_CS[] = "gyro_0_adis_chip_select";
@ -33,6 +43,7 @@ static constexpr char GNSS_0_ENABLE[] = "enable_gnss_0";
static constexpr char GNSS_1_ENABLE[] = "enable_gnss_1"; static constexpr char GNSS_1_ENABLE[] = "enable_gnss_1";
static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0"; static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0";
static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2"; static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2";
static constexpr char GNSS_SELECT[] = "gnss_mux_select";
static constexpr char HEATER_0[] = "heater0"; static constexpr char HEATER_0[] = "heater0";
static constexpr char HEATER_1[] = "heater1"; static constexpr char HEATER_1[] = "heater1";
static constexpr char HEATER_2[] = "heater2"; static constexpr char HEATER_2[] = "heater2";
@ -69,7 +80,6 @@ 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_CLOCK[] = "rx_clock_enable_ltc2872";
static constexpr char RS485_EN_RX_DATA[] = "rx_data_enable_ltc2872"; static constexpr char RS485_EN_RX_DATA[] = "rx_data_enable_ltc2872";
static constexpr char PDEC_RESET[] = "pdec_reset"; static constexpr char PDEC_RESET[] = "pdec_reset";
static constexpr char BIT_RATE_SEL[] = "bit_rate_sel";
} // namespace gpioNames } // namespace gpioNames
} // namespace q7s } // namespace q7s

1
bsp_q7s/callbacks/CMakeLists.txt
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@ -1,4 +1,5 @@
target_sources(${TARGET_NAME} PRIVATE target_sources(${TARGET_NAME} PRIVATE
rwSpiCallback.cpp rwSpiCallback.cpp
gnssCallback.cpp gnssCallback.cpp
pcduSwitchCb.cpp
) )

32
bsp_q7s/callbacks/pcduSwitchCb.cpp Normal file
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@ -0,0 +1,32 @@
#include "pcduSwitchCb.h"
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include "devices/gpioIds.h"
void pcdu::switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void* args) {
LinuxLibgpioIF* gpioComIF = reinterpret_cast<LinuxLibgpioIF*>(args);
if (gpioComIF == nullptr) {
return;
}
if (pdu == GOMSPACE::Pdu::PDU1) {
PDU1::SwitchChannels typedChannel = static_cast<PDU1::SwitchChannels>(channel);
if (typedChannel == PDU1::SwitchChannels::ACS_A_SIDE) {
if (state) {
gpioComIF->pullHigh(gpioIds::GNSS_0_NRESET);
} else {
gpioComIF->pullLow(gpioIds::GNSS_0_NRESET);
}
}
} else if (pdu == GOMSPACE::Pdu::PDU2) {
PDU2::SwitchChannels typedChannel = static_cast<PDU2::SwitchChannels>(channel);
if (typedChannel == PDU2::SwitchChannels::ACS_B_SIDE) {
if (state) {
gpioComIF->pullHigh(gpioIds::GNSS_1_NRESET);
} else {
gpioComIF->pullLow(gpioIds::GNSS_1_NRESET);
}
}
}
}

14
bsp_q7s/callbacks/pcduSwitchCb.h Normal file
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@ -0,0 +1,14 @@
#ifndef BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_
#define BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_
#include <cstdint>
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
namespace pcdu {
void switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void* args);
}
#endif /* BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_ */

15
bsp_q7s/core/InitMission.cpp
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@ -115,12 +115,14 @@ void initmission::initTasks() {
} }
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */ #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
#if OBSW_ADD_ACS_HANDLERS == 1
PeriodicTaskIF* acsCtrl = factory->createPeriodicTask( PeriodicTaskIF* acsCtrl = factory->createPeriodicTask(
"ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc); "ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = acsCtrl->addComponent(objects::GPS_CONTROLLER); result = acsCtrl->addComponent(objects::GPS_CONTROLLER);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER); initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER);
} }
#endif /* OBSW_ADD_ACS_HANDLERS */
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
// FS task, task interval does not matter because it runs in permanent loop, priority low // FS task, task interval does not matter because it runs in permanent loop, priority low
@ -134,10 +136,10 @@ void initmission::initTasks() {
#if OBSW_ADD_STAR_TRACKER == 1 #if OBSW_ADD_STAR_TRACKER == 1
PeriodicTaskIF* strImgLoaderTask = factory->createPeriodicTask( PeriodicTaskIF* strImgLoaderTask = factory->createPeriodicTask(
"FILE_SYSTEM_TASK", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = strImgLoaderTask->addComponent(objects::STR_HELPER); result = strImgLoaderTask->addComponent(objects::STR_HELPER);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::STR_HELPER); initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
} }
#endif /* OBSW_ADD_STAR_TRACKER == 1 */ #endif /* OBSW_ADD_STAR_TRACKER == 1 */
@ -206,7 +208,9 @@ void initmission::initTasks() {
#endif /* OBSW_ADD_STAR_TRACKER == 1 */ #endif /* OBSW_ADD_STAR_TRACKER == 1 */
#endif #endif
//acsCtrl->startTask(); #if OBSW_ADD_ACS_HANDLERS == 1
acsCtrl->startTask();
#endif
sif::info << "Tasks started.." << std::endl; sif::info << "Tasks started.." << std::endl;
} }
@ -250,6 +254,7 @@ void initmission::createPstTasks(TaskFactory& factory,
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
} }
taskVec.push_back(i2cPst);
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc); "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
@ -258,7 +263,7 @@ void initmission::createPstTasks(TaskFactory& factory,
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl; sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
} }
taskVec.push_back(gomSpacePstTask); taskVec.push_back(gomSpacePstTask);
#else /* BOARD_TE7020 == 0 */ #else /* BOARD_TE7020 == 0 */
FixedTimeslotTaskIF* pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask(
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, missedDeadlineFunc); "PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, missedDeadlineFunc);
result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720); result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);

95
bsp_q7s/core/ObjectFactory.cpp
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@ -5,6 +5,7 @@
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "bsp_q7s/boardtest/Q7STestTask.h" #include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/callbacks/gnssCallback.h" #include "bsp_q7s/callbacks/gnssCallback.h"
#include "bsp_q7s/callbacks/pcduSwitchCb.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h" #include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/core/CoreController.h" #include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/devices/PlocMemoryDumper.h" #include "bsp_q7s/devices/PlocMemoryDumper.h"
@ -44,7 +45,7 @@
#include "linux/devices/devicedefinitions/SusDefinitions.h" #include "linux/devices/devicedefinitions/SusDefinitions.h"
#include "mission/core/GenericFactory.h" #include "mission/core/GenericFactory.h"
#include "mission/devices/ACUHandler.h" #include "mission/devices/ACUHandler.h"
#include "mission/devices/GPSHyperionHandler.h" #include "mission/devices/GPSHyperionLinuxController.h"
#include "mission/devices/GyroADIS1650XHandler.h" #include "mission/devices/GyroADIS1650XHandler.h"
#include "mission/devices/HeaterHandler.h" #include "mission/devices/HeaterHandler.h"
#include "mission/devices/IMTQHandler.h" #include "mission/devices/IMTQHandler.h"
@ -74,12 +75,11 @@
#include "linux/boardtest/LibgpiodTest.h" #include "linux/boardtest/LibgpiodTest.h"
#endif #endif
#include <linux/obc/AxiPtmeConfig.h>
#include <linux/obc/PapbVcInterface.h> #include <linux/obc/PapbVcInterface.h>
#include <linux/obc/PdecHandler.h> #include <linux/obc/PdecHandler.h>
#include <linux/obc/Ptme.h> #include <linux/obc/Ptme.h>
#include <linux/obc/PtmeConfig.h> #include <linux/obc/PtmeConfig.h>
#include <linux/obc/PtmeRateSetter.h>
#include <linux/obc/TxRateSetterIF.h>
ResetArgs resetArgsGnss0; ResetArgs resetArgsGnss0;
ResetArgs resetArgsGnss1; ResetArgs resetArgsGnss1;
@ -122,13 +122,14 @@ void ObjectFactory::produce(void* args) {
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
new CoreController(objects::CORE_CONTROLLER); new CoreController(objects::CORE_CONTROLLER);
createPcduComponents(); createPcduComponents(gpioComIF);
createRadSensorComponent(gpioComIF); createRadSensorComponent(gpioComIF);
createSunSensorComponents(gpioComIF, spiComIF); createSunSensorComponents(gpioComIF, spiComIF);
#if OBSW_ADD_ACS_BOARD == 1 #if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF, uartComIF); createAcsBoardComponents(gpioComIF, uartComIF);
#endif /* OBSW_ADD_ACS_BOARD == 1 */ #endif
createHeaterComponents(); createHeaterComponents();
createSolarArrayDeploymentComponents(); createSolarArrayDeploymentComponents();
#if OBSW_ADD_SYRLINKS == 1 #if OBSW_ADD_SYRLINKS == 1
@ -139,9 +140,18 @@ void ObjectFactory::produce(void* args) {
createRtdComponents(gpioComIF); createRtdComponents(gpioComIF);
#endif /* OBSW_ADD_RTD_DEVICES == 1 */ #endif /* OBSW_ADD_RTD_DEVICES == 1 */
#if OBSW_ADD_MGT == 1
I2cCookie* imtqI2cCookie = I2cCookie* imtqI2cCookie =
new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV); new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie); auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
static_cast<void>(imtqHandler);
#if OBSW_DEBUG_IMTQ == 1
imtqHandler->setToGoToNormal(true);
imtqHandler->setStartUpImmediately();
#else
(void)imtqHandler;
#endif
#endif
createReactionWheelComponents(gpioComIF); createReactionWheelComponents(gpioComIF);
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV); I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
@ -236,7 +246,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
#endif #endif
} }
void ObjectFactory::createPcduComponents() { void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF) {
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK); CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1); CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2); CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
@ -246,8 +256,10 @@ void ObjectFactory::createPcduComponents() {
new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie); new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
PDU1Handler* pdu1handler = PDU1Handler* pdu1handler =
new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie); new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
pdu1handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
PDU2Handler* pdu2handler = PDU2Handler* pdu2handler =
new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie); new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
pdu2handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie); ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
new PCDUHandler(objects::PCDU_HANDLER, 50); new PCDUHandler(objects::PCDU_HANDLER, 50);
@ -472,8 +484,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
gpio::LOW); gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
// Select pin. 0 for GPS side A, 1 for GPS side B
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
gpioComIF->addGpios(gpioCookieAcsBoard); gpioComIF->addGpios(gpioCookieAcsBoard);
#if OBSW_ADD_ACS_HANDLERS == 1
std::string spiDev = q7s::SPI_DEFAULT_DEV; std::string spiDev = q7s::SPI_DEFAULT_DEV;
SpiCookie* spiCookie = SpiCookie* spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev, new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
@ -568,8 +587,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
resetArgsGnss0.gnss1 = false; resetArgsGnss0.gnss1 = false;
resetArgsGnss0.gpioComIF = gpioComIF; resetArgsGnss0.gpioComIF = gpioComIF;
resetArgsGnss0.waitPeriodMs = 100; resetArgsGnss0.waitPeriodMs = 100;
auto gpsHandler0 = new GPSHyperionHandler(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps); auto gpsHandler0 =
new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0); gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
} }
void ObjectFactory::createHeaterComponents() { void ObjectFactory::createHeaterComponents() {
@ -895,49 +916,50 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
GpioCookie* gpioCookiePtmeIp = new GpioCookie; GpioCookie* gpioCookiePtmeIp = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr; GpiodRegularByLineName* gpio = nullptr;
std::stringstream consumer; std::stringstream consumer;
consumer << "0x" << std::hex << objects::PAPB_VC0; consumer.str("PAPB VC0");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str()); gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio); gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
consumer.str(""); consumer.str("PAPB VC0");
consumer << "0x" << std::hex << objects::PAPB_VC0;
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str()); gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio); gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
consumer.str(""); consumer.str("PAPB VC 1");
consumer << "0x" << std::hex << objects::PAPB_VC1;
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str()); gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio); gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
consumer.str(""); consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC1; consumer.str("PAPB VC 1");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC1, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio); gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
consumer.str(""); consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC2; consumer.str("PAPB VC 2");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str()); gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio); gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
consumer.str(""); consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC2; consumer.str("PAPB VC 2");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str()); gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio); gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
consumer.str(""); consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC3; consumer.str("PAPB VC 3");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str()); gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio); gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
consumer.str(""); consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC3; consumer.str("PAPB VC 3");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str()); gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio); gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
gpioComIF->addGpios(gpioCookiePtmeIp); gpioComIF->addGpios(gpioCookiePtmeIp);
// Creating virtual channel interfaces // Creating virtual channel interfaces
VcInterfaceIF* vc0 = new PapbVcInterface(objects::PAPB_VC0, gpioComIF, gpioIds::VC0_PAPB_BUSY, VcInterfaceIF* vc0 =
gpioIds::VC0_PAPB_EMPTY, PtmeConfig::VC0_OFFSETT); new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
VcInterfaceIF* vc1 = new PapbVcInterface(objects::PAPB_VC1, gpioComIF, gpioIds::VC1_PAPB_BUSY, q7s::uiomapids::PTME_VC0);
gpioIds::VC1_PAPB_EMPTY, PtmeConfig::VC1_OFFSETT); VcInterfaceIF* vc1 =
VcInterfaceIF* vc2 = new PapbVcInterface(objects::PAPB_VC2, gpioComIF, gpioIds::VC2_PAPB_BUSY, new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
gpioIds::VC2_PAPB_EMPTY, PtmeConfig::VC2_OFFSETT); q7s::uiomapids::PTME_VC1);
VcInterfaceIF* vc3 = new PapbVcInterface(objects::PAPB_VC3, gpioComIF, gpioIds::VC3_PAPB_BUSY, VcInterfaceIF* vc2 =
gpioIds::VC3_PAPB_EMPTY, PtmeConfig::VC3_OFFSETT); new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC2);
VcInterfaceIF* vc3 =
new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC3);
// Creating ptme object and adding virtual channel interfaces // Creating ptme object and adding virtual channel interfaces
Ptme* ptme = new Ptme(objects::PTME); Ptme* ptme = new Ptme(objects::PTME);
@ -946,19 +968,11 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
ptme->addVcInterface(ccsds::VC2, vc2); ptme->addVcInterface(ccsds::VC2, vc2);
ptme->addVcInterface(ccsds::VC3, vc3); ptme->addVcInterface(ccsds::VC3, vc3);
GpioCookie* gpioCookieRateSetter = new GpioCookie; AxiPtmeConfig* axiPtmeConfig =
consumer.str(""); new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
consumer << "ptme rate setter"; PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
// Init to low -> default bit rate is low bit rate (200 kbps in downlink with syrlinks)
gpio = new GpiodRegularByLineName(q7s::gpioNames::BIT_RATE_SEL, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpioCookieRateSetter->addGpio(gpioIds::BIT_RATE_SEL, gpio);
gpioComIF->addGpios(gpioCookieRateSetter);
TxRateSetterIF* txRateSetterIF = new PtmeRateSetter(gpioIds::BIT_RATE_SEL, gpioComIF);
CCSDSHandler* ccsdsHandler = new CCSDSHandler( CCSDSHandler* ccsdsHandler = new CCSDSHandler(
objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, txRateSetterIF, objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA); gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
VirtualChannel* vc = nullptr; VirtualChannel* vc = nullptr;
@ -982,8 +996,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
gpioComIF->addGpios(gpioCookiePdec); gpioComIF->addGpios(gpioCookiePdec);
new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET, new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
std::string(q7s::UIO_PDEC_CONFIG_MEMORY), std::string(q7s::UIO_PDEC_RAM), q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
std::string(q7s::UIO_PDEC_REGISTERS));
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
GpioCookie* gpioRS485Chip = new GpioCookie; GpioCookie* gpioRS485Chip = new GpioCookie;

2
bsp_q7s/core/ObjectFactory.h
View File

@ -13,7 +13,7 @@ void produce(void* args);
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF, void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
SpiComIF** spiComIF); SpiComIF** spiComIF);
void createTmpComponents(); void createTmpComponents();
void createPcduComponents(); void createPcduComponents(LinuxLibgpioIF* gpioComIF);
void createRadSensorComponent(LinuxLibgpioIF* gpioComIF); void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF); void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF); void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF);

1
common/config/commonClassIds.h
View File

@ -24,6 +24,7 @@ enum commonClassIds: uint8_t {
PLOC_MEMORY_DUMPER, //PLMEMDUMP PLOC_MEMORY_DUMPER, //PLMEMDUMP
PDEC_HANDLER, //PDEC PDEC_HANDLER, //PDEC
CCSDS_HANDLER, //CCSDS CCSDS_HANDLER, //CCSDS
RATE_SETTER, //RS
ARCSEC_JSON_BASE, //JSONBASE ARCSEC_JSON_BASE, //JSONBASE
NVM_PARAM_BASE, //NVMB NVM_PARAM_BASE, //NVMB
COMMON_CLASS_ID_END // [EXPORT] : [END] COMMON_CLASS_ID_END // [EXPORT] : [END]

10
common/config/commonObjects.h
View File

@ -12,11 +12,7 @@ enum commonObjects: uint32_t {
TMTC_POLLING_TASK = 0x50000400, TMTC_POLLING_TASK = 0x50000400,
FILE_SYSTEM_HANDLER = 0x50000500, FILE_SYSTEM_HANDLER = 0x50000500,
PTME = 0x50000600, PTME = 0x50000600,
PAPB_VC0 = 0x50000700, PDEC_HANDLER = 0x50000700,
PAPB_VC1 = 0x50000701,
PAPB_VC2 = 0x50000702,
PAPB_VC3 = 0x50000703,
PDEC_HANDLER = 0x50000704,
CCSDS_HANDLER = 0x50000800, CCSDS_HANDLER = 0x50000800,
/* 0x43 ('C') for Controllers */ /* 0x43 ('C') for Controllers */
@ -90,7 +86,9 @@ enum commonObjects: uint32_t {
PLOC_UPDATER = 0x44330000, PLOC_UPDATER = 0x44330000,
PLOC_MEMORY_DUMPER = 0x44330001, PLOC_MEMORY_DUMPER = 0x44330001,
STR_HELPER = 0x44330002 STR_HELPER = 0x44330002,
AXI_PTME_CONFIG = 44330003,
PTME_CONFIG = 44330004,
}; };
} }

2
fsfw

@ -1 +1 @@
Subproject commit 9b77060295c9c32ebfc2e7cf6517eb2e66216191 Subproject commit 33386550cf81e47f4a3c95cd063349442dd83d09

45
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -39,35 +39,21 @@ debugging. */
// Set to 1 if telecommands are received via the PDEC IP Core // Set to 1 if telecommands are received via the PDEC IP Core
#define OBSW_TC_FROM_PDEC 1 #define OBSW_TC_FROM_PDEC 1
#define TMTC_TEST_SETUP 1
#define OBSW_ENABLE_TIMERS 1 #define OBSW_ENABLE_TIMERS 1
#define OBSW_ADD_MGT 1
#define OBSW_ADD_STAR_TRACKER 0 #define OBSW_ADD_STAR_TRACKER 0
#define OBSW_ADD_PLOC_SUPERVISOR 0 #define OBSW_ADD_PLOC_SUPERVISOR 0
#define OBSW_ADD_PLOC_MPSOC 0 #define OBSW_ADD_PLOC_MPSOC 0
#define OBSW_ADD_SUN_SENSORS 0 #define OBSW_ADD_SUN_SENSORS 0
#define OBSW_ADD_ACS_BOARD 0 #define OBSW_ADD_ACS_BOARD 1
#define OBSW_ADD_RW 0 #define OBSW_ADD_ACS_HANDLERS 0
#define OBSW_ADD_RTD_DEVICES 0
#define OBSW_ADD_TMP_DEVICES 0
#define OBSW_ADD_RAD_SENSORS 0
#define OBSW_ADD_SYRLINKS 0
#elif defined RASPBERRY_PI
#define OBSW_ENABLE_TIMERS 1
#define OBSW_ADD_STAR_TRACKER 0
#define OBSW_ADD_PLOC_SUPERVISOR 0
#define OBSW_ADD_PLOC_MPSOC 0
#define OBSW_ADD_SUN_SENSORS 0
#define OBSW_ADD_ACS_BOARD 0
#define OBSW_ADD_GPS_0 0
#define OBSW_ADD_GPS_1 0
#define OBSW_ADD_RW 0 #define OBSW_ADD_RW 0
#define OBSW_ADD_RTD_DEVICES 0 #define OBSW_ADD_RTD_DEVICES 0
#define OBSW_ADD_TMP_DEVICES 0 #define OBSW_ADD_TMP_DEVICES 0
#define OBSW_ADD_RAD_SENSORS 0 #define OBSW_ADD_RAD_SENSORS 0
#define OBSW_ADD_SYRLINKS 0 #define OBSW_ADD_SYRLINKS 0
#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT 0
#define OBSW_SYRLINKS_SIMULATED 1
#endif #endif
@ -78,6 +64,7 @@ debugging. */
//! /* Can be used to switch device to NORMAL mode immediately */ //! /* Can be used to switch device to NORMAL mode immediately */
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1 #define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
#define OBSW_PRINT_MISSED_DEADLINES 1 #define OBSW_PRINT_MISSED_DEADLINES 1
// If this is enabled, all other SPI code should be disabled // If this is enabled, all other SPI code should be disabled
#define OBSW_ADD_TEST_CODE 0 #define OBSW_ADD_TEST_CODE 0
#define OBSW_ADD_SPI_TEST_CODE 0 #define OBSW_ADD_SPI_TEST_CODE 0
@ -99,7 +86,7 @@ debugging. */
#define OBSW_DEBUG_GPS 0 #define OBSW_DEBUG_GPS 0
#define OBSW_DEBUG_ACU 0 #define OBSW_DEBUG_ACU 0
#define OBSW_DEBUG_SYRLINKS 0 #define OBSW_DEBUG_SYRLINKS 0
#define OBSW_DEBUG_IMQT 0 #define OBSW_DEBUG_IMTQ 0
#define OBSW_DEBUG_RAD_SENSOR 0 #define OBSW_DEBUG_RAD_SENSOR 0
#define OBSW_DEBUG_SUS 0 #define OBSW_DEBUG_SUS 0
#define OBSW_DEBUG_RTD 0 #define OBSW_DEBUG_RTD 0
@ -109,6 +96,24 @@ debugging. */
#define OBSW_DEBUG_PLOC_SUPERVISOR 0 #define OBSW_DEBUG_PLOC_SUPERVISOR 0
#define OBSW_DEBUG_PDEC_HANDLER 0 #define OBSW_DEBUG_PDEC_HANDLER 0
#ifdef RASPBERRY_PI
#define OBSW_ENABLE_TIMERS 1
#define OBSW_ADD_STAR_TRACKER 0
#define OBSW_ADD_PLOC_SUPERVISOR 0
#define OBSW_ADD_PLOC_MPSOC 0
#define OBSW_ADD_SUN_SENSORS 0
#define OBSW_ADD_ACS_BOARD 0
#define OBSW_ADD_GPS_0 0
#define OBSW_ADD_GPS_1 0
#define OBSW_ADD_RW 0
#define OBSW_ADD_RTD_DEVICES 0
#define OBSW_ADD_TMP_DEVICES 0
#define OBSW_ADD_RAD_SENSORS 0
#define OBSW_ADD_SYRLINKS 0
#endif
/*******************************************************************/ /*******************************************************************/
/** Hardcoded */ /** Hardcoded */
/*******************************************************************/ /*******************************************************************/

6
linux/fsfwconfig/devices/addresses.h
View File

@ -46,9 +46,9 @@ enum logicalAddresses : address_t {
enum i2cAddresses : address_t { enum i2cAddresses : address_t {
BPX_BATTERY = 0x07, BPX_BATTERY = 0x07,
IMTQ = 16, IMTQ = 0x10,
TMP1075_TCS_1 = 72, TMP1075_TCS_1 = 0x48,
TMP1075_TCS_2 = 73, TMP1075_TCS_2 = 0x49,
}; };
enum spiAddresses : address_t { enum spiAddresses : address_t {

1
linux/fsfwconfig/devices/gpioIds.h
View File

@ -29,6 +29,7 @@ enum gpioId_t {
GNSS_1_NRESET, GNSS_1_NRESET,
GNSS_0_ENABLE, GNSS_0_ENABLE,
GNSS_1_ENABLE, GNSS_1_ENABLE,
GNSS_SELECT,
GYRO_0_ENABLE, GYRO_0_ENABLE,
GYRO_2_ENABLE, GYRO_2_ENABLE,

6
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -435,7 +435,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
#endif #endif
#if OBSW_ADD_ACS_BOARD == 1 #if OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1
bool enableAside = true; bool enableAside = true;
bool enableBside = false; bool enableBside = false;
if (enableAside) { if (enableAside) {
@ -501,7 +501,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
} }
#endif /* OBSW_ADD_ACS_BOARD == 1 */ #endif /* OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1 */
ReturnValue_t seqCheck = thisSequence->checkSequence(); ReturnValue_t seqCheck = thisSequence->checkSequence();
if (seqCheck != HasReturnvaluesIF::RETURN_OK) { if (seqCheck != HasReturnvaluesIF::RETURN_OK) {
@ -519,11 +519,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) { ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle // Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs(); uint32_t length = thisSequence->getPeriodMs();
#if OBSW_ADD_MGT == 1
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) { if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "I2C PST initialization failed" << std::endl; sif::error << "I2C PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;

119
linux/obc/AxiPtmeConfig.cpp Normal file
View File

@ -0,0 +1,119 @@
#include "AxiPtmeConfig.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw_hal/linux/uio/UioMapper.h"
AxiPtmeConfig::AxiPtmeConfig(object_id_t objectId, std::string axiUio, int mapNum)
: SystemObject(objectId), axiUio(axiUio), mapNum(mapNum) {
mutex = MutexFactory::instance()->createMutex();
if (mutex == nullptr) {
sif::warning << "Failed to create mutex" << std::endl;
}
}
AxiPtmeConfig::~AxiPtmeConfig() {}
ReturnValue_t AxiPtmeConfig::initialize() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
UioMapper uioMapper(axiUio, mapNum);
result = uioMapper.getMappedAdress(&baseAddress, UioMapper::Permissions::READ_WRITE);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AxiPtmeConfig::writeCaduRateReg(uint8_t rateVal) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = mutex->lockMutex(timeoutType, mutexTimeout);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "AxiPtmeConfig::writeCaduRateReg: Failed to lock mutex" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
*(baseAddress + CADU_BITRATE_REG) = static_cast<uint32_t>(rateVal);
result = mutex->unlockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "AxiPtmeConfig::writeCaduRateReg: Failed to unlock mutex" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AxiPtmeConfig::enableTxclockManipulator() {
ReturnValue_t result = writeBit(COMMON_CONFIG_REG, true, BitPos::EN_TX_CLK_MANIPULATOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AxiPtmeConfig::disableTxclockManipulator() {
ReturnValue_t result = writeBit(COMMON_CONFIG_REG, false, BitPos::EN_TX_CLK_MANIPULATOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AxiPtmeConfig::enableTxclockInversion() {
ReturnValue_t result = writeBit(COMMON_CONFIG_REG, true, BitPos::INVERT_CLOCK);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AxiPtmeConfig::disableTxclockInversion() {
ReturnValue_t result = writeBit(COMMON_CONFIG_REG, false, BitPos::INVERT_CLOCK);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AxiPtmeConfig::writeReg(uint32_t regOffset, uint32_t writeVal) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = mutex->lockMutex(timeoutType, mutexTimeout);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "AxiPtmeConfig::readReg: Failed to lock mutex" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
*(baseAddress + regOffset / ADRESS_DIVIDER) = writeVal;
result = mutex->unlockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "AxiPtmeConfig::readReg: Failed to unlock mutex" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AxiPtmeConfig::readReg(uint32_t regOffset, uint32_t* readVal) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = mutex->lockMutex(timeoutType, mutexTimeout);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "AxiPtmeConfig::readReg: Failed to lock mutex" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
*readVal = *(baseAddress + regOffset / ADRESS_DIVIDER);
result = mutex->unlockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "AxiPtmeConfig::readReg: Failed to unlock mutex" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AxiPtmeConfig::writeBit(uint32_t regOffset, bool bitVal, BitPos bitPos) {
uint32_t readVal = 0;
ReturnValue_t result = readReg(regOffset, &readVal);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
uint32_t writeVal =
(readVal & ~(1 << static_cast<uint32_t>(bitPos))) | bitVal << static_cast<uint32_t>(bitPos);
result = writeReg(regOffset, writeVal);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}

99
linux/obc/AxiPtmeConfig.h Normal file
View File

@ -0,0 +1,99 @@
#ifndef LINUX_OBC_AXIPTMECONFIG_H_
#define LINUX_OBC_AXIPTMECONFIG_H_
#include <string>
#include "fsfw/ipc/MutexIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
/**
* @brief Class providing low level access to the configuration interface of the PTME.
*
* @author J. Meier
*/
class AxiPtmeConfig : public SystemObject {
public:
/**
* @brief Constructor
* @param axiUio Device file of UIO belonging to the AXI configuration interface.
* @param mapNum Number of map belonging to axi configuration interface.
*/
AxiPtmeConfig(object_id_t objectId, std::string axiUio, int mapNum);
virtual ~AxiPtmeConfig();
virtual ReturnValue_t initialize() override;
/**
* @brief Will write to the bitrate configuration register. Actual generated rate depends on
* frequency of the clock connected to the bit clock input of PTME.
*/
ReturnValue_t writeCaduRateReg(uint8_t rateVal);
/**
* @brief Next to functions control the tx clock manipulator component
*
* @details If the tx clock manipulator is enabled the output clock of the PTME is manipulated
* in a way that both high and low periods in the clock signal have equal lengths.
* The default implementation of the PTME generates a clock where the high level is
* only one bit clock period long. This might be too short to match the setup and hold
* times of the S-and transceiver.
*/
ReturnValue_t enableTxclockManipulator();
ReturnValue_t disableTxclockManipulator();
/**
* @brief The next to functions control whether data will be updated on the rising or falling edge
* of the tx clock.
* Enable inversion will update data on falling edge (not the configuration required by the
* syrlinks)
* Disable clock inversion. Data updated on rising edge.
*/
ReturnValue_t enableTxclockInversion();
ReturnValue_t disableTxclockInversion();
private:
// Address of register storing the bitrate configuration parameter
static const uint32_t CADU_BITRATE_REG = 0x0;
// Address to register storing common configuration parameters
static const uint32_t COMMON_CONFIG_REG = 0x4;
static const uint32_t ADRESS_DIVIDER = 4;
enum class BitPos : uint32_t { EN_TX_CLK_MANIPULATOR, INVERT_CLOCK };
std::string axiUio;
std::string uioMap;
int mapNum = 0;
MutexIF* mutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t mutexTimeout = 20;
uint32_t* baseAddress = nullptr;
/**
* @brief Function to write to configuration registers
*
* @param writeVal Value to write
*/
ReturnValue_t writeReg(uint32_t regOffset, uint32_t writeVal);
/**
* @brief Reads value from configuration register
*
* @param regOffset Offset of register from base address to read from
* Qparam readVal Pointer to variable where read value will be written to
*/
ReturnValue_t readReg(uint32_t regOffset, uint32_t* readVal);
/**
* @brief Sets one bit in a register
*
* @param regOffset Offset of the register where to set the bit
* @param bitVal The value of the bit to set (1 or 0)
* @param bitPos The position of the bit within the register to set
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t writeBit(uint32_t regOffset, bool bitVal, BitPos bitPos);
};
#endif /* LINUX_OBC_AXIPTMECONFIG_H_ */

3
linux/obc/CMakeLists.txt
View File

@ -3,7 +3,8 @@ target_sources(${TARGET_NAME} PUBLIC
Ptme.cpp Ptme.cpp
PdecHandler.cpp PdecHandler.cpp
PdecConfig.cpp PdecConfig.cpp
PtmeRateSetter.cpp PtmeConfig.cpp
AxiPtmeConfig.cpp
) )

18
linux/obc/PapbVcInterface.cpp
View File

@ -1,26 +1,27 @@
#include <fsfw_hal/linux/uio/UioMapper.h>
#include <linux/obc/PapbVcInterface.h> #include <linux/obc/PapbVcInterface.h>
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
PapbVcInterface::PapbVcInterface(object_id_t objectId, LinuxLibgpioIF* gpioComIF, PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,
gpioId_t papbBusyId, gpioId_t papbEmptyId, uint32_t vcOffset) gpioId_t papbEmptyId, std::string uioFile, int mapNum)
: SystemObject(objectId), : gpioComIF(gpioComIF),
gpioComIF(gpioComIF),
papbBusyId(papbBusyId), papbBusyId(papbBusyId),
papbEmptyId(papbEmptyId), papbEmptyId(papbEmptyId),
vcOffset(vcOffset) {} uioFile(uioFile),
mapNum(mapNum) {}
PapbVcInterface::~PapbVcInterface() {} PapbVcInterface::~PapbVcInterface() {}
void PapbVcInterface::setRegisterAddress(uint32_t* ptmeBaseAddress) { ReturnValue_t PapbVcInterface::initialize() {
vcBaseReg = ptmeBaseAddress + vcOffset; UioMapper uioMapper(uioFile, mapNum);
return uioMapper.getMappedAdress(&vcBaseReg, UioMapper::Permissions::WRITE_ONLY);
} }
ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) { ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
if (pollPapbBusySignal() == RETURN_OK) { if (pollPapbBusySignal() == RETURN_OK) {
startPacketTransfer(); startPacketTransfer();
} }
for (size_t idx = 0; idx < size; idx++) { for (size_t idx = 0; idx < size; idx++) {
if (pollPapbBusySignal() == RETURN_OK) { if (pollPapbBusySignal() == RETURN_OK) {
*(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx)); *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx));
@ -30,7 +31,6 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
return RETURN_FAILED; return RETURN_FAILED;
} }
} }
if (pollPapbBusySignal() == RETURN_OK) { if (pollPapbBusySignal() == RETURN_OK) {
endPacketTransfer(); endPacketTransfer();
} }

15
linux/obc/PapbVcInterface.h
View File

@ -5,7 +5,6 @@
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h> #include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "linux/obc/VcInterfaceIF.h" #include "linux/obc/VcInterfaceIF.h"
@ -15,26 +14,27 @@
* *
* @author J. Meier * @author J. Meier
*/ */
class PapbVcInterface : public SystemObject, public VcInterfaceIF, public HasReturnvaluesIF { class PapbVcInterface : public VcInterfaceIF, public HasReturnvaluesIF {
public: public:
/** /**
* @brief Constructor * @brief Constructor
* *
* @param objectId
* @param papbBusyId The ID of the GPIO which is connected to the PAPBBusy_N signal of the * @param papbBusyId The ID of the GPIO which is connected to the PAPBBusy_N signal of the
* VcInterface IP Core. A low logic level indicates the VcInterface is not * VcInterface IP Core. A low logic level indicates the VcInterface is not
* ready to receive more data. * ready to receive more data.
* @param papbEmptyId The ID of the GPIO which is connected to the PAPBEmpty signal of the * @param papbEmptyId The ID of the GPIO which is connected to the PAPBEmpty signal of the
* VcInterface IP Core. The signal is high when there are no packets in the * VcInterface IP Core. The signal is high when there are no packets in the
* external buffer memory (BRAM). * external buffer memory (BRAM).
* @param uioFile UIO file providing access to the PAPB bus
* @param mapNum Map number of UIO map associated with this virtual channel
*/ */
PapbVcInterface(object_id_t objectId, LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId, PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId, gpioId_t papbEmptyId,
gpioId_t papbEmptyId, uint32_t vcOffset); std::string uioFile, int mapNum);
virtual ~PapbVcInterface(); virtual ~PapbVcInterface();
ReturnValue_t write(const uint8_t* data, size_t size) override; ReturnValue_t write(const uint8_t* data, size_t size) override;
void setRegisterAddress(uint32_t* ptmeBaseAddress) override; ReturnValue_t initialize() override;
private: private:
static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_IP_CORE_BRIDGE; static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_IP_CORE_BRIDGE;
@ -69,6 +69,9 @@ class PapbVcInterface : public SystemObject, public VcInterfaceIF, public HasRet
/** High when external buffer memory of virtual channel is empty */ /** High when external buffer memory of virtual channel is empty */
gpioId_t papbEmptyId = gpio::NO_GPIO; gpioId_t papbEmptyId = gpio::NO_GPIO;
std::string uioFile;
int mapNum = 0;
uint32_t* vcBaseReg = nullptr; uint32_t* vcBaseReg = nullptr;
uint32_t vcOffset = 0; uint32_t vcOffset = 0;

61
linux/obc/PdecHandler.cpp
View File

@ -11,6 +11,7 @@
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tmtcservices/TmTcMessage.h" #include "fsfw/tmtcservices/TmTcMessage.h"
#include "fsfw_hal/linux/uio/UioMapper.h"
PdecHandler::PdecHandler(object_id_t objectId, object_id_t tcDestinationId, PdecHandler::PdecHandler(object_id_t objectId, object_id_t tcDestinationId,
LinuxLibgpioIF* gpioComIF, gpioId_t pdecReset, std::string uioConfigMemory, LinuxLibgpioIF* gpioComIF, gpioId_t pdecReset, std::string uioConfigMemory,
@ -44,17 +45,18 @@ ReturnValue_t PdecHandler::initialize() {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
result = getRegisterAddress(); UioMapper regMapper(uioRegisters);
result = regMapper.getMappedAdress(&registerBaseAddress, UioMapper::Permissions::READ_WRITE);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED; return ObjectManagerIF::CHILD_INIT_FAILED;
} }
UioMapper configMemMapper(uioConfigMemory);
result = getConfigMemoryBaseAddress(); result = configMemMapper.getMappedAdress(&memoryBaseAddress, UioMapper::Permissions::READ_WRITE);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED; return ObjectManagerIF::CHILD_INIT_FAILED;
} }
UioMapper ramMapper(uioRamMemory);
result = getRamBaseAddress(); result = ramMapper.getMappedAdress(&ramBaseAddress, UioMapper::Permissions::READ_WRITE);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED; return ObjectManagerIF::CHILD_INIT_FAILED;
} }
@ -76,55 +78,6 @@ ReturnValue_t PdecHandler::initialize() {
MessageQueueId_t PdecHandler::getCommandQueue() const { return commandQueue->getId(); } MessageQueueId_t PdecHandler::getCommandQueue() const { return commandQueue->getId(); }
ReturnValue_t PdecHandler::getRegisterAddress() {
int fd = open(uioRegisters.c_str(), O_RDWR);
if (fd < 1) {
sif::warning << "PdecHandler::getRegisterAddress: Invalid UIO device file" << std::endl;
return RETURN_FAILED;
}
registerBaseAddress = static_cast<uint32_t*>(
mmap(NULL, REGISTER_MAP_SIZE, PROT_WRITE | PROT_READ, MAP_SHARED, fd, 0));
if (registerBaseAddress == MAP_FAILED) {
sif::error << "PdecHandler::getRegisterAddress: Failed to map uio address" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t PdecHandler::getConfigMemoryBaseAddress() {
int fd = open(uioConfigMemory.c_str(), O_RDWR);
if (fd < 1) {
sif::warning << "PdecHandler::getConfigMemoryBaseAddress: Invalid UIO device file" << std::endl;
return RETURN_FAILED;
}
memoryBaseAddress = static_cast<uint32_t*>(
mmap(NULL, CONFIG_MEMORY_MAP_SIZE, PROT_WRITE | PROT_READ, MAP_SHARED, fd, 0));
if (memoryBaseAddress == MAP_FAILED) {
sif::error << "PdecHandler::getConfigMemoryBaseAddress: Failed to map uio address" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t PdecHandler::getRamBaseAddress() {
int fd = open(uioRamMemory.c_str(), O_RDWR);
ramBaseAddress =
static_cast<uint32_t*>(mmap(NULL, RAM_MAP_SIZE, PROT_WRITE | PROT_READ, MAP_SHARED, fd, 0));
if (ramBaseAddress == MAP_FAILED) {
sif::error << "PdecHandler::getRamBaseAddress: Failed to map RAM base address" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
void PdecHandler::writePdecConfig() { void PdecHandler::writePdecConfig() {
PdecConfig pdecConfig; PdecConfig pdecConfig;

19
linux/obc/PdecHandler.h
View File

@ -231,25 +231,6 @@ class PdecHandler : public SystemObject,
*/ */
void readCommandQueue(void); void readCommandQueue(void);
/**
* @brief Opens UIO device assigned to AXI to AHB converter giving access to the PDEC
* registers. The register base address will be mapped into the virtual address space.
*/
ReturnValue_t getRegisterAddress();
/**
* @brief Opens UIO device assigned to the base address of the PDEC memory space and maps the
* physical address into the virtual address space.
*/
ReturnValue_t getConfigMemoryBaseAddress();
/**
* @brief Opens UIO device assigned to the RAM section of the PDEC IP core memory map.
*
* @details A received TC segment will be written to this memory area.
*/
ReturnValue_t getRamBaseAddress();
/** /**
* @brief This functions writes the configuration parameters to the configuration * @brief This functions writes the configuration parameters to the configuration
* section of the PDEC. * section of the PDEC.

21
linux/obc/Ptme.cpp
View File

@ -1,6 +1,7 @@
#include <fcntl.h> #include <fcntl.h>
#include <linux/obc/Ptme.h> #include <linux/obc/Ptme.h>
#include <sys/mman.h> #include <sys/mman.h>
#include <unistd.h>
#include "PtmeConfig.h" #include "PtmeConfig.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
@ -10,28 +11,10 @@ Ptme::Ptme(object_id_t objectId) : SystemObject(objectId) {}
Ptme::~Ptme() {} Ptme::~Ptme() {}
ReturnValue_t Ptme::initialize() { ReturnValue_t Ptme::initialize() {
int fd = open(PtmeConfig::UIO_DEVICE_FILE, O_RDWR);
if (fd < 1) {
sif::warning << "Ptme::initialize: Invalid UIO device file" << std::endl;
return RETURN_FAILED;
}
/**
* Map uio device in virtual address space
* PROT_WRITE: Map uio device in writable only mode
*/
ptmeBaseAddress = static_cast<uint32_t*>(mmap(NULL, MAP_SIZE, PROT_WRITE, MAP_SHARED, fd, 0));
if (ptmeBaseAddress == MAP_FAILED) {
sif::error << "Ptme::initialize: Failed to map uio address" << std::endl;
return RETURN_FAILED;
}
VcInterfaceMapIter iter; VcInterfaceMapIter iter;
for (iter = vcInterfaceMap.begin(); iter != vcInterfaceMap.end(); iter++) { for (iter = vcInterfaceMap.begin(); iter != vcInterfaceMap.end(); iter++) {
iter->second->setRegisterAddress(ptmeBaseAddress); iter->second->initialize();
} }
return RETURN_OK; return RETURN_OK;
} }

8
linux/obc/Ptme.h
View File

@ -44,14 +44,6 @@ class Ptme : public PtmeIF, public SystemObject, public HasReturnvaluesIF {
static const ReturnValue_t UNKNOWN_VC_ID = MAKE_RETURN_CODE(0xA0); static const ReturnValue_t UNKNOWN_VC_ID = MAKE_RETURN_CODE(0xA0);
#if BOARD_TE0720 == 1
/** Size of mapped address space */
static const int MAP_SIZE = 0x40000;
#else
/** Size of mapped address space */
static const int MAP_SIZE = 0x40000;
#endif /* BOARD_TE0720 == 1 */
/** /**
* Configuration bits: * Configuration bits:
* bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00 * bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00

50
linux/obc/PtmeConfig.cpp Normal file
View File

@ -0,0 +1,50 @@
#include "PtmeConfig.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
PtmeConfig::PtmeConfig(object_id_t objectId, AxiPtmeConfig* axiPtmeConfig)
: SystemObject(objectId), axiPtmeConfig(axiPtmeConfig) {}
PtmeConfig::~PtmeConfig() {}
ReturnValue_t PtmeConfig::initialize() {
if (axiPtmeConfig == nullptr) {
sif::warning << "PtmeConfig::initialize: Invalid AxiPtmeConfig object" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t PtmeConfig::setRate(uint32_t bitRate) {
if (bitRate == 0) {
return BAD_BIT_RATE;
}
uint32_t rateVal = BIT_CLK_FREQ / bitRate - 1;
if (rateVal > 0xFF) {
return RATE_NOT_SUPPORTED;
}
return axiPtmeConfig->writeCaduRateReg(static_cast<uint8_t>(rateVal));
}
ReturnValue_t PtmeConfig::invertTxClock(bool invert) {
ReturnValue_t result = RETURN_OK;
if (invert) {
result = axiPtmeConfig->enableTxclockInversion();
} else {
result = axiPtmeConfig->disableTxclockInversion();
}
if (result != RETURN_OK) {
return CLK_INVERSION_FAILED;
}
return result;
}
ReturnValue_t PtmeConfig::configTxManipulator(bool enable) {
ReturnValue_t result = RETURN_OK;
if (enable) {
result = axiPtmeConfig->enableTxclockManipulator();
} else {
result = axiPtmeConfig->disableTxclockManipulator();
}
return result;
}

83
linux/obc/PtmeConfig.h
View File

@ -1,31 +1,76 @@
#ifndef LINUX_OBC_PTMECONFIG_H_ #ifndef LINUX_OBC_PTMECONFIG_H_
#define LINUX_OBC_PTMECONFIG_H_ #define LINUX_OBC_PTMECONFIG_H_
#include <cstring> #include "AxiPtmeConfig.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "OBSWConfig.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "linux/obc/PtmeConfig.h"
/** /**
* @brief PTME specific configuration parameters derived from FPGA design and device tree. * @brief Class to configure donwlink specific parameters in the PTME IP core.
* *
* @author J. Meier * @author J. Meier
*/ */
namespace PtmeConfig { class PtmeConfig : public SystemObject, public HasReturnvaluesIF {
/** public:
* Offset of virtual channels mapped into address space /**
* 0x10000 = (0x4000 * 4) * @brief Constructor
*/ *
static const uint32_t VC0_OFFSETT = 0; * ptmeAxiConfig Pointer to object providing access to PTME configuration registers.
static const uint32_t VC1_OFFSETT = 0x4000; */
static const uint32_t VC2_OFFSETT = 0x8000; PtmeConfig(object_id_t opbjectId, AxiPtmeConfig* axiPtmeConfig);
static const uint32_t VC3_OFFSETT = 0xC000; virtual ~PtmeConfig();
#if BOARD_TE0720 == 0
static const char UIO_DEVICE_FILE[] = "/dev/uio1";
#else
static const char UIO_DEVICE_FILE[] = "/dev/uio1";
#endif
}; // namespace PtmeConfig virtual ReturnValue_t initialize() override;
/**
* @brief Changes the input frequency to the S-Band transceiver and thus the downlink rate
*
* @details This is the bitrate of the CADU clock and not the downlink which has twice the bitrate
* of the CADU clock due to the convolutional code added by the s-Band transceiver.
*/
ReturnValue_t setRate(uint32_t bitRate);
/**
* @brief Will change the time the tx data signal is updated with respect to the tx clock
*
* @param invert True -> Data signal will be updated on the falling edge (not desired by the
* Syrlinks)
* False -> Data signal updated on rising edge (default configuration and desired
* by the syrlinks)
*
* @return REUTRN_OK if successful, otherwise error return value
*/
ReturnValue_t invertTxClock(bool invert);
/**
* @brief Controls the tx clock manipulator of the PTME wrapper component
*
* @param enable Manipulator will be enabled (this is also the default configuration)
* @param disable Manipulator will be disabled
*
* @return REUTRN_OK if successful, otherwise error return value
*/
ReturnValue_t configTxManipulator(bool enable);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::RATE_SETTER;
//! [EXPORT] : [COMMENT] The commanded rate is not supported by the current FPGA design
static const ReturnValue_t RATE_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Bad bitrate has been commanded (e.g. 0)
static const ReturnValue_t BAD_BIT_RATE = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Failed to invert clock and thus change the time the data is updated with
//! respect to the tx clock
static const ReturnValue_t CLK_INVERSION_FAILED = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Failed to change configuration bit of tx clock manipulator
static const ReturnValue_t TX_MANIPULATOR_CONFIG_FAILED = MAKE_RETURN_CODE(0xA3);
// Bitrate register field is only 8 bit wide
static const uint32_t MAX_BITRATE = 0xFF;
// Bit clock frequency of PMTE IP core in Hz
static const uint32_t BIT_CLK_FREQ = 20000000;
AxiPtmeConfig* axiPtmeConfig = nullptr;
};
#endif /* LINUX_OBC_PTMECONFIG_H_ */ #endif /* LINUX_OBC_PTMECONFIG_H_ */

25
linux/obc/PtmeRateSetter.cpp
View File

@ -1,25 +0,0 @@
#include "PtmeRateSetter.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
PtmeRateSetter::PtmeRateSetter(gpioId_t bitrateSel, GpioIF* gpioif)
: bitrateSel(bitrateSel), gpioif(gpioif) {}
PtmeRateSetter::~PtmeRateSetter() {}
ReturnValue_t PtmeRateSetter::setRate(BitRates rate) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch (rate) {
case RATE_2000KHZ:
result = gpioif->pullHigh(bitrateSel);
break;
case RATE_400KHZ:
result = gpioif->pullLow(bitrateSel);
break;
default:
sif::debug << "PtmeRateSetter::setRate: Invalid rate" << std::endl;
result = HasReturnvaluesIF::RETURN_FAILED;
break;
}
return result;
}

38
linux/obc/PtmeRateSetter.h
View File

@ -1,38 +0,0 @@
#ifndef LINUX_OBC_PTMERATESETTER_H_
#define LINUX_OBC_PTMERATESETTER_H_
#include "TxRateSetterIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
/**
* @brief Class to set the downlink bit rate by using the cadu_rate_switcher implemented in
* the programmable logic.
*
* @details The cadu_rate_switcher module sets the input rate to the syrlinks transceiver either
* to 2000 kHz (bitrateSel = 1) or 400 kHz (bitrate = 0).
*
* @author J. Meier
*/
class PtmeRateSetter : public TxRateSetterIF {
public:
/**
* @brief Constructor
*
* @param bitrateSel GPIO ID of the GPIO connected to the bitrate_sel input of the
* cadu_rate_switcher.
* @param gpioif GPIO interface to drive the bitrateSel GPIO
*/
PtmeRateSetter(gpioId_t bitrateSel, GpioIF* gpioif);
virtual ~PtmeRateSetter();
virtual ReturnValue_t setRate(BitRates rate);
private:
gpioId_t bitrateSel = gpio::NO_GPIO;
GpioIF* gpioif = nullptr;
};
#endif /* LINUX_OBC_PTMERATESETTER_H_ */

22
linux/obc/TxRateSetterIF.h
View File

@ -1,22 +0,0 @@
#ifndef LINUX_OBC_TXRATESETTERIF_H_
#define LINUX_OBC_TXRATESETTERIF_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
enum BitRates : uint32_t { RATE_2000KHZ, RATE_400KHZ };
/**
* @brief Abstract class for objects implementing the functionality to switch the
* downlink bit rate.
*
* @author J. Meier
*/
class TxRateSetterIF {
public:
TxRateSetterIF(){};
virtual ~TxRateSetterIF(){};
virtual ReturnValue_t setRate(BitRates bitRate) = 0;
};
#endif /* LINUX_OBC_TXRATESETTERIF_H_ */

2
linux/obc/VcInterfaceIF.h
View File

@ -24,7 +24,7 @@ class VcInterfaceIF {
*/ */
virtual ReturnValue_t write(const uint8_t* data, size_t size) = 0; virtual ReturnValue_t write(const uint8_t* data, size_t size) = 0;
virtual void setRegisterAddress(uint32_t* ptmeBaseAddress) = 0; virtual ReturnValue_t initialize() = 0;
}; };
#endif /* LINUX_OBC_VCINTERFACEIF_H_ */ #endif /* LINUX_OBC_VCINTERFACEIF_H_ */

145
misc/eclipse/.cproject
View File

@ -19,10 +19,12 @@
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443." name="/" resourcePath=""> <folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443." name="/" resourcePath="">
<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.1176904738" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base"> <toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.1176904738" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1087094604" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/> <targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1087094604" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/build-Debug-Host}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/> <builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug-Host}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.813737526" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base"> <tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.813737526" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
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@ -334,7 +358,10 @@
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<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-RPi}&quot;"/> <listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-RPi}&quot;"/>
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3
mission/devices/ACUHandler.cpp
View File

@ -273,7 +273,8 @@ ReturnValue_t ACUHandler::initializeLocalDataPool(localpool::DataPool &localData
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t ACUHandler::deviceSpecificCommand(DeviceCommandId_t cmd) { ReturnValue_t ACUHandler::childCommandHook(DeviceCommandId_t cmd, const uint8_t *commandData,
size_t commandDataLen) {
switch (cmd) { switch (cmd) {
case PRINT_CHANNEL_STATS: { case PRINT_CHANNEL_STATS: {
printChannelStats(); printChannelStats();

3
mission/devices/ACUHandler.h
View File

@ -28,7 +28,8 @@ class ACUHandler : public GomspaceDeviceHandler {
virtual void fillCommandAndReplyMap() override; virtual void fillCommandAndReplyMap() override;
virtual ReturnValue_t deviceSpecificCommand(DeviceCommandId_t cmd) override; virtual ReturnValue_t childCommandHook(DeviceCommandId_t cmd, const uint8_t* commandData,
size_t commandDataLen) override;
private: private:
static const DeviceCommandId_t PRINT_CHANNEL_STATS = 51; static const DeviceCommandId_t PRINT_CHANNEL_STATS = 51;

2
mission/devices/CMakeLists.txt
View File

@ -1,5 +1,5 @@
target_sources(${TARGET_NAME} PUBLIC target_sources(${TARGET_NAME} PUBLIC
GPSHyperionHandler.cpp GPSHyperionLinuxController.cpp
GomspaceDeviceHandler.cpp GomspaceDeviceHandler.cpp
BpxBatteryHandler.cpp BpxBatteryHandler.cpp
Tmp1075Handler.cpp Tmp1075Handler.cpp

253
mission/devices/GPSHyperionHandler.cpp
View File

@ -3,45 +3,58 @@
#include "devicedefinitions/GPSDefinitions.h" #include "devicedefinitions/GPSDefinitions.h"
#include "fsfw/datapool/PoolReadGuard.h" #include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/timemanager/Clock.h" #include "fsfw/timemanager/Clock.h"
#include "lwgps/lwgps.h"
#ifdef FSFW_OSAL_LINUX
#include <gps.h>
#include <libgpsmm.h>
#endif
#include <cmath>
#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1 #if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
#include <filesystem> #include <filesystem>
#include <fstream> #include <fstream>
#endif #endif
GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t parentId, GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
bool debugHyperionGps) CookieIF *comCookie, bool debugHyperionGps)
: ExtendedControllerBase(objectId, objects::NO_OBJECT), : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
gpsSet(this), gpsSet(this),
debugHyperionGps(debugHyperionGps) {} debugHyperionGps(debugHyperionGps) {
lwgps_init(&gpsData);
}
GPSHyperionHandler::~GPSHyperionHandler() {} GPSHyperionHandler::~GPSHyperionHandler() {}
void GPSHyperionHandler::performControlOperation() { void GPSHyperionHandler::doStartUp() {
#ifdef FSFW_OSAL_LINUX if (internalState == InternalStates::NONE) {
readGpsDataFromGpsd(); commandExecuted = false;
#endif internalState = InternalStates::WAIT_FIRST_MESSAGE;
}
if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
if (commandExecuted) {
internalState = InternalStates::IDLE;
setMode(MODE_ON);
commandExecuted = false;
}
}
} }
LocalPoolDataSetBase *GPSHyperionHandler::getDataSetHandle(sid_t sid) { void GPSHyperionHandler::doShutDown() {
return &gpsSet; internalState = InternalStates::NONE;
commandExecuted = false;
setMode(_MODE_POWER_DOWN);
} }
ReturnValue_t GPSHyperionHandler::checkModeCommand(Mode_t mode, Submode_t submode, ReturnValue_t GPSHyperionHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
uint32_t *msToReachTheMode) { return NOTHING_TO_SEND;
return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t GPSHyperionHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
const uint8_t *data, size_t size) { return NOTHING_TO_SEND;
switch (actionId) { }
ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
// By default, send nothing
rawPacketLen = 0;
switch (deviceCommand) {
case (GpsHyperion::TRIGGER_RESET_PIN): { case (GpsHyperion::TRIGGER_RESET_PIN): {
if (resetCallback != nullptr) { if (resetCallback != nullptr) {
PoolReadGuard pg(&gpsSet); PoolReadGuard pg(&gpsSet);
@ -56,12 +69,97 @@ ReturnValue_t GPSHyperionHandler::executeAction(ActionId_t actionId, MessageQueu
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// Pass data to GPS library
if (len > 0) {
// sif::debug << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
// TODO: Check whether data is valid by checking whether NMEA start string is valid?
commandExecuted = true;
}
int result = lwgps_process(&gpsData, start, len);
if (result != 1) {
sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps" << std::endl;
} else {
// The data from the device will generally be read all at once. Therefore, we
// can set all field here
PoolReadGuard pg(&gpsSet);
if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed" << std::endl;
#endif
}
// Print messages
if (gpsData.is_valid) {
// Set all entries valid now, set invalid on case basis if values are sanitized
gpsSet.setValidity(true, true);
}
// Negative latitude -> South direction
gpsSet.latitude.value = gpsData.latitude;
// Negative longitude -> West direction
gpsSet.longitude.value = gpsData.longitude;
if (gpsData.altitude > 600000.0 or gpsData.altitude < 400000.0) {
gpsSet.altitude.setValid(false);
} else {
gpsSet.altitude.setValid(true);
gpsSet.altitude.value = gpsData.altitude;
}
gpsSet.fixMode.value = gpsData.fix_mode;
gpsSet.satInUse.value = gpsData.sats_in_use;
Clock::TimeOfDay_t timeStruct = {};
timeStruct.day = gpsData.date;
timeStruct.hour = gpsData.hours;
timeStruct.minute = gpsData.minutes;
timeStruct.month = gpsData.month;
timeStruct.second = gpsData.seconds;
// Convert two-digit year to full year (AD)
timeStruct.year = gpsData.year + 2000;
timeval timeval = {};
Clock::convertTimeOfDayToTimeval(&timeStruct, &timeval);
gpsSet.year = timeStruct.year;
gpsSet.month = gpsData.month;
gpsSet.day = gpsData.date;
gpsSet.hours = gpsData.hours;
gpsSet.minutes = gpsData.minutes;
gpsSet.seconds = gpsData.seconds;
gpsSet.unixSeconds = timeval.tv_sec;
if (debugHyperionGps) {
sif::info << "GPS Data" << std::endl;
printf("Valid status: %d\n", gpsData.is_valid);
printf("Latitude: %f degrees\n", gpsData.latitude);
printf("Longitude: %f degrees\n", gpsData.longitude);
printf("Altitude: %f meters\n", gpsData.altitude);
}
#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
std::string filename = "/mnt/sd0/gps_log.txt";
std::ofstream gpsFile;
if (not std::filesystem::exists(filename)) {
gpsFile.open(filename, std::ofstream::out);
}
gpsFile.open(filename, std::ofstream::out | std::ofstream::app);
gpsFile.write("\n", 1);
gpsFile.write(reinterpret_cast<const char *>(start), len);
#endif
}
*foundLen = len;
*foundId = GpsHyperion::GPS_REPLY;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t GPSHyperionHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return 5000; }
ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap, ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) { LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0})); localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0})); localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0})); localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::SPEED, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>()); localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>()); localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>()); localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>());
@ -70,111 +168,36 @@ ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(localpool::DataPool &l
localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>()); localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>()); localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>()); localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>()); localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), true, 2.0, false); poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), true, 2.0, false);
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void GPSHyperionHandler::fillCommandAndReplyMap() {
// Reply length does not matter, packets should always arrive periodically
insertInReplyMap(GpsHyperion::GPS_REPLY, 4, &gpsSet, 0, true);
insertInCommandMap(GpsHyperion::TRIGGER_RESET_PIN);
}
void GPSHyperionHandler::modeChanged() { internalState = InternalStates::NONE; }
void GPSHyperionHandler::setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void *args) { void GPSHyperionHandler::setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void *args) {
this->resetCallback = resetCallback; this->resetCallback = resetCallback;
resetCallbackArgs = args; resetCallbackArgs = args;
} }
void GPSHyperionHandler::debugInterface(uint8_t positionTracker, object_id_t objectId,
uint32_t parameter) {}
ReturnValue_t GPSHyperionHandler::initialize() { ReturnValue_t GPSHyperionHandler::initialize() {
ReturnValue_t result = ExtendedControllerBase::initialize(); ReturnValue_t result = DeviceHandlerBase::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
return result; // Enable reply immediately for now
return updatePeriodicReply(true, GpsHyperion::GPS_REPLY);
} }
ReturnValue_t GPSHyperionHandler::handleCommandMessage(CommandMessage *message) { ReturnValue_t GPSHyperionHandler::acceptExternalDeviceCommands() {
return ExtendedControllerBase::handleCommandMessage(message); return DeviceHandlerBase::acceptExternalDeviceCommands();
} }
#ifdef FSFW_OSAL_LINUX
void GPSHyperionHandler::readGpsDataFromGpsd() {
// The data from the device will generally be read all at once. Therefore, we
// can set all field here
gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
gps_data_t *gps;
gps = gpsmm.read();
if (gps == nullptr) {
sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
}
PoolReadGuard pg(&gpsSet);
if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed" << std::endl;
#endif
}
// Print messages
if ((gps->set & MODE_SET) != MODE_SET) {
// Could not even set mode
gpsSet.setValidity(false, true);
return;
}
if (gps->satellites_used > 0) {
gpsSet.setValidity(true, true);
}
gpsSet.satInUse.value = gps->satellites_used;
gpsSet.satInView.value = gps->satellites_visible;
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
gpsSet.fixMode = gps->fix.mode;
if (std::isfinite(gps->fix.latitude)) {
// Negative latitude -> South direction
gpsSet.latitude.value = gps->fix.latitude;
} else {
gpsSet.latitude.setValid(false);
}
if (std::isfinite(gps->fix.longitude)) {
// Negative longitude -> West direction
gpsSet.longitude.value = gps->fix.longitude;
} else {
gpsSet.longitude.setValid(false);
}
if (std::isfinite(gps->fix.altitude)) {
gpsSet.altitude.value = gps->fix.altitude;
} else {
gpsSet.altitude.setValid(false);
}
if (std::isfinite(gps->fix.speed)) {
gpsSet.speed.value = gps->fix.speed;
} else {
gpsSet.speed.setValid(false);
}
gpsSet.unixSeconds.value = gps->fix.time.tv_sec;
timeval time = {};
time.tv_sec = gpsSet.unixSeconds.value;
time.tv_usec = gps->fix.time.tv_nsec / 1000;
Clock::TimeOfDay_t timeOfDay = {};
Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
gpsSet.year = timeOfDay.year;
gpsSet.month = timeOfDay.month;
gpsSet.day = timeOfDay.day;
gpsSet.hours = timeOfDay.hour;
gpsSet.minutes = timeOfDay.minute;
gpsSet.seconds = timeOfDay.second;
if (debugHyperionGps) {
sif::info << "-- Hyperion GPS Data --" << std::endl;
time_t timeRaw = gps->fix.time.tv_sec;
std::tm *time = gmtime(&timeRaw);
std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl;
std::cout << "Visible satellites: " << gps->satellites_visible << std::endl;
std::cout << "Satellites used: " << gps->satellites_used << std::endl;
std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
std::cout << "Latitude: " << gps->fix.latitude << std::endl;
std::cout << "Longitude: " << gps->fix.longitude << std::endl;
std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
}
}
#endif

49
mission/devices/GPSHyperionHandler.h
View File

@ -3,8 +3,8 @@
#include "devicedefinitions/GPSDefinitions.h" #include "devicedefinitions/GPSDefinitions.h"
#include "fsfw/FSFW.h" #include "fsfw/FSFW.h"
#include "fsfw/controller/ExtendedControllerBase.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "lwgps/lwgps.h"
/** /**
* @brief Device handler for the Hyperion HT-GPS200 device * @brief Device handler for the Hyperion HT-GPS200 device
@ -12,35 +12,50 @@
* Flight manual: * Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200 * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
*/ */
class GPSHyperionHandler : public ExtendedControllerBase { class GPSHyperionHandler : public DeviceHandlerBase {
public: public:
GPSHyperionHandler(object_id_t objectId, object_id_t parentId, bool debugHyperionGps = false); GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
bool debugHyperionGps = false);
virtual ~GPSHyperionHandler(); virtual ~GPSHyperionHandler();
using gpioResetFunction_t = ReturnValue_t (*)(void* args); using gpioResetFunction_t = ReturnValue_t (*)(void *args);
void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void *args);
ReturnValue_t acceptExternalDeviceCommands() override;
void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
ReturnValue_t initialize() override; ReturnValue_t initialize() override;
protected: protected:
gpioResetFunction_t resetCallback = nullptr; gpioResetFunction_t resetCallback = nullptr;
void* resetCallbackArgs = nullptr; void *resetCallbackArgs = nullptr;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, enum class InternalStates { NONE, WAIT_FIRST_MESSAGE, IDLE };
LocalDataPoolManager& poolManager) override; InternalStates internalState = InternalStates::NONE;
bool commandExecuted = false;
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged() override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
uint32_t parameter = 0) override;
private: private:
lwgps_t gpsData = {};
GpsPrimaryDataset gpsSet; GpsPrimaryDataset gpsSet;
bool debugHyperionGps = false; bool debugHyperionGps = false;
void readGpsDataFromGpsd();
}; };
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */ #endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

178
mission/devices/GPSHyperionLinuxController.cpp Normal file
View File

@ -0,0 +1,178 @@
#include "GPSHyperionLinuxController.h"
#include <cmath>
#include "devicedefinitions/GPSDefinitions.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/timemanager/Clock.h"
#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
#include <filesystem>
#include <fstream>
#endif
GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
bool debugHyperionGps)
: ExtendedControllerBase(objectId, objects::NO_OBJECT),
gpsSet(this),
myGpsmm(GPSD_SHARED_MEMORY, nullptr),
debugHyperionGps(debugHyperionGps) {}
GPSHyperionLinuxController::~GPSHyperionLinuxController() {}
void GPSHyperionLinuxController::performControlOperation() {
#ifdef FSFW_OSAL_LINUX
readGpsDataFromGpsd();
#endif
}
LocalPoolDataSetBase *GPSHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch (actionId) {
case (GpsHyperion::TRIGGER_RESET_PIN): {
if (resetCallback != nullptr) {
PoolReadGuard pg(&gpsSet);
// Set HK entries invalid
gpsSet.setValidity(false, true);
resetCallback(resetCallbackArgs);
return HasActionsIF::EXECUTION_FINISHED;
}
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::SPEED, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), true, 2.0, false);
return HasReturnvaluesIF::RETURN_OK;
}
void GPSHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
void *args) {
this->resetCallback = resetCallback;
resetCallbackArgs = args;
}
ReturnValue_t GPSHyperionLinuxController::initialize() {
ReturnValue_t result = ExtendedControllerBase::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
}
ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
return ExtendedControllerBase::handleCommandMessage(message);
}
#ifdef FSFW_OSAL_LINUX
void GPSHyperionLinuxController::readGpsDataFromGpsd() {
// The data from the device will generally be read all at once. Therefore, we
// can set all field here
if (not myGpsmm.is_open()) {
// Opening failed
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed" << std::endl;
#endif
}
gps_data_t *gps = nullptr;
gps = myGpsmm.read();
if (gps == nullptr) {
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed" << std::endl;
}
PoolReadGuard pg(&gpsSet);
if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading dataset failed" << std::endl;
#endif
}
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
gpsSet.fixMode.value = gps->fix.mode;
if (gps->fix.mode == 0 or gps->fix.mode == 1) {
gpsSet.setValidity(false, true);
} else if (gps->satellites_used > 0) {
gpsSet.setValidity(true, true);
}
gpsSet.satInUse.value = gps->satellites_used;
gpsSet.satInView.value = gps->satellites_visible;
if (std::isfinite(gps->fix.latitude)) {
// Negative latitude -> South direction
gpsSet.latitude.value = gps->fix.latitude;
} else {
gpsSet.latitude.setValid(false);
}
if (std::isfinite(gps->fix.longitude)) {
// Negative longitude -> West direction
gpsSet.longitude.value = gps->fix.longitude;
} else {
gpsSet.longitude.setValid(false);
}
if (std::isfinite(gps->fix.altitude)) {
gpsSet.altitude.value = gps->fix.altitude;
} else {
gpsSet.altitude.setValid(false);
}
if (std::isfinite(gps->fix.speed)) {
gpsSet.speed.value = gps->fix.speed;
} else {
gpsSet.speed.setValid(false);
}
gpsSet.unixSeconds.value = gps->fix.time.tv_sec;
timeval time = {};
time.tv_sec = gpsSet.unixSeconds.value;
time.tv_usec = gps->fix.time.tv_nsec / 1000;
Clock::TimeOfDay_t timeOfDay = {};
Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
gpsSet.year = timeOfDay.year;
gpsSet.month = timeOfDay.month;
gpsSet.day = timeOfDay.day;
gpsSet.hours = timeOfDay.hour;
gpsSet.minutes = timeOfDay.minute;
gpsSet.seconds = timeOfDay.second;
debugHyperionGps = true;
if (debugHyperionGps) {
sif::info << "-- Hyperion GPS Data --" << std::endl;
time_t timeRaw = gps->fix.time.tv_sec;
std::tm *time = gmtime(&timeRaw);
std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl;
std::cout << "Visible satellites: " << gps->satellites_visible << std::endl;
std::cout << "Satellites used: " << gps->satellites_used << std::endl;
std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
std::cout << "Latitude: " << gps->fix.latitude << std::endl;
std::cout << "Longitude: " << gps->fix.longitude << std::endl;
std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
}
}
#endif

55
mission/devices/GPSHyperionLinuxController.h Normal file
View File

@ -0,0 +1,55 @@
#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#include "devicedefinitions/GPSDefinitions.h"
#include "fsfw/FSFW.h"
#include "fsfw/controller/ExtendedControllerBase.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#ifdef FSFW_OSAL_LINUX
#include <gps.h>
#include <libgpsmm.h>
#endif
/**
* @brief Device handler for the Hyperion HT-GPS200 device
* @details
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
* This device handler can only be used on Linux system where the gpsd daemon with shared memory
* export is running.
*/
class GPSHyperionLinuxController : public ExtendedControllerBase {
public:
GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
bool debugHyperionGps = false);
virtual ~GPSHyperionLinuxController();
using gpioResetFunction_t = ReturnValue_t (*)(void* args);
void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
ReturnValue_t initialize() override;
protected:
gpioResetFunction_t resetCallback = nullptr;
void* resetCallbackArgs = nullptr;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
private:
GpsPrimaryDataset gpsSet;
gpsmm myGpsmm;
bool debugHyperionGps = false;
void readGpsDataFromGpsd();
};
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

35
mission/devices/GomspaceDeviceHandler.cpp
View File

@ -36,7 +36,7 @@ ReturnValue_t GomspaceDeviceHandler::buildTransitionDeviceCommand(DeviceCommandI
ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand, ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData, const uint8_t* commandData,
size_t commandDataLen) { size_t commandDataLen) {
ReturnValue_t result; ReturnValue_t result = childCommandHook(deviceCommand, commandData, commandDataLen);
switch (deviceCommand) { switch (deviceCommand) {
case (GOMSPACE::PING): { case (GOMSPACE::PING): {
result = generatePingCommand(commandData, commandDataLen); result = generatePingCommand(commandData, commandDataLen);
@ -82,7 +82,7 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(DeviceCommandId_t d
break; break;
} }
default: default:
return deviceSpecificCommand(deviceCommand); return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
@ -170,6 +170,7 @@ ReturnValue_t GomspaceDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
if (*packet != PARAM_SET_OK) { if (*packet != PARAM_SET_OK) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
setParamCallback(setParamCacher, true);
break; break;
} }
case (GOMSPACE::REQUEST_HK_TABLE): { case (GOMSPACE::REQUEST_HK_TABLE): {
@ -186,17 +187,20 @@ void GomspaceDeviceHandler::setNormalDatapoolEntriesInvalid() {}
ReturnValue_t GomspaceDeviceHandler::generateSetParamCommand(const uint8_t* commandData, ReturnValue_t GomspaceDeviceHandler::generateSetParamCommand(const uint8_t* commandData,
size_t commandDataLen) { size_t commandDataLen) {
SetParamMessageUnpacker setParamMessageUnpacker; ReturnValue_t result =
ReturnValue_t result = setParamMessageUnpacker.deSerialize(&commandData, &commandDataLen, setParamCacher.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "GomspaceDeviceHandler: Failed to deserialize set parameter " sif::error << "GomspaceDeviceHandler: Failed to deserialize set parameter "
"message" "message"
<< std::endl; << std::endl;
return result; return result;
} }
result = setParamCallback(setParamCacher, false);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
/* Get and check address */ /* Get and check address */
uint16_t address = setParamMessageUnpacker.getAddress(); uint16_t address = setParamCacher.getAddress();
if (address > maxConfigTableAddress) { if (address > maxConfigTableAddress) {
sif::error << "GomspaceDeviceHandler: Invalid address for set parameter " sif::error << "GomspaceDeviceHandler: Invalid address for set parameter "
<< "action" << std::endl; << "action" << std::endl;
@ -207,8 +211,8 @@ ReturnValue_t GomspaceDeviceHandler::generateSetParamCommand(const uint8_t* comm
uint16_t total = 0; uint16_t total = 0;
/* CSP reply only contains the transaction state */ /* CSP reply only contains the transaction state */
uint16_t querySize = 1; uint16_t querySize = 1;
const uint8_t* parameterPtr = setParamMessageUnpacker.getParameter(); const uint8_t* parameterPtr = setParamCacher.getParameter();
uint8_t parameterSize = setParamMessageUnpacker.getParameterSize(); uint8_t parameterSize = setParamCacher.getParameterSize();
uint16_t payloadlength = sizeof(address) + parameterSize; uint16_t payloadlength = sizeof(address) + parameterSize;
/* Generate command for CspComIF */ /* Generate command for CspComIF */
@ -335,6 +339,17 @@ void GomspaceDeviceHandler::generateRebootCommand() {
rawPacketLen = cspPacketLen; rawPacketLen = cspPacketLen;
} }
ReturnValue_t GomspaceDeviceHandler::childCommandHook(DeviceCommandId_t cmd,
const uint8_t* commandData,
size_t commandDataLen) {
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
ReturnValue_t GomspaceDeviceHandler::setParamCallback(SetParamMessageUnpacker& unpacker,
bool afterExecution) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GomspaceDeviceHandler::generateResetWatchdogCmd() { ReturnValue_t GomspaceDeviceHandler::generateResetWatchdogCmd() {
WatchdogResetCommand watchdogResetCommand; WatchdogResetCommand watchdogResetCommand;
size_t cspPacketLen = 0; size_t cspPacketLen = 0;
@ -386,10 +401,6 @@ LocalPoolDataSetBase* GomspaceDeviceHandler::getDataSetHandle(sid_t sid) {
} }
} }
ReturnValue_t GomspaceDeviceHandler::deviceSpecificCommand(DeviceCommandId_t cmd) {
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
void GomspaceDeviceHandler::setModeNormal() { mode = MODE_NORMAL; } void GomspaceDeviceHandler::setModeNormal() { mode = MODE_NORMAL; }
ReturnValue_t GomspaceDeviceHandler::printStatus(DeviceCommandId_t cmd) { ReturnValue_t GomspaceDeviceHandler::printStatus(DeviceCommandId_t cmd) {

20
mission/devices/GomspaceDeviceHandler.h
View File

@ -1,6 +1,8 @@
#ifndef MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_ #ifndef MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_
#define MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_ #define MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h" #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#include "returnvalues/classIds.h" #include "returnvalues/classIds.h"
@ -101,17 +103,31 @@ class GomspaceDeviceHandler : public DeviceHandlerBase {
virtual LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override; virtual LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
/** /**
* @brief Can be used by gomspace devices to implement device specific commands. * @brief Can be overriden by child classes to implement device specific commands.
* @return Return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED to let this handler handle
* the command or RETURN_OK if the child handles the command
*/ */
virtual ReturnValue_t deviceSpecificCommand(DeviceCommandId_t cmd); virtual ReturnValue_t childCommandHook(DeviceCommandId_t cmd, const uint8_t *commandData,
size_t commandDataLen);
private: private:
SetParamMessageUnpacker setParamCacher;
/** /**
* @brief Function to generate the command to set a parameter. Command * @brief Function to generate the command to set a parameter. Command
* will be sent to the ComIF over the rawPacket buffer. * will be sent to the ComIF over the rawPacket buffer.
*/ */
ReturnValue_t generateSetParamCommand(const uint8_t *commandData, size_t commandDataLen); ReturnValue_t generateSetParamCommand(const uint8_t *commandData, size_t commandDataLen);
/**
* Callback is called on a parameter set command. It is called before executing it and after
* after successful execution
* @param unpacker Passed before
* @param beforeSet False for callback before execution, true if called after successful
* execution
* @return
*/
virtual ReturnValue_t setParamCallback(SetParamMessageUnpacker &unpacker, bool afterExecution);
/** /**
* @brief Function to generate the command to get a parameter from a * @brief Function to generate the command to get a parameter from a
* gomspace device. Command will be sent to the ComIF over the * gomspace device. Command will be sent to the ComIF over the

8
mission/devices/GyroADIS1650XHandler.cpp
View File

@ -55,7 +55,7 @@ void GyroADIS1650XHandler::doStartUp() {
} }
if (internalState == InternalState::IDLE) { if (internalState == InternalState::IDLE) {
if(goToNormalMode) { if (goToNormalMode) {
setMode(MODE_NORMAL); setMode(MODE_NORMAL);
} else { } else {
setMode(MODE_ON); setMode(MODE_ON);
@ -211,7 +211,7 @@ ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
if (((adisType == ADIS1650X::Type::ADIS16507) and (readProdId != ADIS1650X::PROD_ID_16507)) or if (((adisType == ADIS1650X::Type::ADIS16507) and (readProdId != ADIS1650X::PROD_ID_16507)) or
((adisType == ADIS1650X::Type::ADIS16505) and (readProdId != ADIS1650X::PROD_ID_16505))) { ((adisType == ADIS1650X::Type::ADIS16505) and (readProdId != ADIS1650X::PROD_ID_16505))) {
#if OBSW_VERBOSE_LEVEL >= 1 #if OBSW_VERBOSE_LEVEL >= 1
if(warningSwitch) { if (warningSwitch) {
sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID " sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
<< readProdId << std::endl; << readProdId << std::endl;
} }
@ -327,9 +327,7 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
uint32_t GyroADIS1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { uint32_t GyroADIS1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 6000; }
return 6000;
}
void GyroADIS1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne, void GyroADIS1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
uint8_t valueTwo) { uint8_t valueTwo) {

15
mission/devices/IMTQHandler.cpp
View File

@ -2,7 +2,8 @@
#include <fsfw/datapool/PoolReadGuard.h> #include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/CRC.h> #include <fsfw/globalfunctions/CRC.h>
#include <math.h>
#include <cmath>
#include "OBSWConfig.h" #include "OBSWConfig.h"
@ -25,11 +26,11 @@ IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF* comC
IMTQHandler::~IMTQHandler() {} IMTQHandler::~IMTQHandler() {}
void IMTQHandler::doStartUp() { void IMTQHandler::doStartUp() {
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1 if (goToNormalMode) {
setMode(MODE_NORMAL); setMode(MODE_NORMAL);
#else } else {
setMode(_MODE_TO_ON); setMode(_MODE_TO_ON);
#endif }
} }
void IMTQHandler::doShutDown() { setMode(_MODE_POWER_DOWN); } void IMTQHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
@ -694,7 +695,7 @@ void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
#endif #endif
} }
void IMTQHandler::setModeNormal() { mode = MODE_NORMAL; } void IMTQHandler::setToGoToNormal(bool enable) { this->goToNormalMode = enable; }
void IMTQHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) { void IMTQHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
if (wiretappingMode == RAW) { if (wiretappingMode == RAW) {

3
mission/devices/IMTQHandler.h
View File

@ -18,7 +18,7 @@ class IMTQHandler : public DeviceHandlerBase {
/** /**
* @brief Sets mode to MODE_NORMAL. Can be used for debugging. * @brief Sets mode to MODE_NORMAL. Can be used for debugging.
*/ */
void setModeNormal(); void setToGoToNormal(bool enable);
protected: protected:
void doStartUp() override; void doStartUp() override;
@ -96,6 +96,7 @@ class IMTQHandler : public DeviceHandlerBase {
IMTQ::NegZSelfTestSet negZselfTestDataset; IMTQ::NegZSelfTestSet negZselfTestDataset;
uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE]; uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE];
bool goToNormalMode = false;
enum class CommunicationStep { enum class CommunicationStep {
GET_ENG_HK_DATA, GET_ENG_HK_DATA,

56
mission/devices/PDU1Handler.cpp
View File

@ -1,6 +1,7 @@
#include "PDU1Handler.h" #include "PDU1Handler.h"
#include <fsfw/datapool/PoolReadGuard.h> #include <fsfw/datapool/PoolReadGuard.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include "OBSWConfig.h" #include "OBSWConfig.h"
@ -67,6 +68,61 @@ void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
#endif #endif
} }
void PDU1Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
this->channelSwitchHook = hook;
this->hookArgs = args;
}
ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
bool afterExecution) {
using namespace PDU1;
GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU1;
if (not afterExecution) {
return HasReturnvaluesIF::RETURN_OK;
}
if (channelSwitchHook != nullptr and unpacker.getParameterSize() == 1) {
switch (unpacker.getAddress()) {
case (CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3): {
channelSwitchHook(pdu, 0, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_SYRLINKS): {
channelSwitchHook(pdu, 1, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_STAR_TRACKER): {
channelSwitchHook(pdu, 2, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_MGT): {
channelSwitchHook(pdu, 3, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL): {
channelSwitchHook(pdu, 4, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP): {
channelSwitchHook(pdu, 5, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_PLOC): {
channelSwitchHook(pdu, 6, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A): {
channelSwitchHook(pdu, 7, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_CHANNEL8): {
channelSwitchHook(pdu, 8, unpacker.getParameter()[0], hookArgs);
break;
}
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void PDU1Handler::parseHkTableReply(const uint8_t *packet) { void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
uint16_t dataOffset = 0; uint16_t dataOffset = 0;
PoolReadGuard pg(&pdu1HkTableDataset); PoolReadGuard pg(&pdu1HkTableDataset);

6
mission/devices/PDU1Handler.h
View File

@ -27,6 +27,8 @@ class PDU1Handler : public GomspaceDeviceHandler {
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override; LocalDataPoolManager& poolManager) override;
void assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void* args);
protected: protected:
/** /**
* @brief In MODE_NORMAL, a command will be built periodically by this function. * @brief In MODE_NORMAL, a command will be built periodically by this function.
@ -35,9 +37,13 @@ class PDU1Handler : public GomspaceDeviceHandler {
virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t* packet) override; virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t* packet) override;
ReturnValue_t printStatus(DeviceCommandId_t cmd) override; ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
ReturnValue_t setParamCallback(SetParamMessageUnpacker& unpacker, bool afterExectuion) override;
private: private:
/** Dataset for the housekeeping table of the PDU1 */ /** Dataset for the housekeeping table of the PDU1 */
PDU1::PDU1HkTableDataset pdu1HkTableDataset; PDU1::PDU1HkTableDataset pdu1HkTableDataset;
GOMSPACE::ChannelSwitchHook channelSwitchHook = nullptr;
void* hookArgs = nullptr;
void printHkTable(); void printHkTable();
void parseHkTableReply(const uint8_t* packet); void parseHkTableReply(const uint8_t* packet);

55
mission/devices/PDU2Handler.cpp
View File

@ -49,6 +49,11 @@ void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
#endif #endif
} }
void PDU2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
this->channelSwitchHook = hook;
this->hookArgs = args;
}
void PDU2Handler::parseHkTableReply(const uint8_t *packet) { void PDU2Handler::parseHkTableReply(const uint8_t *packet) {
uint16_t dataOffset = 0; uint16_t dataOffset = 0;
pdu2HkTableDataset.read(); pdu2HkTableDataset.read();
@ -421,3 +426,53 @@ void PDU2Handler::printHkTable() {
<< std::setw(4) << pdu2HkTableDataset.voltageOutPayloadCamera.value << std::right << std::setw(4) << pdu2HkTableDataset.voltageOutPayloadCamera.value << std::right
<< std::endl; << std::endl;
} }
ReturnValue_t PDU2Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
bool afterExecution) {
using namespace PDU2;
GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;
if (not afterExecution) {
return HasReturnvaluesIF::RETURN_OK;
}
if (channelSwitchHook != nullptr and unpacker.getParameterSize() == 1) {
switch (unpacker.getAddress()) {
case (CONFIG_ADDRESS_OUT_EN_Q7S): {
channelSwitchHook(pdu, 0, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1): {
channelSwitchHook(pdu, 1, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_RW): {
channelSwitchHook(pdu, 2, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN): {
channelSwitchHook(pdu, 3, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT): {
channelSwitchHook(pdu, 4, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM): {
channelSwitchHook(pdu, 5, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6PLOC): {
channelSwitchHook(pdu, 6, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B): {
channelSwitchHook(pdu, 7, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA): {
channelSwitchHook(pdu, 8, unpacker.getParameter()[0], hookArgs);
break;
}
}
}
return HasReturnvaluesIF::RETURN_OK;
}

4
mission/devices/PDU2Handler.h
View File

@ -26,6 +26,7 @@ class PDU2Handler : public GomspaceDeviceHandler {
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override; LocalDataPoolManager& poolManager) override;
void assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void* args);
protected: protected:
/** /**
@ -34,10 +35,13 @@ class PDU2Handler : public GomspaceDeviceHandler {
virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override; virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t* packet) override; virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t* packet) override;
ReturnValue_t printStatus(DeviceCommandId_t cmd) override; ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
ReturnValue_t setParamCallback(SetParamMessageUnpacker& unpacker, bool afterExecution) override;
private: private:
/** Dataset for the housekeeping table of the PDU2 */ /** Dataset for the housekeeping table of the PDU2 */
PDU2::PDU2HkTableDataset pdu2HkTableDataset; PDU2::PDU2HkTableDataset pdu2HkTableDataset;
GOMSPACE::ChannelSwitchHook channelSwitchHook = nullptr;
void* hookArgs = nullptr;
void printHkTable(); void printHkTable();

2
mission/devices/devicedefinitions/GPSDefinitions.h
View File

@ -55,7 +55,7 @@ class GpsPrimaryDataset : public StaticLocalDataSet<18> {
lp_var_t<uint32_t>(sid.objectId, GpsHyperion::UNIX_SECONDS, this); lp_var_t<uint32_t>(sid.objectId, GpsHyperion::UNIX_SECONDS, this);
private: private:
friend class GPSHyperionHandler; friend class GPSHyperionLinuxController;
GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner) GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {} : StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
}; };

69
mission/devices/devicedefinitions/GomspaceDefinitions.h
View File

@ -1,11 +1,3 @@
/*
* GomspaceDefinitions.h
*
* @brief This file holds all definitions specific for devices from gomspace.
* @date 20.12.2020
* @author J. Meier
*/
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_ #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_ #define MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_
@ -16,6 +8,11 @@
#include <cstdint> #include <cstdint>
namespace GOMSPACE { namespace GOMSPACE {
enum class Pdu { PDU1, PDU2 };
using ChannelSwitchHook = void (*)(Pdu pdu, uint8_t channel, bool on, void* args);
static const uint16_t IGNORE_CHECKSUM = 0xbb0; static const uint16_t IGNORE_CHECKSUM = 0xbb0;
/** The size of the header of a gomspace CSP packet. */ /** The size of the header of a gomspace CSP packet. */
static const uint8_t GS_HDR_LENGTH = 12; static const uint8_t GS_HDR_LENGTH = 12;
@ -363,6 +360,22 @@ enum P60SytemPoolIds : lp_id_t {
namespace P60Dock { namespace P60Dock {
enum SwitchChannels : uint8_t {
ACU = 0,
PDU1 = 1,
X3_IDLE = 2,
PDU2_VCC = 3,
ACU_VBAT = 4,
PDU1_VBAT = 5,
X3_IDLE_VBAT = 6,
PDU2_VBAT = 7,
STACK_VBAT = 8,
STACK_3V3 = 9,
STACK_5V = 10,
GS3V3 = 11,
GS5V = 12
};
/** Max reply size reached when requesting full hk table */ /** Max reply size reached when requesting full hk table */
static const uint16_t MAX_REPLY_LENGTH = 407; static const uint16_t MAX_REPLY_LENGTH = 407;
@ -611,19 +624,32 @@ static const uint8_t HK_TABLE_ENTRIES = 73;
namespace PDU1 { namespace PDU1 {
static const uint32_t HK_TABLE_DATA_SET_ID = 0x1; // hk table has table id 4 static const uint32_t HK_TABLE_DATA_SET_ID = 0x1; // hk table has table id 4
enum SwitchChannels : uint8_t {
TCS_BOARD_3V3 = 0,
SYRLINKS = 1,
STR = 2,
MGT = 3,
SUS_NOMINAL = 4,
SOL_CELL_EXPERIMENT = 5,
PLOC = 6,
ACS_A_SIDE = 7,
UNUSED = 8
};
/** /**
* Addresses within configuration table to enable or disable output channels. Refer also to * Addresses within configuration table to enable or disable output channels. Refer also to
* gs-man-nanopower-p60-pdu-200.pdf on page 16. * gs-man-nanopower-p60-pdu-200.pdf on page 16.
*/ */
static const uint16_t CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3 = 0x48; static const uint16_t CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3 = 0x48;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SYRLINKS = 0x49; static const uint16_t CONFIG_ADDRESS_OUT_EN_SYRLINKS = 0x49;
static const uint16_t CONFIG_ADDRESS_OUT_EN_STAR_TRACKER = 0x50; static const uint16_t CONFIG_ADDRESS_OUT_EN_STAR_TRACKER = 0x4A;
static const uint16_t CONFIG_ADDRESS_OUT_EN_MGT = 0x51; static const uint16_t CONFIG_ADDRESS_OUT_EN_MGT = 0x4B;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL = 0x52; static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL = 0x4C;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP = 0x53; static const uint16_t CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP = 0x4D;
static const uint16_t CONFIG_ADDRESS_OUT_EN_PLOC = 0x54; static const uint16_t CONFIG_ADDRESS_OUT_EN_PLOC = 0x4E;
static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A = 0x55; static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A = 0x4F;
static const uint16_t CONFIG_ADDRESS_OUT_EN_CHANNEL8 = 0x56; static const uint16_t CONFIG_ADDRESS_OUT_EN_CHANNEL8 = 0x50;
/** /**
* @brief This class defines a dataset for the hk table of the PDU1. * @brief This class defines a dataset for the hk table of the PDU1.
@ -799,6 +825,19 @@ class PDU1HkTableDataset : public StaticLocalDataSet<PDU::HK_TABLE_ENTRIES> {
namespace PDU2 { namespace PDU2 {
static const uint32_t HK_TABLE_DATA_SET_ID = 0x2; static const uint32_t HK_TABLE_DATA_SET_ID = 0x2;
enum SwitchChannels : uint8_t {
Q7S = 0,
PAYLOAD_PCDU_CH1 = 1,
RW = 2,
TCS_HEATER_IN = 3,
SUS_REDUNDANT = 4,
DEPY_MECHANISM = 5,
PAYLOAD_PCDU_CH6 = 6,
ACS_B_SIDE = 7,
PAYLOAD_CAMERA = 8
};
/** /**
* Addresses within configuration table to enable or disable output channels. Refer also to * Addresses within configuration table to enable or disable output channels. Refer also to
* gs-man-nanopower-p60-pdu-200.pdf on page 16. * gs-man-nanopower-p60-pdu-200.pdf on page 16.

52
mission/tmtc/CCSDSHandler.cpp
View File

@ -1,22 +1,24 @@
#include "CCSDSHandler.h" #include "CCSDSHandler.h"
#include <linux/obc/PdecHandler.h> #include <linux/obc/PdecHandler.h>
#include <linux/obc/PtmeConfig.h>
#include "fsfw/events/EventManagerIF.h" #include "fsfw/events/EventManagerIF.h"
#include "fsfw/ipc/QueueFactory.h" #include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serialize/SerializeAdapter.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h" #include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
CCSDSHandler::CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination, CCSDSHandler::CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
TxRateSetterIF* txRateSetterIF, GpioIF* gpioIF, gpioId_t enTxClock, PtmeConfig* ptmeConfig, GpioIF* gpioIF, gpioId_t enTxClock,
gpioId_t enTxData) gpioId_t enTxData)
: SystemObject(objectId), : SystemObject(objectId),
ptmeId(ptmeId), ptmeId(ptmeId),
tcDestination(tcDestination), tcDestination(tcDestination),
parameterHelper(this), parameterHelper(this),
actionHelper(this, nullptr), actionHelper(this, nullptr),
txRateSetterIF(txRateSetterIF), ptmeConfig(ptmeConfig),
gpioIF(gpioIF), gpioIF(gpioIF),
enTxClock(enTxClock), enTxClock(enTxClock),
enTxData(enTxData) { enTxData(enTxData) {
@ -110,6 +112,15 @@ ReturnValue_t CCSDSHandler::initialize() {
#endif #endif
return result; return result;
} }
result = ptmeConfig->initialize();
if (result != RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
#if OBSW_SYRLINKS_SIMULATED == 1
ptmeConfig->invertTxClock(true);
#endif /* OBSW_SYRLINKS_SIMULATED == 1*/
return result; return result;
} }
@ -189,26 +200,53 @@ MessageQueueId_t CCSDSHandler::getRequestQueue() {
ReturnValue_t CCSDSHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, ReturnValue_t CCSDSHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) { const uint8_t* data, size_t size) {
ReturnValue_t result = RETURN_OK;
switch (actionId) { switch (actionId) {
case SET_LOW_RATE: { case SET_LOW_RATE: {
txRateSetterIF->setRate(BitRates::RATE_400KHZ); result = ptmeConfig->setRate(RATE_100KBPS);
return EXECUTION_FINISHED; break;
} }
case SET_HIGH_RATE: { case SET_HIGH_RATE: {
txRateSetterIF->setRate(BitRates::RATE_2000KHZ); result = ptmeConfig->setRate(RATE_500KBPS);
return EXECUTION_FINISHED; break;
}
case ARBITRARY_RATE: {
uint32_t bitrate = 0;
SerializeAdapter::deSerialize(&bitrate, &data, &size, SerializeIF::Endianness::BIG);
result = ptmeConfig->setRate(bitrate);
break;
} }
case EN_TRANSMITTER: { case EN_TRANSMITTER: {
enableTransmit(); enableTransmit();
return EXECUTION_FINISHED; return EXECUTION_FINISHED;
} }
case DIS_TRANSMITTER: { case DISABLE_TRANSMITTER: {
disableTransmit(); disableTransmit();
return EXECUTION_FINISHED; return EXECUTION_FINISHED;
} }
case ENABLE_TX_CLK_MANIPULATOR: {
result = ptmeConfig->configTxManipulator(true);
break;
}
case DISABLE_TX_CLK_MANIPULATOR: {
result = ptmeConfig->configTxManipulator(false);
break;
}
case UPDATE_ON_RISING_EDGE: {
result = ptmeConfig->invertTxClock(false);
break;
}
case UPDATE_ON_FALLING_EDGE: {
result = ptmeConfig->invertTxClock(true);
break;
}
default: default:
return COMMAND_NOT_IMPLEMENTED; return COMMAND_NOT_IMPLEMENTED;
} }
if (result != RETURN_OK) {
return result;
}
return EXECUTION_FINISHED;
} }
void CCSDSHandler::checkEvents() { void CCSDSHandler::checkEvents() {

29
mission/tmtc/CCSDSHandler.h
View File

@ -17,12 +17,15 @@
#include "fsfw/tmtcservices/AcceptsTelemetryIF.h" #include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
#include "fsfw_hal/common/gpio/GpioIF.h" #include "fsfw_hal/common/gpio/GpioIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h" #include "fsfw_hal/common/gpio/gpioDefinitions.h"
#include "linux/obc/TxRateSetterIF.h" #include "linux/obc/PtmeConfig.h"
/** /**
* @brief This class handles the data exchange with the CCSDS IP cores implemented in the * @brief This class handles the data exchange with the CCSDS IP cores implemented in the
* programmable logic of the Q7S. * programmable logic of the Q7S.
* *
* @details After reboot default CADU bitrate is always set to 100 kbps (results in downlink rate
* of 200 kbps due to convolutional code added by syrlinks transceiver)
*
* @author J. Meier * @author J. Meier
*/ */
class CCSDSHandler : public SystemObject, class CCSDSHandler : public SystemObject,
@ -48,8 +51,7 @@ class CCSDSHandler : public SystemObject,
* @param enTxData GPIO ID of RS485 tx data enable * @param enTxData GPIO ID of RS485 tx data enable
*/ */
CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination, CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
TxRateSetterIF* txRateSetterIF, GpioIF* gpioIF, gpioId_t enTxClock, PtmeConfig* ptmeConfig, GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData);
gpioId_t enTxData);
~CCSDSHandler(); ~CCSDSHandler();
@ -84,18 +86,31 @@ class CCSDSHandler : public SystemObject,
static const ActionId_t SET_LOW_RATE = 0; static const ActionId_t SET_LOW_RATE = 0;
static const ActionId_t SET_HIGH_RATE = 1; static const ActionId_t SET_HIGH_RATE = 1;
static const ActionId_t EN_TRANSMITTER = 2; static const ActionId_t EN_TRANSMITTER = 2;
static const ActionId_t DIS_TRANSMITTER = 3; static const ActionId_t DISABLE_TRANSMITTER = 3;
static const ActionId_t ARBITRARY_RATE = 4;
static const ActionId_t ENABLE_TX_CLK_MANIPULATOR = 5;
static const ActionId_t DISABLE_TX_CLK_MANIPULATOR = 6;
// Will update data with respect to tx clock signal of cadu bitsream on rising edge
static const ActionId_t UPDATE_ON_RISING_EDGE = 7;
// Will update data with respect to tx clock signal of cadu bitsream on falling edge
static const ActionId_t UPDATE_ON_FALLING_EDGE = 8;
// Syrlinks supports two bitrates (200 kbps and 1000 kbps)
// Due to convolutional code added by the syrlinks the input frequency must be half the
// target frequency
static const uint32_t RATE_100KBPS = 100000;
static const uint32_t RATE_500KBPS = 500000;
//! [EXPORT] : [COMMENT] Received action message with unknown action id //! [EXPORT] : [COMMENT] Received action message with unknown action id
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xA0); static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xA0);
#if TMTC_TEST_SETUP == 0 #if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
// syrlinks must not be transmitting more than 15 minutes (according to datasheet) // syrlinks must not be transmitting more than 15 minutes (according to datasheet)
static const uint32_t TRANSMITTER_TIMEOUT = 900000; // 900000 ms = 15 min static const uint32_t TRANSMITTER_TIMEOUT = 900000; // 900000 ms = 15 min
#else #else
// Set to high value when not sending via syrlinks // Set to high value when not sending via syrlinks
static const uint32_t TRANSMITTER_TIMEOUT = 86400000; // 1 day static const uint32_t TRANSMITTER_TIMEOUT = 86400000; // 1 day
#endif /* TMTC_TEST_SETUP == 0 */ #endif /* OBSW_SYRLINKS_DOWNLINK == 0 */
static const bool UP = true; static const bool UP = true;
static const bool DOWN = false; static const bool DOWN = false;
@ -119,7 +134,7 @@ class CCSDSHandler : public SystemObject,
MessageQueueId_t tcDistributorQueueId; MessageQueueId_t tcDistributorQueueId;
TxRateSetterIF* txRateSetterIF = nullptr; PtmeConfig* ptmeConfig = nullptr;
GpioIF* gpioIF = nullptr; GpioIF* gpioIF = nullptr;
gpioId_t enTxClock = gpio::NO_GPIO; gpioId_t enTxClock = gpio::NO_GPIO;

63
scripts/q7s-cp.py
View File

@ -1,44 +1,75 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import argparse import argparse
import os import os
import sys
def main(): def main():
args = handle_args() args = handle_args()
cmd = build_cmd(args) cmd = build_cmd(args)
# Run the command # Run the command
print(f'Running command: {cmd}') print(f"Running command: {cmd}")
result = os.system(cmd) result = os.system(cmd)
if result != 0: if result != 0:
print('') print("")
print('Removing problematic SSH key and trying again..') print("Removing problematic SSH key and trying again..")
remove_ssh_key_cmd = 'ssh-keygen -f "${HOME}/.ssh/known_hosts" -R "[localhost]:1535"' remove_ssh_key_cmd = (
'ssh-keygen -f "${HOME}/.ssh/known_hosts" -R "[localhost]:1535"'
)
os.system(remove_ssh_key_cmd) os.system(remove_ssh_key_cmd)
print(f'Running command "{cmd}"')
result = os.system(cmd) result = os.system(cmd)
def handle_args(): def handle_args():
help_string = 'This script copies files to the Q7S as long as port forwarding is active.\n' help_string = (
help_string += 'You can set up port forwarding with ' \ "This script copies files to the Q7S as long as port forwarding is active.\n"
'"ssh -L 1535:192.168.133.10:22 <eive-flatsat-ip>" -t /bin/bash'
parser = argparse.ArgumentParser(
description=help_string
) )
help_string += (
"You can set up port forwarding with "
'"ssh -L 1535:192.168.133.10:22 <eive-flatsat-ip>" -t /bin/bash'
)
parser = argparse.ArgumentParser(description=help_string)
# Optional arguments # Optional arguments
parser.add_argument('-r', '--recursive', dest='recursive', default=False, action='store_true') parser.add_argument(
parser.add_argument('-t', '--target', help='Target destination', default='/tmp') "-r", "--recursive", dest="recursive", default=False, action="store_true"
parser.add_argument('-P', '--port', help='Target port', default=1535) )
parser.add_argument(
"-t",
"--target",
help="Target destination. If files are copied to Q7S, will be /tmp by default. "
"If files are copied back to host, will be current directory by default",
default="",
)
parser.add_argument("-P", "--port", help="Target port", default=1535)
parser.add_argument(
"-i",
"--invert",
default=False,
action="store_true",
help="Copy from Q7S to host instead. Always copies to current directory.",
)
# Positional argument(s) # Positional argument(s)
parser.add_argument('source', help='Source files to copy') parser.add_argument(
"source", help="Source files to copy or target files to copy back to host"
)
return parser.parse_args() return parser.parse_args()
def build_cmd(args): def build_cmd(args):
# Build run command # Build run command
cmd = 'scp ' cmd = "scp "
if args.recursive: if args.recursive:
cmd += '-r ' cmd += "-r "
cmd += f'-P {args.port} {args.source} root@localhost:' target = args.target
if args.invert and target == "":
target = "."
elif target == "":
target = f"/tmp"
if args.invert:
cmd += f"-P {args.port} root@localhost:{args.source} {target}"
else:
cmd += f"-P {args.port} {args.source} root@localhost:{target}"
if args.target: if args.target:
cmd += args.target cmd += args.target
return cmd return cmd

2
tmtc

@ -1 +1 @@
Subproject commit 6f24d6a83995ca7a895c17a77a00bceac4d7f141 Subproject commit 8da50e2c3f709def5b26fd9df1cd23beac35482e