tmp1075 handler, wip

bsp_q7s/InitMission.cpp

@@ -125,17 +125,21 @@ void InitMission::initTasks(){
 		sif::error << "Object add component failed" << std::endl;
 	}
 
-//	PeriodicTaskIF* P60DockTask = TaskFactory::instance()->
-//			createPeriodicTask("P60Dock Task", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE*4,
-//					1.6, nullptr);
-//	result = P60DockTask->addComponent(objects::P60DOCK_HANDLER);
-//	if(result!=HasReturnvaluesIF::RETURN_OK){
-//		sif::error << "Object add component failed" << std::endl;
-//	}
+	//TODO: Add handling of missed deadlines
+	/* Polling Sequence Table Default */
+	FixedTimeslotTaskIF * PollingSequenceTableTaskDefault =
+			TaskFactory::instance()->createFixedTimeslotTask("PST_TASK_DEFAULT",
+					50, PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 3.0,
+					nullptr);
+	result = pst::pollingSequenceInitDefault(PollingSequenceTableTaskDefault);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "InitMission::initTasks: Creating PST failed!"
+				<< std::endl;
+	}
 
 	FixedTimeslotTaskIF* GomSpacePstTask = TaskFactory::instance()->
 			createFixedTimeslotTask("GS_PST_TASK", 50,
-					PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 1.0, nullptr);
+					PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 3.0, nullptr);
 	result = pst::gomspacePstInit(GomSpacePstTask);
 	if(result != HasReturnvaluesIF::RETURN_OK) {
 		sif::error << "InitMission::initTasks: GomSpace PST initialization "
@@ -161,7 +165,8 @@ void InitMission::initTasks(){
 	UdpBridgeTask->startTask();
 	UdpPollingTask->startTask();
 
-	GomSpacePstTask->startTask();
+//	GomSpacePstTask->startTask();
+	PollingSequenceTableTaskDefault->startTask();
 
 	PusVerification->startTask();
 	PusEvents->startTask();
@@ -169,8 +174,6 @@ void InitMission::initTasks(){
 	PusMedPrio->startTask();
 	PusLowPrio->startTask();
 
-//	P60DockTask->startTask();
-
 #if OBSW_ADD_TEST_CODE == 1
 //	TestTimeslotTask->startTask();
 #endif

bsp_q7s/ObjectFactory.cpp

@@ -13,12 +13,15 @@
 
 #include <mission/core/GenericFactory.h>
 #include <mission/devices/GomspaceDeviceHandler.h>
+#include <mission/devices/Tmp1075Handler.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 #include <mission/utility/TmFunnel.h>
 
 #include <bsp_q7s/comIF/cookies/CspCookie.h>
+#include <bsp_q7s/comIF/cookies/I2cCookie.h>
 #include <bsp_q7s/comIF/CspComIF.h>
+#include <bsp_q7s/comIF/I2cComIF.h>
 
 void Factory::setStaticFrameworkObjectIds() {
 	PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@@ -52,9 +55,12 @@ void ObjectFactory::produce(){
 			addresses::PDU2);
 	CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
 				addresses::ACU);
+	I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
+			TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
 
     /* Communication interfaces */
 	new CspComIF(objects::CSP_COM_IF);
+	new I2cComIF(objects::I2C_COM_IF);
 
     /* Device Handler */
 	new GomspaceDeviceHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
@@ -69,6 +75,11 @@ void ObjectFactory::produce(){
 	new GomspaceDeviceHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
 				acuCspCookie, ACU::MAX_CONFIGTABLE_ADDRESS,
 				ACU::MAX_HKTABLE_ADDRESS);
+	Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
+			objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
+			i2cCookieTmp1075tcs1);
+	tmp1075Handler_1->setStartUpImmediately();
+
 
 	new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
 			objects::CCSDS_PACKET_DISTRIBUTOR,

bsp_q7s/comIF/CMakeLists.txt

@@ -1,6 +1,8 @@
 target_sources(${TARGET_NAME} PRIVATE
 	cookies/CspCookie.cpp
+	cookies/I2cCookie.cpp
 	CspComIF.cpp
+	I2cComIF.cpp
 )
 
 

bsp_q7s/comIF/I2cComIF.cpp

@@ -0,0 +1,158 @@
+#include <bsp_q7s/comIF/I2cComIF.h>
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <linux/i2c-dev.h>
+#include <errno.h>
+#include <string.h>
+
+
+I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
+}
+
+I2cComIF::~I2cComIF() {}
+
+ReturnValue_t I2cComIF::initializeInterface(CookieIF * cookie) {
+	if(cookie == nullptr) {
+		return NULLPOINTER;
+	}
+	I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+	if(i2cCookie == nullptr) {
+	    sif::error << "I2cComIF: Invalid I2C Cookie!"
+	            << std::endl;
+	    return NULLPOINTER;
+	}
+
+	address_t i2cAddress = i2cCookie->getAddress();
+
+	int fd;
+	std::string deviceFile = i2cCookie->getDeviceFile();
+	/* Opening i2c device in non-blocking mode */
+	fd = open("/dev/i2c-0", O_RDWR);
+	if (fd < 0) {
+		sif::error << "I2cComIF: Opening i2c device failed with error code "
+				<< errno << ". Error description: " << strerror(errno)
+				<< std::endl;
+	}
+
+	if (ioctl(fd, I2C_SLAVE, i2cAddress) < 0) {
+		sif::error << "I2cComIF: Specifying target device failed with error "
+				<< "code " << errno << ". Error description "
+				<< strerror(errno) << std::endl;
+	}
+
+	i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+	if(i2cDeviceMapIter == i2cDeviceMap.end()) {
+		size_t maxReplyLen = i2cCookie->getMaxReplyLen();
+		I2cInstance_t i2cInstance = {fd, std::vector<uint8_t>(maxReplyLen), 0};
+		i2cDeviceMap.emplace(i2cAddress, i2cInstance);
+	}
+	else {
+		sif::error << "I2cComIF: Device with address " << i2cAddress
+				<< "already in use" << std::endl;
+	}
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
+        const uint8_t *sendData, size_t sendLen) {
+
+	if(sendData == nullptr) {
+	    sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
+	            << std::endl;
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(sendLen == 0) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+	if(i2cCookie == nullptr) {
+		sif::error << "I2cComIF::sendMessasge: Invalid I2C Cookie!"
+				<< std::endl;
+		return NULLPOINTER;
+	}
+
+	address_t i2cAddress = i2cCookie->getAddress();
+	i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+	if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+		sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
+				<< "registered in i2cDeviceMap" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	int fd = i2cDeviceMapIter->second.fileDescriptor;
+
+	if (write(fd, sendData, sendLen) != (int)sendLen) {
+		sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
+				"device with error code " << errno << ". Error description: "
+				<< strerror(errno) << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
+		size_t requestLen) {
+
+	if (requestLen == 0) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+	if(i2cCookie == nullptr) {
+		sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!"
+				<< std::endl;
+		return NULLPOINTER;
+	}
+
+	address_t i2cAddress = i2cCookie->getAddress();
+	i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+	if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+		sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
+				<< "registered in i2cDeviceMap" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	int fd = i2cDeviceMapIter->second.fileDescriptor;
+	uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
+
+	if (read(fd, replyBuffer, requestLen) != (int)requestLen) {
+		sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
+				<< "device failed with error code " << errno <<". Description"
+				<< " of error: " << strerror(errno) << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	i2cDeviceMapIter->second.replyLen = requestLen;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
+		uint8_t **buffer, size_t* size) {
+	I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+	if(i2cCookie == nullptr) {
+		sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!"
+				<< std::endl;
+		return NULLPOINTER;
+	}
+
+	address_t i2cAddress = i2cCookie->getAddress();
+	i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+	if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+		sif::error << "I2cComIF::getReplyBuffer: i2cAddress of Cookie not "
+				<< "registered in i2cDeviceMap" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	*buffer = i2cDeviceMapIter->second.replyBuffer.data();
+	*size = i2cDeviceMapIter->second.replyLen;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}

bsp_q7s/comIF/I2cComIF.h

@@ -0,0 +1,49 @@
+#ifndef BSP_Q7S_COMIF_I2COMIF_H_
+#define BSP_Q7S_COMIF_I2COMIF_H_
+
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <bsp_q7s/comIF/cookies/I2cCookie.h>
+
+#include <unordered_map>
+#include <vector>
+
+/**
+ * @brief 	This is the communication interface for i2c devices connected
+ * 			to a system running a linux OS.
+ *
+ * @author 	J. Meier
+ */
+class I2cComIF: public DeviceCommunicationIF, public SystemObject {
+public:
+	I2cComIF(object_id_t objectId);
+
+	virtual ~I2cComIF();
+
+	ReturnValue_t initializeInterface(CookieIF * cookie) override;
+	ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+			size_t sendLen) override;
+	ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+	ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+	        size_t requestLen) override;
+	ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+			size_t *size) override;
+
+private:
+
+	typedef struct I2cInstance {
+		int fileDescriptor;
+		std::vector<uint8_t> replyBuffer;
+		size_t replyLen;
+	} I2cInstance_t;
+
+	using I2cDeviceMap = std::unordered_map<address_t, I2cInstance_t>;
+	using I2cDeviceMapIter = I2cDeviceMap::iterator;
+
+	/* In this map all i2c devices will be registered with their address and
+	 * the appropriate file descriptor will be stored */
+	I2cDeviceMap i2cDeviceMap;
+	I2cDeviceMapIter i2cDeviceMapIter;
+};
+
+#endif /* BSP_Q7S_COMIF_I2COMIF_H_ */

bsp_q7s/comIF/cookies/I2cCookie.cpp

@@ -0,0 +1,21 @@
+#include <bsp_q7s/comIF/cookies/I2cCookie.h>
+
+I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
+		std::string deviceFile_) :
+		i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(
+				deviceFile_) {
+}
+
+address_t I2cCookie::getAddress() const {
+	return i2cAddress;
+}
+
+size_t I2cCookie::getMaxReplyLen() const {
+	return maxReplyLen;
+}
+
+std::string I2cCookie::getDeviceFile() const {
+	return deviceFile;
+}
+
+I2cCookie::~I2cCookie() {}

bsp_q7s/comIF/cookies/I2cCookie.h

@@ -0,0 +1,37 @@
+#ifndef SAM9G20_COMIF_COOKIES_I2C_COOKIE_H_
+#define SAM9G20_COMIF_COOKIES_I2C_COOKIE_H_
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <string>
+
+/**
+ * @brief   Cookie for the i2cDeviceComIF.
+ *
+ * @author 	J. Meier
+ */
+class I2cCookie: public CookieIF {
+public:
+
+	/**
+	 * @brief	Constructor for the I2C cookie.
+	 * @param i2cAddress_	The i2c address of the target device.
+	 * @param maxReplyLen	The maximum expected length of a reply from the
+	 * 						target device.
+	 */
+	I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
+			std::string deviceFile_);
+
+	virtual ~I2cCookie();
+
+	address_t getAddress() const;
+	size_t getMaxReplyLen() const;
+	std::string getDeviceFile() const;
+
+private:
+
+	address_t i2cAddress = 0;
+	size_t maxReplyLen = 0;
+	std::string deviceFile;
+};
+
+#endif