eive/eive-obsw
eive/eive-obsw
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This commit is contained in:
Robin Müller 2022-01-17 13:48:55 +01:00
parent 0d03f66e9d
commit e6d8d24cd5
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GPG Key ID: 11D4952C8CCEF814
207 changed files with 28889 additions and 30270 deletions
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46
bsp_hosted/InitMission.cpp
View File

@ -1,20 +1,19 @@
#include "InitMission.h" #include "InitMission.h"
#include "ObjectFactory.h"
#include <OBSWConfig.h> #include <OBSWConfig.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/ObjectManagerIF.h> #include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h> #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h> #include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h> #include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h> #include <fsfw/tasks/TaskFactory.h>
#include <mission/utility/InitMission.h> #include <mission/utility/InitMission.h>
#include <iostream> #include <iostream>
#include "ObjectFactory.h"
#ifdef LINUX #ifdef LINUX
ServiceInterfaceStream sif::debug("DEBUG"); ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO"); ServiceInterfaceStream sif::info("INFO");
@ -27,7 +26,7 @@ ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true); ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif #endif
ObjectManagerIF *objectManager = nullptr; ObjectManagerIF* objectManager = nullptr;
void initmission::initMission() { void initmission::initMission() {
sif::info << "Building global objects.." << std::endl; sif::info << "Building global objects.." << std::endl;
@ -42,30 +41,29 @@ void initmission::initMission() {
void initmission::initTasks() { void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance(); TaskFactory* factory = TaskFactory::instance();
if(factory == nullptr) { if (factory == nullptr) {
/* Should never happen ! */ /* Should never happen ! */
return; return;
} }
#if OBSW_PRINT_MISSED_DEADLINES == 1 #if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline; void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else #else
void (*missedDeadlineFunc) (void) = nullptr; void (*missedDeadlineFunc)(void) = nullptr;
#endif #endif
/* TMTC Distribution */ /* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
ReturnValue_t result = tmTcDistributor->addComponent( ReturnValue_t result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
objects::CCSDS_PACKET_DISTRIBUTOR); if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR); result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
result = tmTcDistributor->addComponent(objects::TM_FUNNEL); result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
@ -73,13 +71,13 @@ void initmission::initTasks() {
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask( PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TMTC_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "TMTC_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE); result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl; sif::error << "Add component UDP Unix Bridge failed" << std::endl;
} }
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask( PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK); result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl; sif::error << "Add component UDP Polling failed" << std::endl;
} }
@ -87,47 +85,47 @@ void initmission::initTasks() {
PeriodicTaskIF* pusVerification = factory->createPeriodicTask( PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION); result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
PeriodicTaskIF* pusEvents = factory->createPeriodicTask( PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING); result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING); initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
} }
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask( PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS); result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS); initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
} }
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT); result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT); initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
} }
PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask( PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc); "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT); result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT); initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT); result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT); initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS); result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS); initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
} }
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask( PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc); "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST); result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST); initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
} }
@ -135,7 +133,7 @@ void initmission::initTasks() {
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
result = testTask->addComponent(objects::TEST_TASK); result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK); initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
} }
#endif /* OBSW_ADD_TEST_CODE == 1 */ #endif /* OBSW_ADD_TEST_CODE == 1 */

2
bsp_hosted/InitMission.h
View File

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

17
bsp_hosted/ObjectFactory.cpp
View File

@ -1,14 +1,14 @@
#include "ObjectFactory.h" #include "ObjectFactory.h"
#include "OBSWConfig.h"
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>
#include <objects/systemObjectList.h> #include <objects/systemObjectList.h>
#include <tmtc/apid.h> #include <tmtc/apid.h>
#include <tmtc/pusIds.h> #include <tmtc/pusIds.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h> #include "OBSWConfig.h"
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>
#if OBSW_USE_TMTC_TCP_BRIDGE == 0 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
#include "fsfw/osal/common/UdpTcPollingTask.h" #include "fsfw/osal/common/UdpTcPollingTask.h"
@ -20,12 +20,11 @@
#include <fsfw/tmtcpacket/pus/tm.h> #include <fsfw/tmtcpacket/pus/tm.h>
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
#include <test/testtasks/TestTask.h> #include <test/testtasks/TestTask.h>
#endif #endif
void Factory::setStaticFrameworkObjectIds(){ void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR; PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL; PusServiceBase::packetDestination = objects::TM_FUNNEL;
@ -40,7 +39,7 @@ void Factory::setStaticFrameworkObjectIds(){
TmPacketBase::timeStamperId = objects::TIME_STAMPER; TmPacketBase::timeStamperId = objects::TIME_STAMPER;
} }
void ObjectFactory::produce(void* args){ void ObjectFactory::produce(void* args) {
Factory::setStaticFrameworkObjectIds(); Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects(); ObjectFactory::produceGenericObjects();

7
bsp_hosted/ObjectFactory.h
View File

@ -1,10 +1,9 @@
#ifndef BSP_LINUX_OBJECTFACTORY_H_ #ifndef BSP_LINUX_OBJECTFACTORY_H_
#define BSP_LINUX_OBJECTFACTORY_H_ #define BSP_LINUX_OBJECTFACTORY_H_
namespace ObjectFactory { namespace ObjectFactory {
void setStatics(); void setStatics();
void produce(void* args); void produce(void* args);
}; }; // namespace ObjectFactory
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */ #endif /* BSP_LINUX_OBJECTFACTORY_H_ */

3
bsp_hosted/boardconfig/gcov.h
View File

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

6
bsp_hosted/boardconfig/print.c
View File

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

179
bsp_hosted/comIF/ArduinoComIF.cpp
View File

@ -1,32 +1,31 @@
#include "ArduinoComIF.h" #include "ArduinoComIF.h"
#include "ArduinoCookie.h"
#include <fsfw/globalfunctions/DleEncoder.h>
#include <fsfw/globalfunctions/CRC.h> #include <fsfw/globalfunctions/CRC.h>
#include <fsfw/globalfunctions/DleEncoder.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h> #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include "ArduinoCookie.h"
// This only works on Linux // This only works on Linux
#ifdef LINUX #ifdef LINUX
#include <termios.h>
#include <fcntl.h> #include <fcntl.h>
#include <termios.h>
#include <unistd.h> #include <unistd.h>
#elif WIN32 #elif WIN32
#include <windows.h>
#include <strsafe.h> #include <strsafe.h>
#include <windows.h>
#endif #endif
#include <cstring> #include <cstring>
ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF, ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF, const char *serialDevice)
const char *serialDevice): : rxBuffer(MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES * 10, true), SystemObject(setObjectId) {
rxBuffer(MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true),
SystemObject(setObjectId) {
#ifdef LINUX #ifdef LINUX
initialized = false; initialized = false;
serialPort = ::open("/dev/ttyUSB0", O_RDWR); serialPort = ::open("/dev/ttyUSB0", O_RDWR);
if (serialPort < 0) { if (serialPort < 0) {
//configuration error // configuration error
printf("Error %i from open: %s\n", errno, strerror(errno)); printf("Error %i from open: %s\n", errno, strerror(errno));
return; return;
} }
@ -44,73 +43,64 @@ ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF,
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
tty.c_cflag |= CS8; // 8 bits per byte tty.c_cflag |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_lflag &= ~ICANON; //Disable Canonical Mode tty.c_lflag &= ~ICANON; // Disable Canonical Mode
tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars) tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
tty.c_cc[VTIME] = 0; // Non Blocking tty.c_cc[VTIME] = 0; // Non Blocking
tty.c_cc[VMIN] = 0; tty.c_cc[VMIN] = 0;
cfsetispeed(&tty, B9600); //Baudrate cfsetispeed(&tty, B9600); // Baudrate
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
//printf("Error %i from tcsetattr: %s\n", errno, strerror(errno)); // printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
return; return;
} }
initialized = true; initialized = true;
#elif WIN32 #elif WIN32
DCB serialParams = { 0 }; DCB serialParams = {0};
// we need to ask the COM port from the user. // we need to ask the COM port from the user.
if(promptComIF) { if (promptComIF) {
sif::info << "Please enter the COM port (c to cancel): " << std::flush; sif::info << "Please enter the COM port (c to cancel): " << std::flush;
std::string comPort; std::string comPort;
while(hCom == INVALID_HANDLE_VALUE) { while (hCom == INVALID_HANDLE_VALUE) {
std::getline(std::cin, comPort); std::getline(std::cin, comPort);
if(comPort[0] == 'c') { if (comPort[0] == 'c') {
break; break;
} }
const TCHAR *pcCommPort = comPort.c_str(); const TCHAR *pcCommPort = comPort.c_str();
hCom = CreateFileA(pcCommPort, //port name hCom = CreateFileA(pcCommPort, // port name
GENERIC_READ | GENERIC_WRITE, //Read/Write GENERIC_READ | GENERIC_WRITE, // Read/Write
0, // No Sharing 0, // No Sharing
NULL, // No Security NULL, // No Security
OPEN_EXISTING,// Open existing port only OPEN_EXISTING, // Open existing port only
0, // Non Overlapped I/O 0, // Non Overlapped I/O
NULL); // Null for Comm Devices NULL); // Null for Comm Devices
if (hCom == INVALID_HANDLE_VALUE) if (hCom == INVALID_HANDLE_VALUE) {
{ if (GetLastError() == 2) {
if(GetLastError() == 2) {
sif::error << "COM Port does not found!" << std::endl; sif::error << "COM Port does not found!" << std::endl;
} } else {
else {
TCHAR err[128]; TCHAR err[128];
FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, GetLastError(),
GetLastError(), MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), err, sizeof(err), NULL);
MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
err, sizeof(err), NULL);
// Handle the error. // Handle the error.
sif::info << "CreateFileA Error code: " << GetLastError() sif::info << "CreateFileA Error code: " << GetLastError() << std::endl;
<< std::endl;
sif::error << err << std::flush; sif::error << err << std::flush;
} }
sif::info << "Please enter a valid COM port: " << std::flush; sif::info << "Please enter a valid COM port: " << std::flush;
} }
} }
} }
serialParams.DCBlength = sizeof(serialParams); serialParams.DCBlength = sizeof(serialParams);
if(baudRate == 9600) { if (baudRate == 9600) {
serialParams.BaudRate = CBR_9600; serialParams.BaudRate = CBR_9600;
} }
if(baudRate == 115200) { if (baudRate == 115200) {
serialParams.BaudRate = CBR_115200; serialParams.BaudRate = CBR_115200;
} } else {
else {
serialParams.BaudRate = baudRate; serialParams.BaudRate = baudRate;
} }
@ -119,7 +109,7 @@ ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF,
serialParams.StopBits = ONESTOPBIT; serialParams.StopBits = ONESTOPBIT;
SetCommState(hCom, &serialParams); SetCommState(hCom, &serialParams);
COMMTIMEOUTS timeout = { 0 }; COMMTIMEOUTS timeout = {0};
// This will set the read operation to be blocking until data is received // This will set the read operation to be blocking until data is received
// and then read continuously until there is a gap of one millisecond. // and then read continuously until there is a gap of one millisecond.
timeout.ReadIntervalTimeout = 1; timeout.ReadIntervalTimeout = 1;
@ -139,36 +129,29 @@ ArduinoComIF::~ArduinoComIF() {
CloseHandle(hCom); CloseHandle(hCom);
#endif #endif
} }
ReturnValue_t ArduinoComIF::initializeInterface(CookieIF * cookie) { ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, size_t len) {
size_t len) { ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
if (arduinoCookie == nullptr) { if (arduinoCookie == nullptr) {
return INVALID_COOKIE_TYPE; return INVALID_COOKIE_TYPE;
} }
return sendMessage(arduinoCookie->command, arduinoCookie->address, data, return sendMessage(arduinoCookie->command, arduinoCookie->address, data, len);
len);
} }
ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { return RETURN_OK; }
ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie, ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
size_t requestLen) {
return RETURN_OK;
}
ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) {
handleSerialPortRx(); handleSerialPortRx();
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie); ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
if (arduinoCookie == nullptr) { if (arduinoCookie == nullptr) {
return INVALID_COOKIE_TYPE; return INVALID_COOKIE_TYPE;
} }
@ -178,13 +161,13 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const uint8_t *data,
uint8_t address, const uint8_t *data, size_t dataLen) { size_t dataLen) {
if (dataLen > UINT16_MAX) { if (dataLen > UINT16_MAX) {
return TOO_MUCH_DATA; return TOO_MUCH_DATA;
} }
//being conservative here // being conservative here
uint8_t sendBuffer[(dataLen + 6) * 2 + 2]; uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
sendBuffer[0] = DleEncoder::STX_CHAR; sendBuffer[0] = DleEncoder::STX_CHAR;
@ -193,61 +176,59 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
size_t remainingLen = sizeof(sendBuffer) - 1; size_t remainingLen = sizeof(sendBuffer) - 1;
size_t encodedLen = 0; size_t encodedLen = 0;
ReturnValue_t result = DleEncoder::encode(&command, 1, currentPosition, ReturnValue_t result =
remainingLen, &encodedLen, false); DleEncoder::encode(&command, 1, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
currentPosition += encodedLen; currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, &encodedLen, false);
&encodedLen, false);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
currentPosition += encodedLen; currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
uint8_t temporaryBuffer[2]; uint8_t temporaryBuffer[2];
//note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much... // note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
temporaryBuffer[0] = dataLen >> 8; //we checked dataLen above temporaryBuffer[0] = dataLen >> 8; // we checked dataLen above
temporaryBuffer[1] = dataLen; temporaryBuffer[1] = dataLen;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition, result =
remainingLen, &encodedLen, false); DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
currentPosition += encodedLen; currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
//encoding the actual data // encoding the actual data
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen, result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen, &encodedLen, false);
&encodedLen, false);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
currentPosition += encodedLen; currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
uint16_t crc = CRC::crc16ccitt(&command, 1); uint16_t crc = CRC::crc16ccitt(&command, 1);
crc = CRC::crc16ccitt(&address, 1, crc); crc = CRC::crc16ccitt(&address, 1, crc);
//fortunately the length is still there // fortunately the length is still there
crc = CRC::crc16ccitt(temporaryBuffer, 2, crc); crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
crc = CRC::crc16ccitt(data, dataLen, crc); crc = CRC::crc16ccitt(data, dataLen, crc);
temporaryBuffer[0] = crc >> 8; temporaryBuffer[0] = crc >> 8;
temporaryBuffer[1] = crc; temporaryBuffer[1] = crc;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition, result =
remainingLen, &encodedLen, false); DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
currentPosition += encodedLen; currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
if (remainingLen > 0) { if (remainingLen > 0) {
*currentPosition = DleEncoder::ETX_CHAR; *currentPosition = DleEncoder::ETX_CHAR;
@ -259,12 +240,12 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
#ifdef LINUX #ifdef LINUX
ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen); ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen);
if (writtenlen < 0) { if (writtenlen < 0) {
//we could try to find out what happened... // we could try to find out what happened...
return RETURN_FAILED; return RETURN_FAILED;
} }
if (writtenlen != encodedLen) { if (writtenlen != encodedLen) {
//the OS failed us, we do not try to block until everything is written, as // the OS failed us, we do not try to block until everything is written, as
//we can not block the whole system here // we can not block the whole system here
return RETURN_FAILED; return RETURN_FAILED;
} }
return RETURN_OK; return RETURN_OK;
@ -279,8 +260,7 @@ void ArduinoComIF::handleSerialPortRx() {
uint8_t dataFromSerial[availableSpace]; uint8_t dataFromSerial[availableSpace];
ssize_t bytesRead = read(serialPort, dataFromSerial, ssize_t bytesRead = read(serialPort, dataFromSerial, sizeof(dataFromSerial));
sizeof(dataFromSerial));
if (bytesRead < 0) { if (bytesRead < 0) {
return; return;
@ -292,18 +272,17 @@ void ArduinoComIF::handleSerialPortRx() {
uint32_t dataLenReceivedSoFar = 0; uint32_t dataLenReceivedSoFar = 0;
rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true, rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true, &dataLenReceivedSoFar);
&dataLenReceivedSoFar);
//look for STX // look for STX
size_t firstSTXinRawData = 0; size_t firstSTXinRawData = 0;
while ((firstSTXinRawData < dataLenReceivedSoFar) while ((firstSTXinRawData < dataLenReceivedSoFar) &&
&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) { (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) {
firstSTXinRawData++; firstSTXinRawData++;
} }
if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR) { if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR) {
//there is no STX in our data, throw it away... // there is no STX in our data, throw it away...
rxBuffer.deleteData(dataLenReceivedSoFar); rxBuffer.deleteData(dataLenReceivedSoFar);
return; return;
} }
@ -313,10 +292,9 @@ void ArduinoComIF::handleSerialPortRx() {
size_t readSize = 0; size_t readSize = 0;
ReturnValue_t result = DleEncoder::decode( ReturnValue_t result = DleEncoder::decode(dataReceivedSoFar + firstSTXinRawData,
dataReceivedSoFar + firstSTXinRawData, dataLenReceivedSoFar - firstSTXinRawData, &readSize,
dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet, packet, sizeof(packet), &packetLen);
sizeof(packet), &packetLen);
size_t toDelete = firstSTXinRawData; size_t toDelete = firstSTXinRawData;
if (result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
@ -327,20 +305,18 @@ void ArduinoComIF::handleSerialPortRx() {
toDelete += readSize; toDelete += readSize;
} }
//remove Data which was processed // remove Data which was processed
rxBuffer.deleteData(toDelete); rxBuffer.deleteData(toDelete);
#elif WIN32 #elif WIN32
#endif #endif
} }
void ArduinoComIF::setBaudrate(uint32_t baudRate) { void ArduinoComIF::setBaudrate(uint32_t baudRate) { this->baudRate = baudRate; }
this->baudRate = baudRate;
}
void ArduinoComIF::handlePacket(uint8_t *packet, size_t packetLen) { void ArduinoComIF::handlePacket(uint8_t *packet, size_t packetLen) {
uint16_t crc = CRC::crc16ccitt(packet, packetLen); uint16_t crc = CRC::crc16ccitt(packet, packetLen);
if (crc != 0) { if (crc != 0) {
//CRC error // CRC error
return; return;
} }
@ -350,26 +326,25 @@ void ArduinoComIF::handlePacket(uint8_t *packet, size_t packetLen) {
uint16_t size = (packet[2] << 8) + packet[3]; uint16_t size = (packet[2] << 8) + packet[3];
if (size != packetLen - 6) { if (size != packetLen - 6) {
//Invalid Length // Invalid Length
return; return;
} }
switch (command) { switch (command) {
case ArduinoCookie::SPI: { case ArduinoCookie::SPI: {
//ArduinoCookie **itsComplicated; // ArduinoCookie **itsComplicated;
auto findIter = spiMap.find(address); auto findIter = spiMap.find(address);
if (findIter == spiMap.end()) { if (findIter == spiMap.end()) {
//we do no know this address // we do no know this address
return; return;
} }
ArduinoCookie& cookie = findIter->second; ArduinoCookie &cookie = findIter->second;
if (packetLen > cookie.maxReplySize + 6) { if (packetLen > cookie.maxReplySize + 6) {
packetLen = cookie.maxReplySize + 6; packetLen = cookie.maxReplySize + 6;
} }
std::memcpy(cookie.replyBuffer.data(), packet + 4, packetLen - 6); std::memcpy(cookie.replyBuffer.data(), packet + 4, packetLen - 6);
cookie.receivedDataLen = packetLen - 6; cookie.receivedDataLen = packetLen - 6;
} } break;
break;
default: default:
return; return;
} }

29
bsp_hosted/comIF/ArduinoComIF.h
View File

@ -4,8 +4,8 @@
#include <fsfw/container/FixedMap.h> #include <fsfw/container/FixedMap.h>
#include <fsfw/container/SimpleRingBuffer.h> #include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h> #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/objectmanager/SystemObject.h> #include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <cstdint> #include <cstdint>
#include <map> #include <map>
@ -14,12 +14,11 @@
#include <windows.h> #include <windows.h>
#endif #endif
//Forward declaration, so users don't peek // Forward declaration, so users don't peek
class ArduinoCookie; class ArduinoCookie;
class ArduinoComIF: public SystemObject, class ArduinoComIF : public SystemObject, public DeviceCommunicationIF {
public DeviceCommunicationIF { public:
public:
static const uint8_t MAX_NUMBER_OF_SPI_DEVICES = 8; static const uint8_t MAX_NUMBER_OF_SPI_DEVICES = 8;
static const uint8_t MAX_PACKET_SIZE = 64; static const uint8_t MAX_PACKET_SIZE = 64;
@ -33,16 +32,15 @@ public:
virtual ~ArduinoComIF(); virtual ~ArduinoComIF();
/** DeviceCommunicationIF overrides */ /** DeviceCommunicationIF overrides */
virtual ReturnValue_t initializeInterface(CookieIF * cookie) override; virtual ReturnValue_t initializeInterface(CookieIF *cookie) override;
virtual ReturnValue_t sendMessage(CookieIF *cookie, virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData,
const uint8_t * sendData, size_t sendLen) override; size_t sendLen) override;
virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override; virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
size_t requestLen) override; virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, size_t *size) override;
uint8_t **buffer, size_t *size) override;
private: private:
#ifdef LINUX #ifdef LINUX
#elif WIN32 #elif WIN32
HANDLE hCom = INVALID_HANDLE_VALUE; HANDLE hCom = INVALID_HANDLE_VALUE;
@ -54,13 +52,12 @@ private:
// Default baud rate is 9600 for now. // Default baud rate is 9600 for now.
uint32_t baudRate = 9600; uint32_t baudRate = 9600;
//used to know where to put the data if a reply is received // used to know where to put the data if a reply is received
std::map<uint8_t, ArduinoCookie> spiMap; std::map<uint8_t, ArduinoCookie> spiMap;
SimpleRingBuffer rxBuffer; SimpleRingBuffer rxBuffer;
ReturnValue_t sendMessage(uint8_t command, uint8_t address, ReturnValue_t sendMessage(uint8_t command, uint8_t address, const uint8_t *data, size_t dataLen);
const uint8_t *data, size_t dataLen);
void handleSerialPortRx(); void handleSerialPortRx();
void handlePacket(uint8_t *packet, size_t packetLen); void handlePacket(uint8_t *packet, size_t packetLen);

12
bsp_hosted/comIF/ArduinoCookie.cpp
View File

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

15
bsp_hosted/comIF/ArduinoCookie.h
View File

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

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

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

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

@ -4,8 +4,8 @@
#include <OBSWConfig.h> #include <OBSWConfig.h>
namespace pcduSwitches { namespace pcduSwitches {
/* Switches are uint8_t datatype and go from 0 to 255 */ /* Switches are uint8_t datatype and go from 0 to 255 */
enum SwitcherList { enum SwitcherList {
Q7S, Q7S,
PAYLOAD_PCDU_CH1, PAYLOAD_PCDU_CH1,
RW, RW,
@ -24,35 +24,34 @@ namespace pcduSwitches {
PLOC, PLOC,
ACS_BOARD_SIDE_A, ACS_BOARD_SIDE_A,
NUMBER_OF_SWITCHES NUMBER_OF_SWITCHES
}; };
static const uint8_t ON = 1; static const uint8_t ON = 1;
static const uint8_t OFF = 0; static const uint8_t OFF = 0;
/* Output states after reboot of the PDUs */ /* Output states after reboot of the PDUs */
static const uint8_t INIT_STATE_Q7S = ON; static const uint8_t INIT_STATE_Q7S = ON;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF; static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
static const uint8_t INIT_STATE_RW = OFF; static const uint8_t INIT_STATE_RW = OFF;
#if BOARD_TE0720 == 1 #if BOARD_TE0720 == 1
/* Because the TE0720 is not connected to the PCDU, this switch is always on */ /* Because the TE0720 is not connected to the PCDU, this switch is always on */
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON; static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
#else #else
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF; static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
#endif #endif
static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF; static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF; static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF; static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF; static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF; static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF; static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
static const uint8_t INIT_STATE_SYRLINKS = OFF; static const uint8_t INIT_STATE_SYRLINKS = OFF;
static const uint8_t INIT_STATE_STAR_TRACKER = OFF; static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
static const uint8_t INIT_STATE_MGT = OFF; static const uint8_t INIT_STATE_MGT = OFF;
static const uint8_t INIT_STATE_SUS_NOMINAL = OFF; static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF; static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
static const uint8_t INIT_STATE_PLOC = OFF; static const uint8_t INIT_STATE_PLOC = OFF;
static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF; static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
} } // namespace pcduSwitches
#endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */ #endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */

5
bsp_hosted/fsfwconfig/events/subsystemIdRanges.h
View File

@ -2,6 +2,7 @@
#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ #define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#include <common/config/commonSubsystemIds.h> #include <common/config/commonSubsystemIds.h>
#include <cstdint> #include <cstdint>
/** /**
@ -9,9 +10,7 @@
* Numbers 0-80 are reserved for FSFW Subsystem IDs (framework/events/) * Numbers 0-80 are reserved for FSFW Subsystem IDs (framework/events/)
*/ */
namespace SUBSYSTEM_ID { namespace SUBSYSTEM_ID {
enum: uint8_t { enum : uint8_t { SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END };
SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END
};
} }
#endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */ #endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */

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

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

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

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

5
bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.cpp
View File

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

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

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

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

@ -1,12 +1,13 @@
#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ #ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ #define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#include <cstdint>
#include <commonObjects.h> #include <commonObjects.h>
#include <cstdint>
// The objects will be instantiated in the ID order // The objects will be instantiated in the ID order
namespace objects { namespace objects {
enum sourceObjects: uint32_t { enum sourceObjects : uint32_t {
PUS_SERVICE_3 = 0x51000300, PUS_SERVICE_3 = 0x51000300,
PUS_SERVICE_5 = 0x51000400, PUS_SERVICE_5 = 0x51000400,
@ -25,7 +26,7 @@ namespace objects {
/* 0x49 ('I') for Communication Interfaces **/ /* 0x49 ('I') for Communication Interfaces **/
ARDUINO_COM_IF = 0x49000001 ARDUINO_COM_IF = 0x49000001
}; };
} }
#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */ #endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */

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

@ -38,8 +38,8 @@ const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE"; const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
const char *NO_OBJECT_STRING = "NO_OBJECT"; const char *NO_OBJECT_STRING = "NO_OBJECT";
const char* translateObject(object_id_t object) { const char *translateObject(object_id_t object) {
switch( (object & 0xFFFFFFFF) ) { switch ((object & 0xFFFFFFFF)) {
case 0x42694269: case 0x42694269:
return TEST_TASK_STRING; return TEST_TASK_STRING;
case 0x4400AFFE: case 0x4400AFFE:

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

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

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

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

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

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

18
bsp_hosted/main.cpp
View File

@ -1,10 +1,9 @@
#include <iostream>
#include "InitMission.h" #include "InitMission.h"
#include "OBSWVersion.h" #include "OBSWVersion.h"
#include "fsfw/FSFWVersion.h" #include "fsfw/FSFWVersion.h"
#include "fsfw/tasks/TaskFactory.h" #include "fsfw/tasks/TaskFactory.h"
#include <iostream>
#ifdef WIN32 #ifdef WIN32
static const char* COMPILE_PRINTOUT = "Windows"; static const char* COMPILE_PRINTOUT = "Windows";
#elif LINUX #elif LINUX
@ -17,21 +16,18 @@ static const char* COMPILE_PRINTOUT = "unknown OS";
* Linux and Windows. * Linux and Windows.
* @return * @return
*/ */
int main(void) int main(void) {
{
std::cout << "-- EIVE OBSW --" << std::endl; std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl; std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl;
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
"." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "." << << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "."
FSFW_REVISION << "--" << std::endl; << FSFW_REVISION << "--" << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl; std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
initmission::initMission(); initmission::initMission();
for(;;) { for (;;) {
// suspend main thread by sleeping it. // suspend main thread by sleeping it.
TaskFactory::delayTask(5000); TaskFactory::delayTask(5000);
} }
} }

93
bsp_linux_board/InitMission.cpp
View File

@ -1,27 +1,27 @@
#include "InitMission.h" #include "InitMission.h"
#include "ObjectFactory.h"
#include "objects/systemObjectList.h" #include <fsfw/objectmanager/ObjectManager.h>
#include "OBSWConfig.h"
#include "pollingsequence/pollingSequenceFactory.h"
#include <mission/utility/InitMission.h>
#include <fsfw/objectmanager/ObjectManagerIF.h> #include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterface.h> #include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h> #include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h> #include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h> #include <fsfw/tasks/TaskFactory.h>
#include <mission/utility/InitMission.h>
#include <iostream> #include <iostream>
#include "OBSWConfig.h"
#include "ObjectFactory.h"
#include "objects/systemObjectList.h"
#include "pollingsequence/pollingSequenceFactory.h"
ServiceInterfaceStream sif::debug("DEBUG"); ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO"); ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING"); ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR"); ServiceInterfaceStream sif::error("ERROR");
ObjectManagerIF *objectManager = nullptr; ObjectManagerIF* objectManager = nullptr;
void initmission::initMission() { void initmission::initMission() {
sif::info << "Building global objects.." << std::endl; sif::info << "Building global objects.." << std::endl;
@ -37,30 +37,29 @@ void initmission::initMission() {
void initmission::initTasks() { void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance(); TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(factory == nullptr) { if (factory == nullptr) {
/* Should never happen ! */ /* Should never happen ! */
return; return;
} }
#if OBSW_PRINT_MISSED_DEADLINES == 1 #if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline; void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else #else
void (*missedDeadlineFunc) (void) = nullptr; void (*missedDeadlineFunc)(void) = nullptr;
#endif #endif
/* TMTC Distribution */ /* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR); result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR); result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
result = tmTcDistributor->addComponent(objects::TM_FUNNEL); result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
@ -68,13 +67,13 @@ void initmission::initTasks() {
PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask( PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE); result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl; sif::error << "Add component UDP Unix Bridge failed" << std::endl;
} }
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask( PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK); result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl; sif::error << "Add component UDP Polling failed" << std::endl;
} }
@ -90,11 +89,10 @@ void initmission::initTasks() {
#endif /* OBSW_ADD_TEST_CODE == 1 */ #endif /* OBSW_ADD_TEST_CODE == 1 */
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) { auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
for(const auto& task: taskVector) { for (const auto& task : taskVector) {
if(task != nullptr) { if (task != nullptr) {
task->startTask(); task->startTask();
} } else {
else {
sif::error << "Task in vector " << name << " is invalid!" << std::endl; sif::error << "Task in vector " << name << " is invalid!" << std::endl;
} }
} }
@ -112,7 +110,7 @@ void initmission::initTasks() {
taskStarter(pstTasks, "PST Tasks"); taskStarter(pstTasks, "PST Tasks");
#if OBSW_ADD_TEST_PST == 1 #if OBSW_ADD_TEST_PST == 1
if(startTestPst) { if (startTestPst) {
pstTestTask->startTask(); pstTestTask->startTask();
} }
#endif /* RPI_TEST_ACS_BOARD == 1 */ #endif /* RPI_TEST_ACS_BOARD == 1 */
@ -120,12 +118,13 @@ void initmission::initTasks() {
} }
void initmission::createPusTasks(TaskFactory& factory, void initmission::createPusTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*>& taskVec) { TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
PeriodicTaskIF* pusVerification = factory.createPeriodicTask( PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION); result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
taskVec.push_back(pusVerification); taskVec.push_back(pusVerification);
@ -133,11 +132,11 @@ void initmission::createPusTasks(TaskFactory& factory,
PeriodicTaskIF* pusEvents = factory.createPeriodicTask( PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING); result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING); initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
} }
result = pusEvents->addComponent(objects::EVENT_MANAGER); result = pusEvents->addComponent(objects::EVENT_MANAGER);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER); initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
} }
taskVec.push_back(pusEvents); taskVec.push_back(pusEvents);
@ -145,11 +144,11 @@ void initmission::createPusTasks(TaskFactory& factory,
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask( PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS); result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS); initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
} }
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT); result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT); initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
} }
taskVec.push_back(pusHighPrio); taskVec.push_back(pusHighPrio);
@ -157,19 +156,19 @@ void initmission::createPusTasks(TaskFactory& factory,
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask( PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc); "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT); result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT); initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT); result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT); initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS); result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS); initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING); result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING); initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
} }
taskVec.push_back(pusMedPrio); taskVec.push_back(pusMedPrio);
@ -177,24 +176,23 @@ void initmission::createPusTasks(TaskFactory& factory,
PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask( PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc); "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST); result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST); initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
} }
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER); result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("INT_ERR_RPRT", initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
objects::INTERNAL_ERROR_REPORTER);
} }
taskVec.push_back(pusLowPrio); taskVec.push_back(pusLowPrio);
} }
void initmission::createPstTasks(TaskFactory& factory, void initmission::createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) { TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if OBSW_ADD_SPI_TEST_CODE == 0 #if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, "SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
missedDeadlineFunc);
result = pst::pstSpi(spiPst); result = pst::pstSpi(spiPst);
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;
@ -205,29 +203,29 @@ void initmission::createPstTasks(TaskFactory& factory,
void initmission::createTestTasks(TaskFactory& factory, void initmission::createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*> &taskVec) { std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
PeriodicTaskIF* testTask = factory.createPeriodicTask( PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = testTask->addComponent(objects::TEST_TASK); result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK); initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
} }
#if RPI_ADD_SPI_TEST == 1 #if RPI_ADD_SPI_TEST == 1
result = testTask->addComponent(objects::SPI_TEST); result = testTask->addComponent(objects::SPI_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST); initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
} }
#endif /* RPI_ADD_SPI_TEST == 1 */ #endif /* RPI_ADD_SPI_TEST == 1 */
#if RPI_ADD_GPIO_TEST == 1 #if RPI_ADD_GPIO_TEST == 1
result = testTask->addComponent(objects::LIBGPIOD_TEST); result = testTask->addComponent(objects::LIBGPIOD_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST); initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
} }
#endif /* RPI_ADD_GPIO_TEST == 1 */ #endif /* RPI_ADD_GPIO_TEST == 1 */
#if RPI_ADD_UART_TEST == 1 #if RPI_ADD_UART_TEST == 1
result = testTask->addComponent(objects::UART_TEST); result = testTask->addComponent(objects::UART_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UART_TEST", objects::UART_TEST); initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
} }
#endif /* RPI_ADD_GPIO_TEST == 1 */ #endif /* RPI_ADD_GPIO_TEST == 1 */
@ -235,13 +233,12 @@ void initmission::createTestTasks(TaskFactory& factory,
bool startTestPst = true; bool startTestPst = true;
static_cast<void>(startTestPst); static_cast<void>(startTestPst);
#if OBSW_ADD_TEST_PST == 1 #if OBSW_ADD_TEST_PST == 1
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("TEST_PST", 50, FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc); "TEST_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
result = pst::pstTest(pstTestTask); result = pst::pstTest(pstTestTask);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl; sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
startTestPst = false; startTestPst = false;
} }
#endif /* RPI_TEST_ACS_BOARD == 1 */ #endif /* RPI_TEST_ACS_BOARD == 1 */
} }

15
bsp_linux_board/InitMission.h
View File

@ -1,9 +1,10 @@
#ifndef BSP_LINUX_INITMISSION_H_ #ifndef BSP_LINUX_INITMISSION_H_
#define BSP_LINUX_INITMISSION_H_ #define BSP_LINUX_INITMISSION_H_
#include "fsfw/tasks/Typedef.h"
#include <vector> #include <vector>
#include "fsfw/tasks/Typedef.h"
class PeriodicTaskIF; class PeriodicTaskIF;
class TaskFactory; class TaskFactory;
@ -11,14 +12,12 @@ namespace initmission {
void initMission(); void initMission();
void initTasks(); void initTasks();
void createPstTasks(TaskFactory& factory, void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*>& taskVec);
std::vector<PeriodicTaskIF*> &taskVec); void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
void createTestTasks(TaskFactory& factory, std::vector<PeriodicTaskIF*>& taskVec);
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*> &taskVec);
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec); std::vector<PeriodicTaskIF*>& taskVec);
}; }; // namespace initmission
#endif /* BSP_LINUX_INITMISSION_H_ */ #endif /* BSP_LINUX_INITMISSION_H_ */

151
bsp_linux_board/ObjectFactory.cpp
View File

@ -1,47 +1,47 @@
#include <devConf.h>
#include "ObjectFactory.h" #include "ObjectFactory.h"
#include "objects/systemObjectList.h" #include <devConf.h>
#include <mission/devices/GPSHyperionHandler.h>
#include "OBSWConfig.h"
#include "devices/addresses.h" #include "devices/addresses.h"
#include "devices/gpioIds.h" #include "devices/gpioIds.h"
#include "OBSWConfig.h" #include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "tmtc/apid.h" #include "fsfw/tasks/TaskFactory.h"
#include "tmtc/pusIds.h" #include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "linux/boardtest/LibgpiodTest.h" #include "linux/boardtest/LibgpiodTest.h"
#include "linux/boardtest/SpiTestClass.h" #include "linux/boardtest/SpiTestClass.h"
#include "linux/boardtest/UartTestClass.h" #include "linux/boardtest/UartTestClass.h"
#include "mission/core/GenericFactory.h" #include "mission/core/GenericFactory.h"
#include "mission/utility/TmFunnel.h"
#include <mission/devices/GPSHyperionHandler.h>
#include "mission/devices/GyroADIS1650XHandler.h" #include "mission/devices/GyroADIS1650XHandler.h"
#include "mission/utility/TmFunnel.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h" #include "objects/systemObjectList.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h" #include "tmtc/apid.h"
#include "fsfw/tmtcservices/PusServiceBase.h" #include "tmtc/pusIds.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tasks/TaskFactory.h"
/* UDP server includes */ /* UDP server includes */
#if OBSW_USE_TMTC_TCP_BRIDGE == 1 #if OBSW_USE_TMTC_TCP_BRIDGE == 1
#include <fsfw/src/fsfw/osal/common/TcpTmTcBridge.h> #include <fsfw/src/fsfw/osal/common/TcpTmTcBridge.h>
#include <fsfw/src/fsfw/osal/common/TcpTmTcServer.h> #include <fsfw/src/fsfw/osal/common/TcpTmTcServer.h>
#else #else
#include "fsfw/osal/common/UdpTmTcBridge.h"
#include "fsfw/osal/common/UdpTcPollingTask.h" #include "fsfw/osal/common/UdpTcPollingTask.h"
#include "fsfw/osal/common/UdpTmTcBridge.h"
#endif #endif
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/rpi/GpioRPi.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include <fsfw_hal/linux/uart/UartComIF.h> #include <fsfw_hal/linux/uart/UartComIF.h>
#include <fsfw_hal/linux/uart/UartCookie.h> #include <fsfw_hal/linux/uart/UartCookie.h>
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/rpi/GpioRPi.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
void Factory::setStaticFrameworkObjectIds() { void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR; PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL; PusServiceBase::packetDestination = objects::TM_FUNNEL;
@ -57,9 +57,7 @@ void Factory::setStaticFrameworkObjectIds() {
TmPacketBase::timeStamperId = objects::TIME_STAMPER; TmPacketBase::timeStamperId = objects::TIME_STAMPER;
} }
void ObjectFactory::produce(void* args) {
void ObjectFactory::produce(void* args){
Factory::setStaticFrameworkObjectIds(); Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects(); ObjectFactory::produceGenericObjects();
@ -84,91 +82,99 @@ void ObjectFactory::produce(void* args){
static_cast<void>(spiCookie); static_cast<void>(spiCookie);
#if OBSW_ADD_ACS_BOARD == 1 #if OBSW_ADD_ACS_BOARD == 1
if(gpioCookie == nullptr) { if (gpioCookie == nullptr) {
gpioCookie = new GpioCookie(); gpioCookie = new GpioCookie();
} }
// TODO: Missing pin for Gyro 2 // TODO: Missing pin for Gyro 2
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, "MGM_0_LIS3",
"MGM_0_LIS3", gpio::Direction::OUT, 1); gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN, gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
"MGM_1_RM3100", gpio::Direction::OUT, 1); "MGM_1_RM3100", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, "MGM_2_LIS3",
"MGM_2_LIS3", gpio::Direction::OUT, 1); gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN, gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
"MGM_3_RM3100", gpio::Direction::OUT, 1); "MGM_3_RM3100", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN, gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
"GYRO_0_ADIS", gpio::Direction::OUT, 1); "GYRO_0_ADIS", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, "GYRO_1_L3G",
"GYRO_1_L3G", gpio::Direction::OUT, 1); gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN, gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
"GYRO_2_ADIS", gpio::Direction::OUT, 1); "GYRO_2_ADIS", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN, gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN, "GYRO_3_L3G",
"GYRO_3_L3G", gpio::Direction::OUT, 1); gpio::Direction::OUT, 1);
gpioIF->addGpios(gpioCookie); gpioIF->addGpios(gpioCookie);
spiDev = "/dev/spidev0.1"; spiDev = "/dev/spidev0.1";
spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev, spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, auto mgmLis3Handler =
objects::SPI_COM_IF, spiCookie, 0); new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
mgmLis3Handler->setStartUpImmediately(); mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler->setToGoToNormalMode(true); mgmLis3Handler->setToGoToNormalMode(true);
#endif #endif
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev, spiCookie =
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, auto mgmRm3100Handler =
objects::SPI_COM_IF, spiCookie, 0); new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
mgmRm3100Handler->setStartUpImmediately(); mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true); mgmRm3100Handler->setToGoToNormalMode(true);
#endif #endif
spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev, spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, mgmLis3Handler =
objects::SPI_COM_IF, spiCookie, 0); new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
mgmLis3Handler->setStartUpImmediately(); mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler->setToGoToNormalMode(true); mgmLis3Handler->setToGoToNormalMode(true);
#endif #endif
spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev, spiCookie =
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, mgmRm3100Handler =
objects::SPI_COM_IF, spiCookie, 0); new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
mgmRm3100Handler->setStartUpImmediately(); mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true); mgmRm3100Handler->setToGoToNormalMode(true);
#endif #endif
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev, spiCookie =
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, auto adisHandler =
spiCookie); new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
adisHandler->setStartUpImmediately(); adisHandler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, spiCookie =
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
spiCookie, 0); auto gyroL3gHandler =
new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
gyroL3gHandler->setStartUpImmediately(); gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
gyroL3gHandler->setToGoToNormalMode(true); gyroL3gHandler->setToGoToNormalMode(true);
#endif #endif
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev, spiCookie =
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, adisHandler =
spiCookie); new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
adisHandler->setStartUpImmediately(); adisHandler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, spiCookie =
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
spiCookie, 0); gyroL3gHandler =
new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
gyroL3gHandler->setStartUpImmediately(); gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
gyroL3gHandler->setToGoToNormalMode(true); gyroL3gHandler->setToGoToNormalMode(true);
#endif #endif
@ -180,7 +186,6 @@ void ObjectFactory::produce(void* args){
} }
void ObjectFactory::createTestTasks() { void ObjectFactory::createTestTasks() {
new TestTask(objects::TEST_TASK); new TestTask(objects::TEST_TASK);
#if RPI_ADD_SPI_TEST == 1 #if RPI_ADD_SPI_TEST == 1
@ -208,7 +213,7 @@ void ObjectFactory::createTestTasks() {
#endif /* RPI_LOOPBACK_TEST_GPIO == 1 */ #endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
#if RPI_TEST_ADIS16507 == 1 #if RPI_TEST_ADIS16507 == 1
if(gpioCookie == nullptr) { if (gpioCookie == nullptr) {
gpioCookie = new GpioCookie(); gpioCookie = new GpioCookie();
} }
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN, gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
@ -217,20 +222,20 @@ void ObjectFactory::createTestTasks() {
spiDev = "/dev/spidev0.1"; spiDev = "/dev/spidev0.1";
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev, spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED, ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
nullptr, nullptr); spi::DEFAULT_ADIS16507_SPEED, nullptr, nullptr);
auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie); auto adisGyroHandler =
new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
adisGyroHandler->setStartUpImmediately(); adisGyroHandler->setStartUpImmediately();
#endif /* RPI_TEST_ADIS16507 == 1 */ #endif /* RPI_TEST_ADIS16507 == 1 */
#if RPI_TEST_GPS_HANDLER == 1 #if RPI_TEST_GPS_HANDLER == 1
UartCookie* uartCookie = new UartCookie(objects::GPS0_HANDLER, "/dev/serial0", UartCookie* uartCookie =
UartModes::CANONICAL, 9600, 1024); new UartCookie(objects::GPS0_HANDLER, "/dev/serial0", UartModes::CANONICAL, 9600, 1024);
uartCookie->setToFlushInput(true); uartCookie->setToFlushInput(true);
uartCookie->setReadCycles(6); uartCookie->setReadCycles(6);
GPSHyperionHandler* gpsHandler = new GPSHyperionHandler(objects::GPS0_HANDLER, GPSHyperionHandler* gpsHandler =
objects::UART_COM_IF, uartCookie, false); new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookie, false);
gpsHandler->setStartUpImmediately(); gpsHandler->setStartUpImmediately();
#endif #endif
} }

9
bsp_linux_board/ObjectFactory.h
View File

@ -1,12 +1,11 @@
#ifndef BSP_LINUX_OBJECTFACTORY_H_ #ifndef BSP_LINUX_OBJECTFACTORY_H_
#define BSP_LINUX_OBJECTFACTORY_H_ #define BSP_LINUX_OBJECTFACTORY_H_
namespace ObjectFactory { namespace ObjectFactory {
void setStatics(); void setStatics();
void produce(void* args); void produce(void* args);
void createTestTasks(); void createTestTasks();
}; }; // namespace ObjectFactory
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */ #endif /* BSP_LINUX_OBJECTFACTORY_H_ */

3
bsp_linux_board/boardconfig/gcov.h
View File

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

6
bsp_linux_board/boardconfig/print.c
View File

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

18
bsp_linux_board/main.cpp
View File

@ -1,12 +1,11 @@
#include <iostream>
#include "InitMission.h" #include "InitMission.h"
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "OBSWVersion.h" #include "OBSWVersion.h"
#include "fsfw/FSFWVersion.h" #include "fsfw/FSFWVersion.h"
#include "fsfw/tasks/TaskFactory.h" #include "fsfw/tasks/TaskFactory.h"
#include <iostream>
#ifdef RASPBERRY_PI #ifdef RASPBERRY_PI
static const char* const BOARD_NAME = "Raspberry Pi"; static const char* const BOARD_NAME = "Raspberry Pi";
#elif defined(BEAGLEBONEBLACK) #elif defined(BEAGLEBONEBLACK)
@ -19,21 +18,18 @@ static const char* const BOARD_NAME = "Unknown Board";
* @brief This is the main program and entry point for the Raspberry Pi. * @brief This is the main program and entry point for the Raspberry Pi.
* @return * @return
*/ */
int main(void) int main(void) {
{
std::cout << "-- EIVE OBSW --" << std::endl; std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl; std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl;
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
"." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << FSFW_REVISION
FSFW_REVISION << "--" << std::endl; << "--" << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl; std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
initmission::initMission(); initmission::initMission();
for(;;) { for (;;) {
/* Suspend main thread by sleeping it. */ /* Suspend main thread by sleeping it. */
TaskFactory::delayTask(5000); TaskFactory::delayTask(5000);
} }
} }

106
bsp_q7s/boardconfig/busConf.h
View File

@ -19,58 +19,58 @@ static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
static constexpr char UIO_PDEC_RAM[] = "/dev/uio3"; static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
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";
static constexpr char GYRO_1_L3G_CS[] = "gyro_1_l3g_chip_select"; static constexpr char GYRO_1_L3G_CS[] = "gyro_1_l3g_chip_select";
static constexpr char GYRO_2_ADIS_CS[] = "gyro_2_adis_chip_select"; static constexpr char GYRO_2_ADIS_CS[] = "gyro_2_adis_chip_select";
static constexpr char GYRO_3_L3G_CS[] = "gyro_3_l3g_chip_select"; static constexpr char GYRO_3_L3G_CS[] = "gyro_3_l3g_chip_select";
static constexpr char MGM_0_CS[] = "mgm_0_lis3_chip_select"; static constexpr char MGM_0_CS[] = "mgm_0_lis3_chip_select";
static constexpr char MGM_1_CS[] = "mgm_1_rm3100_chip_select"; static constexpr char MGM_1_CS[] = "mgm_1_rm3100_chip_select";
static constexpr char MGM_2_CS[] = "mgm_2_lis3_chip_select"; static constexpr char MGM_2_CS[] = "mgm_2_lis3_chip_select";
static constexpr char MGM_3_CS[] = "mgm_3_rm3100_chip_select"; static constexpr char MGM_3_CS[] = "mgm_3_rm3100_chip_select";
static constexpr char RESET_GNSS_0[] = "reset_gnss_0"; static constexpr char RESET_GNSS_0[] = "reset_gnss_0";
static constexpr char RESET_GNSS_1[] = "reset_gnss_1"; static constexpr char RESET_GNSS_1[] = "reset_gnss_1";
static constexpr char GNSS_0_ENABLE[] = "enable_gnss_0"; 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 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";
static constexpr char HEATER_3[] = "heater3"; static constexpr char HEATER_3[] = "heater3";
static constexpr char HEATER_4[] = "heater4"; static constexpr char HEATER_4[] = "heater4";
static constexpr char HEATER_5[] = "heater5"; static constexpr char HEATER_5[] = "heater5";
static constexpr char HEATER_6[] = "heater6"; static constexpr char HEATER_6[] = "heater6";
static constexpr char HEATER_7[] = "heater7"; static constexpr char HEATER_7[] = "heater7";
static constexpr char SA_DPL_PIN_0[] = "sa_dpl_0"; static constexpr char SA_DPL_PIN_0[] = "sa_dpl_0";
static constexpr char SA_DPL_PIN_1[] = "sa_dpl_1"; static constexpr char SA_DPL_PIN_1[] = "sa_dpl_1";
static constexpr char SPI_MUX_BIT_1_PIN[] = "spi_mux_bit_1"; static constexpr char SPI_MUX_BIT_1_PIN[] = "spi_mux_bit_1";
static constexpr char SPI_MUX_BIT_2_PIN[] = "spi_mux_bit_2"; static constexpr char SPI_MUX_BIT_2_PIN[] = "spi_mux_bit_2";
static constexpr char SPI_MUX_BIT_3_PIN[] = "spi_mux_bit_3"; static constexpr char SPI_MUX_BIT_3_PIN[] = "spi_mux_bit_3";
static constexpr char SPI_MUX_BIT_4_PIN[] = "spi_mux_bit_4"; static constexpr char SPI_MUX_BIT_4_PIN[] = "spi_mux_bit_4";
static constexpr char SPI_MUX_BIT_5_PIN[] = "spi_mux_bit_5"; static constexpr char SPI_MUX_BIT_5_PIN[] = "spi_mux_bit_5";
static constexpr char SPI_MUX_BIT_6_PIN[] = "spi_mux_bit_6"; static constexpr char SPI_MUX_BIT_6_PIN[] = "spi_mux_bit_6";
static constexpr char EN_RW_CS[] = "en_rw_cs"; static constexpr char EN_RW_CS[] = "en_rw_cs";
static constexpr char EN_RW_1[] = "enable_rw_1"; static constexpr char EN_RW_1[] = "enable_rw_1";
static constexpr char EN_RW_2[] = "enable_rw_2"; static constexpr char EN_RW_2[] = "enable_rw_2";
static constexpr char EN_RW_3[] = "enable_rw_3"; static constexpr char EN_RW_3[] = "enable_rw_3";
static constexpr char EN_RW_4[] = "enable_rw_4"; static constexpr char EN_RW_4[] = "enable_rw_4";
static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select"; static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select";
static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select"; static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0"; static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0"; static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";
static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1"; static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1";
static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1"; static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1";
static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2"; static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2"; static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3"; static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3"; static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872"; static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872";
static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872"; static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872";
static constexpr char RS485_EN_RX_CLOCK[] = "rx_clock_enable_ltc2872"; static constexpr char RS485_EN_RX_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"; static constexpr char BIT_RATE_SEL[] = "bit_rate_sel";
} } // namespace gpioNames
} } // namespace q7s
#endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */ #endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */

3
bsp_q7s/boardconfig/gcov.h
View File

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

6
bsp_q7s/boardconfig/print.c
View File

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

23
bsp_q7s/boardtest/FileSystemTest.cpp
View File

@ -1,26 +1,23 @@
#include "FileSystemTest.h" #include "FileSystemTest.h"
#include <cstdlib>
#include <iostream>
#include "fsfw/timemanager/Stopwatch.h" #include "fsfw/timemanager/Stopwatch.h"
#include <iostream> enum SdCard { SDC0, SDC1 };
#include <cstdlib>
enum SdCard {
SDC0,
SDC1
};
FileSystemTest::FileSystemTest() { FileSystemTest::FileSystemTest() {
using namespace std; using namespace std;
SdCard sdCard = SdCard::SDC0; SdCard sdCard = SdCard::SDC0;
cout << "SD Card Test for SD card " << static_cast<int>(sdCard) << std::endl; cout << "SD Card Test for SD card " << static_cast<int>(sdCard) << std::endl;
//Stopwatch stopwatch; // Stopwatch stopwatch;
std::system("q7hw sd info all > /tmp/sd_status.txt"); std::system("q7hw sd info all > /tmp/sd_status.txt");
//stopwatch.stop(true); // stopwatch.stop(true);
std::system("q7hw sd set 0 on > /tmp/sd_set.txt"); std::system("q7hw sd set 0 on > /tmp/sd_set.txt");
//stopwatch.stop(true); // stopwatch.stop(true);
std::system("q7hw sd set 0 off > /tmp/sd_set.txt"); std::system("q7hw sd set 0 off > /tmp/sd_set.txt");
//stopwatch.stop(true); // stopwatch.stop(true);
} }
FileSystemTest::~FileSystemTest() { FileSystemTest::~FileSystemTest() {}
}

9
bsp_q7s/boardtest/FileSystemTest.h
View File

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

187
bsp_q7s/boardtest/Q7STestTask.cpp
View File

@ -1,27 +1,25 @@
#include "Q7STestTask.h"
#include <bsp_q7s/core/CoreController.h> #include <bsp_q7s/core/CoreController.h>
#include <bsp_q7s/memory/FileSystemHandler.h> #include <bsp_q7s/memory/FileSystemHandler.h>
#include <fsfw/objectmanager/ObjectManager.h> #include <fsfw/objectmanager/ObjectManager.h>
#include "Q7STestTask.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "bsp_q7s/memory/scratchApi.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/tasks/TaskFactory.h"
#include "test/DummyParameter.h"
#include <nlohmann/json.hpp>
#include <gps.h> #include <gps.h>
#include <libgpsmm.h> #include <libgpsmm.h>
#include <ctime>
#include <iostream>
#include <iomanip>
#include <fstream>
#include <cstdio> #include <cstdio>
#include <ctime>
#include <fstream>
#include <iomanip>
#include <iostream>
#include <nlohmann/json.hpp>
Q7STestTask::Q7STestTask(object_id_t objectId): TestTask(objectId) { #include "bsp_q7s/memory/SdCardManager.h"
#include "bsp_q7s/memory/scratchApi.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "test/DummyParameter.h"
Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
doTestSdCard = false; doTestSdCard = false;
doTestScratchApi = false; doTestScratchApi = false;
doTestGps = false; doTestGps = false;
@ -34,16 +32,16 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
if (doTestScratchApi) { if (doTestScratchApi) {
testScratchApi(); testScratchApi();
} }
//testJsonLibDirect(); // testJsonLibDirect();
//testDummyParams(); // testDummyParams();
//testProtHandler(); // testProtHandler();
FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE; FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
testFileSystemHandlerDirect(opCode); testFileSystemHandlerDirect(opCode);
return TestTask::performOneShotAction(); return TestTask::performOneShotAction();
} }
ReturnValue_t Q7STestTask::performPeriodicAction() { ReturnValue_t Q7STestTask::performPeriodicAction() {
if(doTestGps) { if (doTestGps) {
testGpsDaemon(); testGpsDaemon();
} }
return TestTask::performPeriodicAction(); return TestTask::performPeriodicAction();
@ -53,7 +51,7 @@ void Q7STestTask::testSdCard() {
using namespace std; using namespace std;
Stopwatch stopwatch; Stopwatch stopwatch;
int result = std::system("q7hw sd info all > /tmp/sd_status.txt"); int result = std::system("q7hw sd info all > /tmp/sd_status.txt");
if(result != 0) { if (result != 0) {
sif::debug << "system call failed with " << result << endl; sif::debug << "system call failed with " << result << endl;
} }
ifstream sdStatus("/tmp/sd_status.txt"); ifstream sdStatus("/tmp/sd_status.txt");
@ -62,11 +60,10 @@ void Q7STestTask::testSdCard() {
while (std::getline(sdStatus, line)) { while (std::getline(sdStatus, line)) {
std::istringstream iss(line); std::istringstream iss(line);
string word; string word;
while(iss >> word) { while (iss >> word) {
if(word == "on") { if (word == "on") {
sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl; sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl;
} } else if (word == "off") {
else if(word == "off") {
sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl; sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl;
} }
} }
@ -87,23 +84,23 @@ void Q7STestTask::fileTests() {
void Q7STestTask::testScratchApi() { void Q7STestTask::testScratchApi() {
ReturnValue_t result = scratch::writeNumber("TEST", 1); ReturnValue_t result = scratch::writeNumber("TEST", 1);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Writing number failed" << std::endl; sif::debug << "Q7STestTask::scratchApiTest: Writing number failed" << std::endl;
} }
int number = 0; int number = 0;
result = scratch::readNumber("TEST", number); result = scratch::readNumber("TEST", number);
sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST\": " << number << std::endl; sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST\": " << number << std::endl;
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl; sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
} }
result = scratch::writeString("TEST2", "halloWelt"); result = scratch::writeString("TEST2", "halloWelt");
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Writing string failed" << std::endl; sif::debug << "Q7STestTask::scratchApiTest: Writing string failed" << std::endl;
} }
std::string string; std::string string;
result = scratch::readString("TEST2", string); result = scratch::readString("TEST2", string);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl; sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
} }
sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST2\": " << string << std::endl; sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST2\": " << string << std::endl;
@ -130,13 +127,12 @@ void Q7STestTask::testDummyParams() {
DummyParameter param(mntPrefix, "dummy_json.txt"); DummyParameter param(mntPrefix, "dummy_json.txt");
param.printKeys(); param.printKeys();
param.print(); param.print();
if(not param.getJsonFileExists()) { if (not param.getJsonFileExists()) {
param.writeJsonFile(); param.writeJsonFile();
} }
ReturnValue_t result = param.readJsonFile(); ReturnValue_t result = param.readJsonFile();
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
} }
param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3); param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
@ -163,9 +159,9 @@ void Q7STestTask::testDummyParams() {
ReturnValue_t Q7STestTask::initialize() { ReturnValue_t Q7STestTask::initialize() {
coreController = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER); coreController = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
if(coreController == nullptr) { if (coreController == nullptr) {
sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object" << sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object"
std::endl; << std::endl;
} }
return TestTask::initialize(); return TestTask::initialize();
} }
@ -175,69 +171,64 @@ void Q7STestTask::testProtHandler() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// If any chips are unlocked, lock them here // If any chips are unlocked, lock them here
result = coreController->setBootCopyProtection( result = coreController->setBootCopyProtection(
CoreController::Chip::ALL_CHIP, CoreController::Copy::ALL_COPY, true, CoreController::Chip::ALL_CHIP, CoreController::Copy::ALL_COPY, true, opPerformed, true);
opPerformed, true); if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
} }
// unlock own copy // unlock own copy
result = coreController->setBootCopyProtection( result = coreController->setBootCopyProtection(
CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, false, CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, false, opPerformed, true);
opPerformed, true); if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
} }
if(not opPerformed) { if (not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
} }
int retval = std::system("print-chip-prot-status.sh"); int retval = std::system("print-chip-prot-status.sh");
if(retval != 0) { if (retval != 0) {
utility::handleSystemError(retval, "Q7STestTask::testProtHandler"); utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
} }
// lock own copy // lock own copy
result = coreController->setBootCopyProtection( result = coreController->setBootCopyProtection(
CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, true, CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, true, opPerformed, true);
opPerformed, true); if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
} }
if(not opPerformed) { if (not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
} }
retval = std::system("print-chip-prot-status.sh"); retval = std::system("print-chip-prot-status.sh");
if(retval != 0) { if (retval != 0) {
utility::handleSystemError(retval, "Q7STestTask::testProtHandler"); utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
} }
// unlock specific copy // unlock specific copy
result = coreController->setBootCopyProtection( result = coreController->setBootCopyProtection(
CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, false, CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, false, opPerformed, true);
opPerformed, true); if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
} }
if(not opPerformed) { if (not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
} }
retval = std::system("print-chip-prot-status.sh"); retval = std::system("print-chip-prot-status.sh");
if(retval != 0) { if (retval != 0) {
utility::handleSystemError(retval, "Q7STestTask::testProtHandler"); utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
} }
// lock specific copy // lock specific copy
result = coreController->setBootCopyProtection( result = coreController->setBootCopyProtection(
CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, true, CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, true, opPerformed, true);
opPerformed, true); if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
} }
if(not opPerformed) { if (not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
} }
retval = std::system("print-chip-prot-status.sh"); retval = std::system("print-chip-prot-status.sh");
if(retval != 0) { if (retval != 0) {
utility::handleSystemError(retval, "Q7STestTask::testProtHandler"); utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
} }
} }
@ -246,7 +237,7 @@ void Q7STestTask::testGpsDaemon() {
gpsmm gpsmm(GPSD_SHARED_MEMORY, 0); gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
gps_data_t* gps; gps_data_t* gps;
gps = gpsmm.read(); gps = gpsmm.read();
if(gps == nullptr) { if (gps == nullptr) {
sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl; sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
} }
sif::info << "-- Q7STestTask: GPS shared memory read test --" << std::endl; sif::info << "-- Q7STestTask: GPS shared memory read test --" << std::endl;
@ -263,9 +254,8 @@ void Q7STestTask::testGpsDaemon() {
} }
void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) { void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
auto fsHandler = ObjectManager::instance()-> auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER); if (fsHandler == nullptr) {
if(fsHandler == nullptr) {
sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.." sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
<< std::endl; << std::endl;
} }
@ -274,28 +264,27 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
// Lambda for common code // Lambda for common code
auto createNonEmptyTmpDir = [&]() { auto createNonEmptyTmpDir = [&]() {
if(not std::filesystem::exists("/tmp/test")) { if (not std::filesystem::exists("/tmp/test")) {
result = fsHandler->createDirectory("/tmp", "test", false, &cfg); result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
} }
// Creating sample files // Creating sample files
sif::info << "Creating sample files in directory" << std::endl; sif::info << "Creating sample files in directory" << std::endl;
result = fsHandler->createFile("/tmp/test", "test1.txt", nullptr, 0, &cfg); result = fsHandler->createFile("/tmp/test", "test1.txt", nullptr, 0, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
result = fsHandler->createFile("/tmp/test", "test2.txt", nullptr, 0, &cfg); result = fsHandler->createFile("/tmp/test", "test2.txt", nullptr, 0, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
return result; return result;
}; };
switch (opCode) {
switch(opCode) { case (FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
case(FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
// No mount prefix, cause file is created in tmp // No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false; cfg.useMountPrefix = false;
sif::info << "Creating empty file in /tmp folder" << std::endl; sif::info << "Creating empty file in /tmp folder" << std::endl;
@ -303,89 +292,83 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg); fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
break; break;
} }
case(FsOpCodes::REMOVE_TMP_FILE): { case (FsOpCodes::REMOVE_TMP_FILE): {
sif::info << "Deleting /tmp/test.txt sample file" << std::endl; sif::info << "Deleting /tmp/test.txt sample file" << std::endl;
// No mount prefix, cause file is created in tmp // No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false; cfg.useMountPrefix = false;
if(not std::filesystem::exists("/tmp/test.txt")) { if (not std::filesystem::exists("/tmp/test.txt")) {
// Creating sample file // Creating sample file
sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl; sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl;
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg); fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
} }
result = fsHandler->removeFile("/tmp", "test.txt", &cfg); result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "File removed successfully" << std::endl; sif::info << "File removed successfully" << std::endl;
} } else {
else {
sif::warning << "File removal failed!" << std::endl; sif::warning << "File removal failed!" << std::endl;
} }
break; break;
} }
case(FsOpCodes::CREATE_DIR_IN_TMP): { case (FsOpCodes::CREATE_DIR_IN_TMP): {
// No mount prefix, cause file is created in tmp // No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false; cfg.useMountPrefix = false;
sif::info << "Creating empty file in /tmp folder" << std::endl; sif::info << "Creating empty file in /tmp folder" << std::endl;
// Do not delete file, user can check existence in shell // Do not delete file, user can check existence in shell
ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg); ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory created successfully" << std::endl; sif::info << "Directory created successfully" << std::endl;
} } else {
else {
sif::warning << "Directory creation failed!" << std::endl; sif::warning << "Directory creation failed!" << std::endl;
} }
break; break;
} }
case(FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): { case (FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): {
// No mount prefix, cause file is created in tmp // No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false; cfg.useMountPrefix = false;
if(not std::filesystem::exists("/tmp/test")) { if (not std::filesystem::exists("/tmp/test")) {
result = fsHandler->createDirectory("/tmp", "test", false, &cfg); result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
} } else {
else {
// Delete any leftover files to regular dir removal works // Delete any leftover files to regular dir removal works
std::remove("/tmp/test/*"); std::remove("/tmp/test/*");
} }
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg); result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed successfully" << std::endl; sif::info << "Directory removed successfully" << std::endl;
} } else {
else {
sif::warning << "Directory removal failed!" << std::endl; sif::warning << "Directory removal failed!" << std::endl;
} }
break; break;
} }
case(FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): { case (FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
result = createNonEmptyTmpDir(); result = createNonEmptyTmpDir();
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return; return;
} }
result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg); result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed recursively successfully" << std::endl; sif::info << "Directory removed recursively successfully" << std::endl;
} } else {
else {
sif::warning << "Recursive directory removal failed!" << std::endl; sif::warning << "Recursive directory removal failed!" << std::endl;
} }
break; break;
} }
case(FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): { case (FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): {
result = createNonEmptyTmpDir(); result = createNonEmptyTmpDir();
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return; return;
} }
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg); result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removal attempt failed as expected" << std::endl; sif::info << "Directory removal attempt failed as expected" << std::endl;
} } else {
else {
sif::warning << "Directory removal worked when it should not have!" << std::endl; sif::warning << "Directory removal worked when it should not have!" << std::endl;
} }
break; break;
} }
case(FsOpCodes::RENAME_FILE): { case (FsOpCodes::RENAME_FILE): {
// No mount prefix, cause file is created in tmp // No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false; cfg.useMountPrefix = false;
if(std::filesystem::exists("/tmp/test.txt")) { if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg); fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
} }
sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl; sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl;
@ -394,21 +377,21 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg); fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg);
break; break;
} }
case(FsOpCodes::APPEND_TO_FILE): { case (FsOpCodes::APPEND_TO_FILE): {
// No mount prefix, cause file is created in tmp // No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false; cfg.useMountPrefix = false;
if(std::filesystem::exists("/tmp/test.txt")) { if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg); fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
} }
if(std::filesystem::exists("/tmp/test.txt")) { if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg); fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
} }
sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl; sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl;
std::string content = "Hello World\n"; std::string content = "Hello World\n";
// Do not delete file, user can check existence in shell // Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg); fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>( fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>(content.data()),
content.data()), content.size(), 0, &cfg); content.size(), 0, &cfg);
} }
} }
} }

8
bsp_q7s/boardtest/Q7STestTask.h
View File

@ -3,12 +3,13 @@
#include "test/testtasks/TestTask.h" #include "test/testtasks/TestTask.h"
class Q7STestTask: public TestTask { class Q7STestTask : public TestTask {
public: public:
Q7STestTask(object_id_t objectId); Q7STestTask(object_id_t objectId);
ReturnValue_t initialize() override; ReturnValue_t initialize() override;
private:
private:
bool doTestSdCard = false; bool doTestSdCard = false;
bool doTestScratchApi = false; bool doTestScratchApi = false;
bool doTestGps = false; bool doTestGps = false;
@ -40,5 +41,4 @@ private:
void testFileSystemHandlerDirect(FsOpCodes opCode); void testFileSystemHandlerDirect(FsOpCodes opCode);
}; };
#endif /* BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ */ #endif /* BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ */

11
bsp_q7s/callbacks/gnssCallback.cpp
View File

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

2
bsp_q7s/callbacks/gnssCallback.h
View File

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

68
bsp_q7s/callbacks/rwSpiCallback.cpp
View File

@ -1,22 +1,20 @@
#include "rwSpiCallback.h" #include "rwSpiCallback.h"
#include "devices/gpioIds.h"
#include "mission/devices/RwHandler.h"
#include "fsfw_hal/linux/spi/SpiCookie.h" #include "devices/gpioIds.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "mission/devices/RwHandler.h"
namespace rwSpiCallback { namespace rwSpiCallback {
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData, ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
size_t sendLen, void* args) { size_t sendLen, void* args) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
RwHandler* handler = reinterpret_cast<RwHandler*>(args); RwHandler* handler = reinterpret_cast<RwHandler*>(args);
if(handler == nullptr) { if (handler == nullptr) {
sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid" sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid" << std::endl;
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -28,7 +26,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0; uint32_t timeoutMs = 0;
MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs); MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
if(mutex == nullptr or gpioIF == nullptr) { if (mutex == nullptr or gpioIF == nullptr) {
sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl; sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -36,7 +34,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
int fileDescriptor = 0; int fileDescriptor = 0;
std::string device = cookie->getSpiDevice(); std::string device = cookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback"); UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl; sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
return SpiComIF::OPENING_FILE_FAILED; return SpiComIF::OPENING_FILE_FAILED;
} }
@ -56,8 +54,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
writeSize = 1; writeSize = 1;
// Pull SPI CS low. For now, no support for active high given // Pull SPI CS low. For now, no support for active high given
if(gpioId != gpio::NO_GPIO) { if (gpioId != gpio::NO_GPIO) {
if(gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) { if (gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl; sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
} }
} }
@ -70,8 +68,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
/** Encoding and sending command */ /** Encoding and sending command */
size_t idx = 0; size_t idx = 0;
while(idx < sendLen) { while (idx < sendLen) {
switch(*(sendData + idx)) { switch (*(sendData + idx)) {
case 0x7E: case 0x7E:
writeBuffer[0] = 0x7D; writeBuffer[0] = 0x7D;
writeBuffer[1] = 0x5E; writeBuffer[1] = 0x5E;
@ -107,7 +105,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
uint8_t* rxBuf = nullptr; uint8_t* rxBuf = nullptr;
result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf); result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
closeSpi(gpioId, gpioIF, mutex); closeSpi(gpioId, gpioIF, mutex);
return result; return result;
} }
@ -123,13 +121,13 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
*/ */
uint8_t byteRead = 0; uint8_t byteRead = 0;
for (int idx = 0; idx < 10; idx++) { for (int idx = 0; idx < 10; idx++) {
if(read(fileDescriptor, &byteRead, 1) != 1) { if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl; sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
closeSpi(gpioId, gpioIF, mutex); closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_READ_FAILURE; return RwHandler::SPI_READ_FAILURE;
} }
if(idx == 0) { if (idx == 0) {
if(byteRead != FLAG_BYTE) { if (byteRead != FLAG_BYTE) {
sif::error << "Invalid data, expected start marker" << std::endl; sif::error << "Invalid data, expected start marker" << std::endl;
closeSpi(gpioId, gpioIF, mutex); closeSpi(gpioId, gpioIF, mutex);
return RwHandler::NO_START_MARKER; return RwHandler::NO_START_MARKER;
@ -152,12 +150,11 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
#endif #endif
size_t decodedFrameLen = 0; size_t decodedFrameLen = 0;
while(decodedFrameLen < replyBufferSize) { while (decodedFrameLen < replyBufferSize) {
/** First byte already read in */ /** First byte already read in */
if (decodedFrameLen != 0) { if (decodedFrameLen != 0) {
byteRead = 0; byteRead = 0;
if(read(fileDescriptor, &byteRead, 1) != 1) { if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl; sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE; result = RwHandler::SPI_READ_FAILURE;
break; break;
@ -167,9 +164,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
if (byteRead == FLAG_BYTE) { if (byteRead == FLAG_BYTE) {
/** Reached end of frame */ /** Reached end of frame */
break; break;
} } else if (byteRead == 0x7D) {
else if (byteRead == 0x7D) { if (read(fileDescriptor, &byteRead, 1) != 1) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl; sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE; result = RwHandler::SPI_READ_FAILURE;
break; break;
@ -178,20 +174,17 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
*(rxBuf + decodedFrameLen) = 0x7E; *(rxBuf + decodedFrameLen) = 0x7E;
decodedFrameLen++; decodedFrameLen++;
continue; continue;
} } else if (byteRead == 0x5D) {
else if (byteRead == 0x5D) {
*(rxBuf + decodedFrameLen) = 0x7D; *(rxBuf + decodedFrameLen) = 0x7D;
decodedFrameLen++; decodedFrameLen++;
continue; continue;
} } else {
else {
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl; sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
closeSpi(gpioId, gpioIF, mutex); closeSpi(gpioId, gpioIF, mutex);
result = RwHandler::INVALID_SUBSTITUTE; result = RwHandler::INVALID_SUBSTITUTE;
break; break;
} }
} } else {
else {
*(rxBuf + decodedFrameLen) = byteRead; *(rxBuf + decodedFrameLen) = byteRead;
decodedFrameLen++; decodedFrameLen++;
continue; continue;
@ -203,7 +196,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
* Otherwise there might be something wrong. * Otherwise there might be something wrong.
*/ */
if (decodedFrameLen == replyBufferSize) { if (decodedFrameLen == replyBufferSize) {
if(read(fileDescriptor, &byteRead, 1) != 1) { if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl; sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
result = RwHandler::SPI_READ_FAILURE; result = RwHandler::SPI_READ_FAILURE;
break; break;
@ -225,14 +218,15 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
return result; return result;
} }
void closeSpi (gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) { void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
if(gpioId != gpio::NO_GPIO) { if (gpioId != gpio::NO_GPIO) {
if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "closeSpi: Failed to pull chip select high" << std::endl; sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
} }
} }
if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { if (mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;; sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;
;
} }
} }
} } // namespace rwSpiCallback

7
bsp_q7s/callbacks/rwSpiCallback.h
View File

@ -2,9 +2,8 @@
#define BSP_Q7S_RW_SPI_CALLBACK_H_ #define BSP_Q7S_RW_SPI_CALLBACK_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/common/gpio/GpioCookie.h" #include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
namespace rwSpiCallback { namespace rwSpiCallback {
@ -31,7 +30,7 @@ static constexpr uint8_t FLAG_BYTE = 0x7E;
* To switch between the to SPI peripherals, an EMIO is used which will also be controlled * To switch between the to SPI peripherals, an EMIO is used which will also be controlled
* by this function. * by this function.
*/ */
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData, ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
size_t sendLen, void* args); size_t sendLen, void* args);
/** /**
@ -43,5 +42,5 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
*/ */
void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex); void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
} } // namespace rwSpiCallback
#endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */ #endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */

660
bsp_q7s/core/CoreController.cpp
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File diff suppressed because it is too large Load Diff

52
bsp_q7s/core/CoreController.h
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@ -2,32 +2,19 @@
#define BSP_Q7S_CORE_CORECONTROLLER_H_ #define BSP_Q7S_CORE_CORECONTROLLER_H_
#include <fsfw/globalfunctions/PeriodicOperationDivider.h> #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "fsfw/controller/ExtendedControllerBase.h"
#include "bsp_q7s/memory/SdCardManager.h" #include "bsp_q7s/memory/SdCardManager.h"
#include "events/subsystemIdRanges.h" #include "events/subsystemIdRanges.h"
#include "fsfw/controller/ExtendedControllerBase.h"
class Timer; class Timer;
class SdCardManager; class SdCardManager;
class CoreController: public ExtendedControllerBase { class CoreController : public ExtendedControllerBase {
public: public:
enum Chip: uint8_t { enum Chip : uint8_t { CHIP_0, CHIP_1, NO_CHIP, SELF_CHIP, ALL_CHIP };
CHIP_0,
CHIP_1,
NO_CHIP,
SELF_CHIP,
ALL_CHIP
};
enum Copy: uint8_t { enum Copy : uint8_t { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
COPY_0,
COPY_1,
NO_COPY,
SELF_COPY,
ALL_COPY
};
static constexpr char CHIP_PROT_SCRIPT[] = "/home/root/scripts/get-chip-prot-status.sh"; static constexpr char CHIP_PROT_SCRIPT[] = "/home/root/scripts/get-chip-prot-status.sh";
static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt"; static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
@ -38,23 +25,21 @@ public:
static constexpr ActionId_t REBOOT_OBC = 32; static constexpr ActionId_t REBOOT_OBC = 32;
static constexpr ActionId_t MOUNT_OTHER_COPY = 33; static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE; static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM); static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
CoreController(object_id_t objectId); CoreController(object_id_t objectId);
virtual~ CoreController(); virtual ~CoreController();
ReturnValue_t initialize() override; ReturnValue_t initialize() override;
ReturnValue_t initializeAfterTaskCreation() override; ReturnValue_t initializeAfterTaskCreation() override;
ReturnValue_t executeAction(ActionId_t actionId, ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) override; const uint8_t* data, size_t size) override;
ReturnValue_t handleCommandMessage(CommandMessage *message) override; ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override; void performControlOperation() override;
/** /**
@ -78,12 +63,12 @@ public:
* @param updateProtFile Specify whether the protection info file is updated * @param updateProtFile Specify whether the protection info file is updated
* @return * @return
*/ */
ReturnValue_t setBootCopyProtection(Chip targetChip, Copy targetCopy, ReturnValue_t setBootCopyProtection(Chip targetChip, Copy targetCopy, bool protect,
bool protect, bool& protOperationPerformed, bool updateProtFile = true); bool& protOperationPerformed, bool updateProtFile = true);
bool sdInitFinished() const; bool sdInitFinished() const;
private: private:
static Chip CURRENT_CHIP; static Chip CURRENT_CHIP;
static Copy CURRENT_COPY; static Copy CURRENT_COPY;
@ -150,8 +135,7 @@ private:
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override; LocalDataPoolManager& poolManager) override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
uint32_t *msToReachTheMode);
ReturnValue_t initVersionFile(); ReturnValue_t initVersionFile();
ReturnValue_t initBootCopy(); ReturnValue_t initBootCopy();
@ -170,15 +154,15 @@ private:
void checkExternalSdCommandStatus(); void checkExternalSdCommandStatus();
ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy, ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size); const uint8_t* data, size_t size);
ReturnValue_t actionPerformReboot(const uint8_t *data, size_t size); ReturnValue_t actionPerformReboot(const uint8_t* data, size_t size);
void performWatchdogControlOperation(); void performWatchdogControlOperation();
ReturnValue_t handleProtInfoUpdateLine(std::string nextLine); ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
int handleBootCopyProtAtIndex(Chip targetChip, Copy targetCopy, bool protect, int handleBootCopyProtAtIndex(Chip targetChip, Copy targetCopy, bool protect,
bool &protOperationPerformed, bool selfChip, bool selfCopy, bool allChips, bool& protOperationPerformed, bool selfChip, bool selfCopy,
bool allCopies, uint8_t arrIdx); bool allChips, bool allCopies, uint8_t arrIdx);
}; };
#endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */ #endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */

126
bsp_q7s/core/InitMission.cpp
View File

@ -1,22 +1,21 @@
#include "InitMission.h" #include "InitMission.h"
#include "ObjectFactory.h"
#include "OBSWConfig.h"
#include "pollingsequence/pollingSequenceFactory.h"
#include "mission/utility/InitMission.h"
#include "fsfw/platform.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include <iostream> #include <iostream>
#include <vector> #include <vector>
#include "OBSWConfig.h"
#include "ObjectFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/platform.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include "mission/utility/InitMission.h"
#include "pollingsequence/pollingSequenceFactory.h"
/* This is configured for linux without CR */ /* This is configured for linux without CR */
#ifdef PLATFORM_UNIX #ifdef PLATFORM_UNIX
ServiceInterfaceStream sif::debug("DEBUG"); ServiceInterfaceStream sif::debug("DEBUG");
@ -30,10 +29,9 @@ ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true); ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif #endif
ObjectManagerIF *objectManager = nullptr; ObjectManagerIF* objectManager = nullptr;
void initmission::initMission() { void initmission::initMission() {
sif::info << "Building global objects.." << std::endl; sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */ /* Instantiate global object manager and also create all objects */
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr); ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
@ -47,21 +45,21 @@ void initmission::initMission() {
void initmission::initTasks() { void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance(); TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(factory == nullptr) { if (factory == nullptr) {
/* Should never happen ! */ /* Should never happen ! */
return; return;
} }
#if OBSW_PRINT_MISSED_DEADLINES == 1 #if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline; void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else #else
void (*missedDeadlineFunc) (void) = nullptr; void (*missedDeadlineFunc)(void) = nullptr;
#endif #endif
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
PeriodicTaskIF* coreController = factory->createPeriodicTask( PeriodicTaskIF* coreController = factory->createPeriodicTask(
"CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc); "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = coreController->addComponent(objects::CORE_CONTROLLER); result = coreController->addComponent(objects::CORE_CONTROLLER);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER); initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
} }
#endif #endif
@ -70,15 +68,15 @@ void initmission::initTasks() {
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR); result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR); initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
} }
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR); result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR); initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
} }
result = tmTcDistributor->addComponent(objects::TM_FUNNEL); result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL); initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
} }
@ -87,13 +85,13 @@ void initmission::initTasks() {
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask( PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE); result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UDP_BRIDGE", objects::TMTC_BRIDGE); initmission::printAddObjectError("UDP_BRIDGE", objects::TMTC_BRIDGE);
} }
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask( PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK); result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK); initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
} }
#endif #endif
@ -102,7 +100,7 @@ void initmission::initTasks() {
PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask( PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
"CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER); result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER); initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
} }
@ -112,7 +110,7 @@ void initmission::initTasks() {
PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask( PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
"PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc); "PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER); result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER); initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
} }
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */ #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
@ -120,17 +118,17 @@ void initmission::initTasks() {
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, 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);
} }
# 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
// because it is a non-essential background task // because it is a non-essential background task
PeriodicTaskIF* fsTask = factory->createPeriodicTask( PeriodicTaskIF* fsTask = factory->createPeriodicTask(
"FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc); "FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER); result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER); initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
} }
@ -138,7 +136,7 @@ void initmission::initTasks() {
PeriodicTaskIF* strImgLoaderTask = factory->createPeriodicTask( PeriodicTaskIF* strImgLoaderTask = factory->createPeriodicTask(
"FILE_SYSTEM_TASK", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "FILE_SYSTEM_TASK", 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("FILE_SYSTEM_TASK", objects::STR_HELPER);
} }
#endif /* OBSW_ADD_STAR_TRACKER == 1 */ #endif /* OBSW_ADD_STAR_TRACKER == 1 */
@ -149,7 +147,7 @@ void initmission::initTasks() {
PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask( PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
"PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE); result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE); initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
} }
#endif #endif
@ -165,11 +163,10 @@ void initmission::initTasks() {
#endif #endif
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) { auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
for(const auto& task: taskVector) { for (const auto& task : taskVector) {
if(task != nullptr) { if (task != nullptr) {
task->startTask(); task->startTask();
} } else {
else {
sif::error << "Task in vector " << name << " is invalid!" << std::endl; sif::error << "Task in vector " << name << " is invalid!" << std::endl;
} }
} }
@ -215,21 +212,20 @@ void initmission::initTasks() {
} }
void initmission::createPstTasks(TaskFactory& factory, void initmission::createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) { TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
/* Polling Sequence Table Default */ /* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0 #if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
missedDeadlineFunc);
result = pst::pstSpi(spiPst); result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
} }
} } else {
else {
taskVec.push_back(spiPst); taskVec.push_back(spiPst);
} }
#endif #endif
@ -258,14 +254,13 @@ void initmission::createPstTasks(TaskFactory& factory,
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);
result = pst::pstGompaceCan(gomSpacePstTask); result = pst::pstGompaceCan(gomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
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, "PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, missedDeadlineFunc);
missedDeadlineFunc);
result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720); result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl; sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
@ -274,14 +269,15 @@ void initmission::createPstTasks(TaskFactory& factory,
#endif /* BOARD_TE7020 == 1 */ #endif /* BOARD_TE7020 == 1 */
} }
void initmission::createPusTasks(TaskFactory &factory, void initmission::createPusTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) { TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
/* PUS Services */ /* PUS Services */
PeriodicTaskIF* pusVerification = factory.createPeriodicTask( PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION); result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION); initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
} }
taskVec.push_back(pusVerification); taskVec.push_back(pusVerification);
@ -289,11 +285,11 @@ void initmission::createPusTasks(TaskFactory &factory,
PeriodicTaskIF* pusEvents = factory.createPeriodicTask( PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING); result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING); initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
} }
result = pusEvents->addComponent(objects::EVENT_MANAGER); result = pusEvents->addComponent(objects::EVENT_MANAGER);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER); initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
} }
taskVec.push_back(pusEvents); taskVec.push_back(pusEvents);
@ -301,11 +297,11 @@ void initmission::createPusTasks(TaskFactory &factory,
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask( PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS); result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS); initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
} }
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT); result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT); initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
} }
taskVec.push_back(pusHighPrio); taskVec.push_back(pusHighPrio);
@ -313,19 +309,19 @@ void initmission::createPusTasks(TaskFactory &factory,
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask( PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc); "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT); result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT); initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING); result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if(result!=HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT); result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT); initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS); result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS); initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
} }
taskVec.push_back(pusMedPrio); taskVec.push_back(pusMedPrio);
@ -333,39 +329,41 @@ void initmission::createPusTasks(TaskFactory &factory,
PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask( PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc); "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST); result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST); initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
} }
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER); result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER); initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
} }
taskVec.push_back(pusLowPrio); taskVec.push_back(pusLowPrio);
} }
void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, void initmission::createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) { std::vector<PeriodicTaskIF*>& taskVec) {
#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1) #if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || \
(BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#endif #endif
PeriodicTaskIF* testTask = factory.createPeriodicTask( PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc); "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
#if OBSW_ADD_TEST_TASK == 1 #if OBSW_ADD_TEST_TASK == 1
result = testTask->addComponent(objects::TEST_TASK); result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK); initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
} }
#endif /* OBSW_ADD_TEST_TASK == 1 */ #endif /* OBSW_ADD_TEST_TASK == 1 */
#if OBSW_ADD_SPI_TEST_CODE == 1 #if OBSW_ADD_SPI_TEST_CODE == 1
result = testTask->addComponent(objects::SPI_TEST); result = testTask->addComponent(objects::SPI_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST); initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
} }
#endif #endif
#if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 #if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
result = testTask->addComponent(objects::LIBGPIOD_TEST); result = testTask->addComponent(objects::LIBGPIOD_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST); initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
} }
#endif /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */ #endif /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */

5
bsp_q7s/core/InitMission.h
View File

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

641
bsp_q7s/core/ObjectFactory.cpp
View File

@ -1,87 +1,82 @@
#include <sstream>
#include "ObjectFactory.h" #include "ObjectFactory.h"
#include "bsp_q7s/devices/startracker/StrHelper.h" #include <sstream>
#include "bsp_q7s/devices/startracker/StarTrackerDefinitions.h"
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "devConf.h"
#include "ccsdsConfig.h"
#include "busConf.h"
#include "tmtc/apid.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "tmtc/pusIds.h"
#include "devices/powerSwitcherList.h"
#include "bsp_q7s/gpio/gpioCallbacks.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/boardtest/Q7STestTask.h" #include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/memory/FileSystemHandler.h" #include "bsp_q7s/callbacks/gnssCallback.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/devices/PlocMemoryDumper.h"
#include "bsp_q7s/devices/PlocSupervisorHandler.h" #include "bsp_q7s/devices/PlocSupervisorHandler.h"
#include "bsp_q7s/devices/PlocUpdater.h" #include "bsp_q7s/devices/PlocUpdater.h"
#include "bsp_q7s/devices/PlocMemoryDumper.h" #include "bsp_q7s/devices/startracker/StarTrackerDefinitions.h"
#include "bsp_q7s/devices/startracker/StarTrackerHandler.h" #include "bsp_q7s/devices/startracker/StarTrackerHandler.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h" #include "bsp_q7s/devices/startracker/StrHelper.h"
#include "bsp_q7s/callbacks/gnssCallback.h" #include "bsp_q7s/gpio/gpioCallbacks.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include "linux/devices/SolarArrayDeploymentHandler.h" #include "busConf.h"
#include "linux/devices/devicedefinitions/SusDefinitions.h" #include "ccsdsConfig.h"
#include "linux/devices/SusHandler.h" #include "devConf.h"
#include "linux/csp/CspCookie.h" #include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "devices/powerSwitcherList.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "fsfw_hal/linux/i2c/I2cCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "linux/boardtest/SpiTestClass.h"
#include "linux/csp/CspComIF.h" #include "linux/csp/CspComIF.h"
#include "linux/csp/CspCookie.h"
#include "mission/devices/HeaterHandler.h" #include "linux/devices/SolarArrayDeploymentHandler.h"
#include "linux/devices/SusHandler.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/GPSHyperionHandler.h"
#include "mission/devices/GyroADIS1650XHandler.h"
#include "mission/devices/HeaterHandler.h"
#include "mission/devices/IMTQHandler.h"
#include "mission/devices/Max31865PT1000Handler.h"
#include "mission/devices/P60DockHandler.h"
#include "mission/devices/PCDUHandler.h"
#include "mission/devices/PDU1Handler.h" #include "mission/devices/PDU1Handler.h"
#include "mission/devices/PDU2Handler.h" #include "mission/devices/PDU2Handler.h"
#include "mission/devices/ACUHandler.h"
#include "mission/devices/PCDUHandler.h"
#include "mission/devices/P60DockHandler.h"
#include "mission/devices/Tmp1075Handler.h"
#include "mission/devices/Max31865PT1000Handler.h"
#include "mission/devices/GyroADIS1650XHandler.h"
#include "mission/devices/IMTQHandler.h"
#include "mission/devices/SyrlinksHkHandler.h"
#include "mission/devices/PlocMPSoCHandler.h" #include "mission/devices/PlocMPSoCHandler.h"
#include "mission/devices/RadiationSensorHandler.h" #include "mission/devices/RadiationSensorHandler.h"
#include "mission/devices/RwHandler.h" #include "mission/devices/RwHandler.h"
#include "mission/devices/SyrlinksHkHandler.h"
#include "mission/devices/Tmp1075Handler.h"
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h" #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h" #include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/devices/devicedefinitions/PlocMPSoCDefinitions.h" #include "mission/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#include "mission/devices/devicedefinitions/RadSensorDefinitions.h" #include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h" #include "mission/devices/devicedefinitions/RwDefinitions.h"
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
#include "mission/devices/GPSHyperionHandler.h"
#include "mission/tmtc/CCSDSHandler.h" #include "mission/tmtc/CCSDSHandler.h"
#include "mission/tmtc/VirtualChannel.h" #include "mission/tmtc/VirtualChannel.h"
#include "mission/utility/TmFunnel.h" #include "mission/utility/TmFunnel.h"
#include "tmtc/apid.h"
#include "fsfw_hal/linux/uart/UartComIF.h" #include "tmtc/pusIds.h"
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/linux/i2c/I2cCookie.h"
#include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "linux/boardtest/SpiTestClass.h"
#if OBSW_TEST_LIBGPIOD == 1 #if OBSW_TEST_LIBGPIOD == 1
#include "linux/boardtest/LibgpiodTest.h" #include "linux/boardtest/LibgpiodTest.h"
#endif #endif
#include <linux/obc/Ptme.h>
#include <linux/obc/PdecHandler.h>
#include <linux/obc/PapbVcInterface.h> #include <linux/obc/PapbVcInterface.h>
#include <linux/obc/PdecHandler.h>
#include <linux/obc/Ptme.h>
#include <linux/obc/PtmeConfig.h> #include <linux/obc/PtmeConfig.h>
#include <linux/obc/PtmeRateSetter.h> #include <linux/obc/PtmeRateSetter.h>
#include <linux/obc/TxRateSetterIF.h> #include <linux/obc/TxRateSetterIF.h>
@ -89,9 +84,7 @@
ResetArgs resetArgsGnss0; ResetArgs resetArgsGnss0;
ResetArgs resetArgsGnss1; ResetArgs resetArgsGnss1;
void ObjectFactory::setStatics() { void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
Factory::setStaticFrameworkObjectIds();
}
void Factory::setStaticFrameworkObjectIds() { void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR; PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@ -100,7 +93,7 @@ void Factory::setStaticFrameworkObjectIds() {
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR; CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL; CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
//DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER; // DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT; DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
#if OBSW_TM_TO_PTME == 1 #if OBSW_TM_TO_PTME == 1
@ -146,22 +139,22 @@ void ObjectFactory::produce(void* args) {
createRtdComponents(gpioComIF); createRtdComponents(gpioComIF);
#endif /* OBSW_ADD_RTD_DEVICES == 1 */ #endif /* OBSW_ADD_RTD_DEVICES == 1 */
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, I2cCookie* imtqI2cCookie =
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); new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
createReactionWheelComponents(gpioComIF); createReactionWheelComponents(gpioComIF);
#if OBSW_ADD_PLOC_MPSOC == 1 #if OBSW_ADD_PLOC_MPSOC == 1
UartCookie* plocMpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, UartCookie* plocMpsocCookie =
q7s::UART_PLOC_MPSOC_DEV, UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD, new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
PLOC_MPSOC::MAX_REPLY_SIZE); UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD, PLOC_MPSOC::MAX_REPLY_SIZE);
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocMpsocCookie); new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocMpsocCookie);
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */ #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
#if OBSW_ADD_PLOC_SUPERVISOR == 1 #if OBSW_ADD_PLOC_SUPERVISOR == 1
UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, UartCookie* plocSupervisorCookie = new UartCookie(
q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL, uart::PLOC_SUPERVISOR_BAUD, objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL,
PLOC_SPV::MAX_PACKET_SIZE * 20); uart::PLOC_SUPERVISOR_BAUD, PLOC_SPV::MAX_PACKET_SIZE * 20);
plocSupervisorCookie->setNoFixedSizeReply(); plocSupervisorCookie->setNoFixedSizeReply();
PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler( PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie); objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
@ -171,13 +164,13 @@ void ObjectFactory::produce(void* args) {
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER); new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
#if OBSW_ADD_STAR_TRACKER == 1 #if OBSW_ADD_STAR_TRACKER == 1
UartCookie* starTrackerCookie = new UartCookie(objects::STAR_TRACKER, UartCookie* starTrackerCookie =
q7s::UART_STAR_TRACKER_DEV, UartModes::NON_CANONICAL, uart::STAR_TRACKER_BAUD, new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, UartModes::NON_CANONICAL,
StarTracker::MAX_FRAME_SIZE* 2 + 2); uart::STAR_TRACKER_BAUD, StarTracker::MAX_FRAME_SIZE * 2 + 2);
starTrackerCookie->setNoFixedSizeReply(); starTrackerCookie->setNoFixedSizeReply();
StrHelper* strHelper = new StrHelper(objects::STR_HELPER); StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(objects::STAR_TRACKER, StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(
objects::UART_COM_IF, starTrackerCookie, strHelper); objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, strHelper);
starTrackerHandler->setStartUpImmediately(); starTrackerHandler->setStartUpImmediately();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */ #endif /* OBSW_ADD_STAR_TRACKER == 1 */
@ -199,27 +192,27 @@ void ObjectFactory::produce(void* args) {
void ObjectFactory::createTmpComponents() { void ObjectFactory::createTmpComponents() {
#if BOARD_TE0720 == 1 #if BOARD_TE0720 == 1
I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1, I2cCookie* i2cCookieTmp1075tcs1 =
TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0")); new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2, I2cCookie* i2cCookieTmp1075tcs2 =
TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0")); new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
#else #else
I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1, I2cCookie* i2cCookieTmp1075tcs1 =
TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV); new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2, I2cCookie* i2cCookieTmp1075tcs2 =
TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV); new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
#endif #endif
/* Temperature sensors */ /* Temperature sensors */
Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(objects::TMP1075_HANDLER_1, Tmp1075Handler* tmp1075Handler_1 =
objects::I2C_COM_IF, i2cCookieTmp1075tcs1); new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
(void) tmp1075Handler_1; (void)tmp1075Handler_1;
Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(objects::TMP1075_HANDLER_2, Tmp1075Handler* tmp1075Handler_2 =
objects::I2C_COM_IF, i2cCookieTmp1075tcs2); new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
(void) tmp1075Handler_2; (void)tmp1075Handler_2;
} }
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF, UartComIF** uartComIF, void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
SpiComIF** spiComIF) { SpiComIF** spiComIF) {
if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) { if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer" sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
@ -247,14 +240,13 @@ void ObjectFactory::createPcduComponents() {
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2); CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU); CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
/* Device Handler */ /* Device Handler */
P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER, P60DockHandler* p60dockhandler =
objects::CSP_COM_IF, p60DockCspCookie); new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, PDU1Handler* pdu1handler =
pdu1CspCookie); new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, PDU2Handler* pdu2handler =
pdu2CspCookie); new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
acuCspCookie);
new PCDUHandler(objects::PCDU_HANDLER, 50); new PCDUHandler(objects::PCDU_HANDLER, 50);
/** /**
@ -276,13 +268,13 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio); gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
gpioComIF->addGpios(gpioCookieRadSensor); gpioComIF->addGpios(gpioCookieRadSensor);
SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, SpiCookie* spiCookieRadSensor = new SpiCookie(
std::string(q7s::SPI_DEFAULT_DEV), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV),
spi::DEFAULT_MAX_1227_SPEED); RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor); new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
} }
void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComIF* spiComIF) { void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF) {
GpioCookie* gpioCookieSus = new GpioCookie(); GpioCookie* gpioCookieSus = new GpioCookie();
GpioCallback* susgpio = nullptr; GpioCallback* susgpio = nullptr;
@ -328,64 +320,55 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComI
gpioComIF->addGpios(gpioCookieSus); gpioComIF->addGpios(gpioCookieSus);
SpiCookie* spiCookieSus1 = new SpiCookie(addresses::SUS_1, gpio::NO_GPIO, SpiCookie* spiCookieSus1 =
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, new SpiCookie(addresses::SUS_1, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus2 = new SpiCookie(addresses::SUS_2, gpio::NO_GPIO, SpiCookie* spiCookieSus2 =
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, new SpiCookie(addresses::SUS_2, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus3 = new SpiCookie(addresses::SUS_3, gpio::NO_GPIO, SpiCookie* spiCookieSus3 =
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, new SpiCookie(addresses::SUS_3, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus4 = new SpiCookie(addresses::SUS_4, gpio::NO_GPIO, SpiCookie* spiCookieSus4 =
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, new SpiCookie(addresses::SUS_4, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus5 = new SpiCookie(addresses::SUS_5, gpio::NO_GPIO, SpiCookie* spiCookieSus5 =
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, new SpiCookie(addresses::SUS_5, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus6 = new SpiCookie(addresses::SUS_6, gpio::NO_GPIO, SpiCookie* spiCookieSus6 =
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, new SpiCookie(addresses::SUS_6, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus7 = new SpiCookie(addresses::SUS_7, gpio::NO_GPIO, SpiCookie* spiCookieSus7 =
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, new SpiCookie(addresses::SUS_7, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus8 = new SpiCookie(addresses::SUS_8, gpio::NO_GPIO, SpiCookie* spiCookieSus8 =
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, new SpiCookie(addresses::SUS_8, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus9 = new SpiCookie(addresses::SUS_9, gpio::NO_GPIO, SpiCookie* spiCookieSus9 =
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, new SpiCookie(addresses::SUS_9, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus10 = new SpiCookie(addresses::SUS_10, gpio::NO_GPIO, SpiCookie* spiCookieSus10 =
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, new SpiCookie(addresses::SUS_10, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus11 = new SpiCookie(addresses::SUS_11, gpio::NO_GPIO, SpiCookie* spiCookieSus11 =
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, new SpiCookie(addresses::SUS_11, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus12 = new SpiCookie(addresses::SUS_12, gpio::NO_GPIO, SpiCookie* spiCookieSus12 =
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, new SpiCookie(addresses::SUS_12, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus13 = new SpiCookie(addresses::SUS_13, gpio::NO_GPIO, SpiCookie* spiCookieSus13 =
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, new SpiCookie(addresses::SUS_13, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF, new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF, gpioIds::CS_SUS_1);
gpioIds::CS_SUS_1); new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF, gpioIds::CS_SUS_2);
new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF, new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF, gpioIds::CS_SUS_3);
gpioIds::CS_SUS_2); new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF, gpioIds::CS_SUS_4);
new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF, new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF, gpioIds::CS_SUS_5);
gpioIds::CS_SUS_3); new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF, gpioIds::CS_SUS_6);
new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF, new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF, gpioIds::CS_SUS_7);
gpioIds::CS_SUS_4); new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF, gpioIds::CS_SUS_8);
new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF, new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF, gpioIds::CS_SUS_9);
gpioIds::CS_SUS_5);
new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF,
gpioIds::CS_SUS_6);
new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF,
gpioIds::CS_SUS_7);
new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF,
gpioIds::CS_SUS_8);
new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF,
gpioIds::CS_SUS_9);
new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF, new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF,
gpioIds::CS_SUS_10); gpioIds::CS_SUS_10);
new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF, new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF,
@ -396,14 +379,14 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComI
gpioIds::CS_SUS_13); gpioIds::CS_SUS_13);
} }
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) { void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF) {
GpioCookie* gpioCookieAcsBoard = new GpioCookie(); GpioCookie* gpioCookieAcsBoard = new GpioCookie();
std::stringstream consumer; std::stringstream consumer;
GpiodRegularByLineName* gpio = nullptr; GpiodRegularByLineName* gpio = nullptr;
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER; consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), gpio::DIR_OUT,
gpio::DIR_OUT, gpio::HIGH); gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
consumer.str(""); consumer.str("");
@ -438,8 +421,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
consumer.str(""); consumer.str("");
consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER; consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), gpio::DIR_OUT,
gpio::DIR_OUT, gpio::HIGH); gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
consumer.str(""); consumer.str("");
@ -464,8 +447,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
consumer.str(""); consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER; consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
// Enable pins must be pulled low for regular operations // Enable pins must be pulled low for regular operations
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), gpio::DIR_OUT,
gpio::DIR_OUT, gpio::LOW); gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
consumer.str(""); consumer.str("");
@ -477,8 +460,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
// Enable pins for GNSS // Enable pins for GNSS
consumer.str(""); consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER; consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), gpio::DIR_OUT,
gpio::DIR_OUT, gpio::LOW); gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
consumer.str(""); consumer.str("");
@ -490,7 +473,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
gpioComIF->addGpios(gpioCookieAcsBoard); gpioComIF->addGpios(gpioCookieAcsBoard);
std::string spiDev = q7s::SPI_DEFAULT_DEV; std::string spiDev = q7s::SPI_DEFAULT_DEV;
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev, SpiCookie* spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::LIS3_TRANSITION_DELAY); spiCookie, spi::LIS3_TRANSITION_DELAY);
@ -499,7 +483,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
mgmLis3Handler->setToGoToNormalMode(true); mgmLis3Handler->setToGoToNormalMode(true);
#endif #endif
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev, spiCookie =
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::RM3100_TRANSITION_DELAY); spiCookie, spi::RM3100_TRANSITION_DELAY);
@ -508,7 +493,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
mgmRm3100Handler->setToGoToNormalMode(true); mgmRm3100Handler->setToGoToNormalMode(true);
#endif #endif
spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev, spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::LIS3_TRANSITION_DELAY); spiCookie, spi::LIS3_TRANSITION_DELAY);
@ -517,7 +503,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
mgmLis3Handler2->setToGoToNormalMode(true); mgmLis3Handler2->setToGoToNormalMode(true);
#endif #endif
spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev, spiCookie =
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::RM3100_TRANSITION_DELAY); spiCookie, spi::RM3100_TRANSITION_DELAY);
@ -535,8 +522,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
spiCookie, ADIS1650X::Type::ADIS16505); spiCookie, ADIS1650X::Type::ADIS16505);
adisHandler->setStartUpImmediately(); adisHandler->setStartUpImmediately();
// Gyro 1 Side A // Gyro 1 Side A
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, spiCookie =
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::L3G_TRANSITION_DELAY); spiCookie, spi::L3G_TRANSITION_DELAY);
gyroL3gHandler->setStartUpImmediately(); gyroL3gHandler->setStartUpImmediately();
@ -551,8 +539,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
spiCookie, ADIS1650X::Type::ADIS16505); spiCookie, ADIS1650X::Type::ADIS16505);
adisHandler->setStartUpImmediately(); adisHandler->setStartUpImmediately();
// Gyro 3 Side B // Gyro 3 Side B
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, spiCookie =
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie, spi::L3G_TRANSITION_DELAY); spiCookie, spi::L3G_TRANSITION_DELAY);
gyroL3gHandler->setStartUpImmediately(); gyroL3gHandler->setStartUpImmediately();
@ -570,13 +559,11 @@ 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, auto gpsHandler0 = new GPSHyperionHandler(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
debugGps);
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0); gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
} }
void ObjectFactory::createHeaterComponents() { void ObjectFactory::createHeaterComponents() {
GpioCookie* heaterGpiosCookie = new GpioCookie; GpioCookie* heaterGpiosCookie = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr; GpiodRegularByLineName* gpio = nullptr;
@ -596,24 +583,24 @@ void ObjectFactory::createHeaterComponents() {
gpio::LOW); gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio); heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(), gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(), gpio::DIR_OUT,
gpio::DIR_OUT, gpio::LOW); gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio); heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(), gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(), gpio::DIR_OUT,
gpio::DIR_OUT, gpio::LOW); gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio); heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(), gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(), gpio::DIR_OUT,
gpio::DIR_OUT, gpio::LOW); gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio); heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(), gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(), gpio::DIR_OUT,
gpio::DIR_OUT, gpio::LOW); gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio); heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(), gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(), gpio::DIR_OUT,
gpio::DIR_OUT, gpio::LOW); gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio); heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
@ -626,29 +613,30 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
std::stringstream consumer; std::stringstream consumer;
consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER; consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0, gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0, consumer.str(), gpio::DIR_OUT,
consumer.str(), gpio::DIR_OUT, gpio::LOW); gpio::LOW);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio); solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), gpio::DIR_OUT, gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), gpio::DIR_OUT,
gpio::LOW); gpio::LOW);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio); solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
//TODO: Find out burn time. For now set to 1000 ms. // TODO: Find out burn time. For now set to 1000 ms.
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF, new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM, solarArrayDeplCookie, objects::PCDU_HANDLER,
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000); pcduSwitches::DEPLOYMENT_MECHANISM, gpioIds::DEPLSA1,
gpioIds::DEPLSA2, 1000);
} }
void ObjectFactory::createSyrlinksComponents() { void ObjectFactory::createSyrlinksComponents() {
UartCookie* syrlinksUartCookie = new UartCookie(objects::SYRLINKS_HK_HANDLER, UartCookie* syrlinksUartCookie =
q7s::UART_SYRLINKS_DEV, UartModes::NON_CANONICAL, uart::SYRLINKS_BAUD, new UartCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, UartModes::NON_CANONICAL,
SYRLINKS::MAX_REPLY_SIZE); uart::SYRLINKS_BAUD, SYRLINKS::MAX_REPLY_SIZE);
syrlinksUartCookie->setParityEven(); syrlinksUartCookie->setParityEven();
new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie); new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie);
} }
void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) { void ObjectFactory::createRtdComponents(LinuxLibgpioIF* gpioComIF) {
GpioCookie* rtdGpioCookie = new GpioCookie; GpioCookie* rtdGpioCookie = new GpioCookie;
GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", gpio::DIR_OUT, gpio::HIGH, GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", gpio::DIR_OUT, gpio::HIGH,
@ -702,80 +690,87 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
gpioComIF->addGpios(rtdGpioCookie); gpioComIF->addGpios(rtdGpioCookie);
SpiCookie* spiRtdIc0 = new SpiCookie(addresses::RTD_IC_3, gpioIds::RTD_IC_3, q7s::SPI_DEFAULT_DEV, SpiCookie* spiRtdIc0 =
new SpiCookie(addresses::RTD_IC_3, gpioIds::RTD_IC_3, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED); Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc1 = new SpiCookie(addresses::RTD_IC_4, gpioIds::RTD_IC_4, q7s::SPI_DEFAULT_DEV, SpiCookie* spiRtdIc1 =
new SpiCookie(addresses::RTD_IC_4, gpioIds::RTD_IC_4, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED); Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc2 = new SpiCookie(addresses::RTD_IC_5, gpioIds::RTD_IC_5, q7s::SPI_DEFAULT_DEV, SpiCookie* spiRtdIc2 =
new SpiCookie(addresses::RTD_IC_5, gpioIds::RTD_IC_5, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED); Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC_6, gpioIds::RTD_IC_6, q7s::SPI_DEFAULT_DEV, SpiCookie* spiRtdIc3 =
new SpiCookie(addresses::RTD_IC_6, gpioIds::RTD_IC_6, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED); Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC_7, gpioIds::RTD_IC_7, q7s::SPI_DEFAULT_DEV, SpiCookie* spiRtdIc4 =
new SpiCookie(addresses::RTD_IC_7, gpioIds::RTD_IC_7, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED); Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC_8, gpioIds::RTD_IC_8, q7s::SPI_DEFAULT_DEV, SpiCookie* spiRtdIc5 =
new SpiCookie(addresses::RTD_IC_8, gpioIds::RTD_IC_8, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED); Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC_9, gpioIds::RTD_IC_9, q7s::SPI_DEFAULT_DEV, SpiCookie* spiRtdIc6 =
new SpiCookie(addresses::RTD_IC_9, gpioIds::RTD_IC_9, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc7 =
new SpiCookie(addresses::RTD_IC_10, gpioIds::RTD_IC_10, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc8 =
new SpiCookie(addresses::RTD_IC_11, gpioIds::RTD_IC_11, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc9 =
new SpiCookie(addresses::RTD_IC_12, gpioIds::RTD_IC_12, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc10 =
new SpiCookie(addresses::RTD_IC_13, gpioIds::RTD_IC_13, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc11 =
new SpiCookie(addresses::RTD_IC_14, gpioIds::RTD_IC_14, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc12 =
new SpiCookie(addresses::RTD_IC_15, gpioIds::RTD_IC_15, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc13 =
new SpiCookie(addresses::RTD_IC_16, gpioIds::RTD_IC_16, std::string(q7s::SPI_DEFAULT_DEV),
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc14 =
new SpiCookie(addresses::RTD_IC_17, gpioIds::RTD_IC_17, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc15 =
new SpiCookie(addresses::RTD_IC_18, gpioIds::RTD_IC_18, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED); Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC_10, gpioIds::RTD_IC_10,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC_11, gpioIds::RTD_IC_11,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC_12, gpioIds::RTD_IC_12,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC_13, gpioIds::RTD_IC_13,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC_14, gpioIds::RTD_IC_14,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC_15, gpioIds::RTD_IC_15,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC_16, gpioIds::RTD_IC_16,
std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
spi::RTD_MODE, spi::RTD_SPEED);
SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC_17, gpioIds::RTD_IC_17,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC_18, gpioIds::RTD_IC_18,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
spi::RTD_SPEED);
Max31865PT1000Handler* rtdIc0 = new Max31865PT1000Handler(objects::RTD_IC_3, objects::SPI_COM_IF, Max31865PT1000Handler* rtdIc0 =
spiRtdIc0); new Max31865PT1000Handler(objects::RTD_IC_3, objects::SPI_COM_IF, spiRtdIc0);
Max31865PT1000Handler* rtdIc1 = new Max31865PT1000Handler(objects::RTD_IC_4, objects::SPI_COM_IF, Max31865PT1000Handler* rtdIc1 =
spiRtdIc1); new Max31865PT1000Handler(objects::RTD_IC_4, objects::SPI_COM_IF, spiRtdIc1);
Max31865PT1000Handler* rtdIc2 = new Max31865PT1000Handler(objects::RTD_IC_5, objects::SPI_COM_IF, Max31865PT1000Handler* rtdIc2 =
spiRtdIc2); new Max31865PT1000Handler(objects::RTD_IC_5, objects::SPI_COM_IF, spiRtdIc2);
Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC_6, objects::SPI_COM_IF, Max31865PT1000Handler* rtdIc3 =
spiRtdIc3); new Max31865PT1000Handler(objects::RTD_IC_6, objects::SPI_COM_IF, spiRtdIc3);
Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC_7, objects::SPI_COM_IF, Max31865PT1000Handler* rtdIc4 =
spiRtdIc4); new Max31865PT1000Handler(objects::RTD_IC_7, objects::SPI_COM_IF, spiRtdIc4);
Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC_8, objects::SPI_COM_IF, Max31865PT1000Handler* rtdIc5 =
spiRtdIc5); new Max31865PT1000Handler(objects::RTD_IC_8, objects::SPI_COM_IF, spiRtdIc5);
Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC_9, objects::SPI_COM_IF, Max31865PT1000Handler* rtdIc6 =
spiRtdIc6); new Max31865PT1000Handler(objects::RTD_IC_9, objects::SPI_COM_IF, spiRtdIc6);
Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC_10, Max31865PT1000Handler* rtdIc7 =
objects::SPI_COM_IF, spiRtdIc7); new Max31865PT1000Handler(objects::RTD_IC_10, objects::SPI_COM_IF, spiRtdIc7);
Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC_11, Max31865PT1000Handler* rtdIc8 =
objects::SPI_COM_IF, spiRtdIc8); new Max31865PT1000Handler(objects::RTD_IC_11, objects::SPI_COM_IF, spiRtdIc8);
Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC_12, Max31865PT1000Handler* rtdIc9 =
objects::SPI_COM_IF, spiRtdIc9); new Max31865PT1000Handler(objects::RTD_IC_12, objects::SPI_COM_IF, spiRtdIc9);
Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC_13, Max31865PT1000Handler* rtdIc10 =
objects::SPI_COM_IF, spiRtdIc10); new Max31865PT1000Handler(objects::RTD_IC_13, objects::SPI_COM_IF, spiRtdIc10);
Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC_14, Max31865PT1000Handler* rtdIc11 =
objects::SPI_COM_IF, spiRtdIc11); new Max31865PT1000Handler(objects::RTD_IC_14, objects::SPI_COM_IF, spiRtdIc11);
Max31865PT1000Handler* rtdIc12 = new Max31865PT1000Handler(objects::RTD_IC_15, Max31865PT1000Handler* rtdIc12 =
objects::SPI_COM_IF, spiRtdIc12); new Max31865PT1000Handler(objects::RTD_IC_15, objects::SPI_COM_IF, spiRtdIc12);
Max31865PT1000Handler* rtdIc13 = new Max31865PT1000Handler(objects::RTD_IC_16, Max31865PT1000Handler* rtdIc13 =
objects::SPI_COM_IF, spiRtdIc13); new Max31865PT1000Handler(objects::RTD_IC_16, objects::SPI_COM_IF, spiRtdIc13);
Max31865PT1000Handler* rtdIc14 = new Max31865PT1000Handler(objects::RTD_IC_17, Max31865PT1000Handler* rtdIc14 =
objects::SPI_COM_IF, spiRtdIc14); new Max31865PT1000Handler(objects::RTD_IC_17, objects::SPI_COM_IF, spiRtdIc14);
Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC_18, Max31865PT1000Handler* rtdIc15 =
objects::SPI_COM_IF, spiRtdIc15); new Max31865PT1000Handler(objects::RTD_IC_18, objects::SPI_COM_IF, spiRtdIc15);
rtdIc0->setStartUpImmediately(); rtdIc0->setStartUpImmediately();
rtdIc1->setStartUpImmediately(); rtdIc1->setStartUpImmediately();
@ -822,71 +817,71 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
std::stringstream consumer; std::stringstream consumer;
GpiodRegularByLineName* gpio = nullptr; GpiodRegularByLineName* gpio = nullptr;
consumer << "0x" << std::hex << objects::RW1; consumer << "0x" << std::hex << objects::RW1;
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), gpio::DIR_OUT, gpio =
gpio::LOW); new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), gpio::DIR_OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW1, gpio); gpioCookieRw->addGpio(gpioIds::EN_RW1, gpio);
consumer.str(""); consumer.str("");
consumer << "0x" << std::hex << objects::RW2; consumer << "0x" << std::hex << objects::RW2;
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), gpio::DIR_OUT, gpio =
gpio::LOW); new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), gpio::DIR_OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW2, gpio); gpioCookieRw->addGpio(gpioIds::EN_RW2, gpio);
consumer.str(""); consumer.str("");
consumer << "0x" << std::hex << objects::RW3; consumer << "0x" << std::hex << objects::RW3;
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), gpio::DIR_OUT, gpio =
gpio::LOW); new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), gpio::DIR_OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW3, gpio); gpioCookieRw->addGpio(gpioIds::EN_RW3, gpio);
consumer.str(""); consumer.str("");
consumer << "0x" << std::hex << objects::RW4; consumer << "0x" << std::hex << objects::RW4;
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), gpio::DIR_OUT, gpio =
gpio::LOW); new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), gpio::DIR_OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio); gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
gpioComIF->addGpios(gpioCookieRw); gpioComIF->addGpios(gpioCookieRw);
auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV, auto rw1SpiCookie =
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
nullptr); spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV, auto rw2SpiCookie =
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
nullptr); spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV, auto rw3SpiCookie =
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
nullptr); spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV, auto rw4SpiCookie =
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
nullptr); spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, auto rwHandler1 =
gpioIds::EN_RW1); new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, gpioIds::EN_RW1);
#if OBSW_DEBUG_RW == 1 #if OBSW_DEBUG_RW == 1
rwHandler1->setStartUpImmediately(); rwHandler1->setStartUpImmediately();
#endif #endif
rw1SpiCookie->setCallbackArgs(rwHandler1); rw1SpiCookie->setCallbackArgs(rwHandler1);
rwHandler1->setStartUpImmediately(); rwHandler1->setStartUpImmediately();
auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, auto rwHandler2 =
gpioIds::EN_RW2); new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
#if OBSW_DEBUG_RW == 1 #if OBSW_DEBUG_RW == 1
rwHandler2->setStartUpImmediately(); rwHandler2->setStartUpImmediately();
#endif #endif
rw2SpiCookie->setCallbackArgs(rwHandler2); rw2SpiCookie->setCallbackArgs(rwHandler2);
auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, auto rwHandler3 =
gpioIds::EN_RW3); new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
#if OBSW_DEBUG_RW == 1 #if OBSW_DEBUG_RW == 1
rwHandler3->setStartUpImmediately(); rwHandler3->setStartUpImmediately();
#endif #endif
rw3SpiCookie->setCallbackArgs(rwHandler3); rw3SpiCookie->setCallbackArgs(rwHandler3);
auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, auto rwHandler4 =
gpioIds::EN_RW4); new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
#if OBSW_DEBUG_RW == 1 #if OBSW_DEBUG_RW == 1
rwHandler4->setStartUpImmediately(); rwHandler4->setStartUpImmediately();
#endif #endif
rw4SpiCookie->setCallbackArgs(rwHandler4); rw4SpiCookie->setCallbackArgs(rwHandler4);
} }
void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) { void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
// GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
GpioCookie* gpioCookiePtmeIp = new GpioCookie; GpioCookie* gpioCookiePtmeIp = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr; GpiodRegularByLineName* gpio = nullptr;
@ -953,9 +948,9 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
TxRateSetterIF* txRateSetterIF = new PtmeRateSetter(gpioIds::BIT_RATE_SEL, gpioComIF); TxRateSetterIF* txRateSetterIF = new PtmeRateSetter(gpioIds::BIT_RATE_SEL, gpioComIF);
CCSDSHandler* ccsdsHandler = new CCSDSHandler(objects::CCSDS_HANDLER, objects::PTME, CCSDSHandler* ccsdsHandler = new CCSDSHandler(
objects::CCSDS_PACKET_DISTRIBUTOR, txRateSetterIF, gpioComIF, objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, txRateSetterIF,
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;
vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE); vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE);
@ -1003,7 +998,6 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
} }
void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) { void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
new Q7STestTask(objects::TEST_TASK); new Q7STestTask(objects::TEST_TASK);
#endif #endif
@ -1013,8 +1007,8 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
/* Configure MIO0 as input */ /* Configure MIO0 as input */
GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::DIR_OUT, 0, "/amba_pl/gpio@41200000", 0); GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::DIR_OUT, 0, "/amba_pl/gpio@41200000", 0);
#elif OBSW_TEST_GPIO_OPEN_BY_LINE_NAME #elif OBSW_TEST_GPIO_OPEN_BY_LINE_NAME
GpiodRegularByLineName* testGpio = new GpiodRegularByLineName("test-name", "gpio-test", GpiodRegularByLineName* testGpio =
gpio::DIR_OUT, 0); new GpiodRegularByLineName("test-name", "gpio-test", gpio::DIR_OUT, 0);
#else #else
/* Configure MIO0 as input */ /* Configure MIO0 as input */
GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0); GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
@ -1026,24 +1020,25 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if BOARD_TE0720 == 1 && OBSW_TEST_SUS_HANDLER == 1 #if BOARD_TE0720 == 1 && OBSW_TEST_SUS_HANDLER == 1
GpioCookie* gpioCookieSus = new GpioCookie; GpioCookie* gpioCookieSus = new GpioCookie;
GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip1"), 9, GpiodRegular* chipSelectSus = new GpiodRegular(
std::string("Chip Select Sus Sensor"), gpio::DIR_OUT, 1); std::string("gpiochip1"), 9, std::string("Chip Select Sus Sensor"), gpio::DIR_OUT, 1);
gpioCookieSus->addGpio(gpioIds::CS_SUS_1, chipSelectSus); gpioCookieSus->addGpio(gpioIds::CS_SUS_1, chipSelectSus);
gpioComIF->addGpios(gpioCookieSus); gpioComIF->addGpios(gpioCookieSus);
SpiCookie* spiCookieSus = new SpiCookie(addresses::SUS_1, std::string("/dev/spidev1.0"), SpiCookie* spiCookieSus =
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED); new SpiCookie(addresses::SUS_1, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus, gpioComIF, new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_1);
gpioIds::CS_SUS_1);
#endif #endif
#if BOARD_TE0720 == 1 && OBSW_TEST_CCSDS_BRIDGE == 1 #if BOARD_TE0720 == 1 && OBSW_TEST_CCSDS_BRIDGE == 1
GpioCookie* gpioCookieCcsdsIp = new GpioCookie; GpioCookie* gpioCookieCcsdsIp = new GpioCookie;
GpiodRegular* papbBusyN = new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_VC0")); GpiodRegular* papbBusyN =
new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_VC0"));
gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN); gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
GpiodRegular* papbEmpty = new GpiodRegular(std::string("gpiochip0"), 1, GpiodRegular* papbEmpty =
std::string("PAPBEmpty_VC0")); new GpiodRegular(std::string("gpiochip0"), 1, std::string("PAPBEmpty_VC0"));
gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_EMPTY, papbEmpty); gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_EMPTY, papbEmpty);
gpioComIF->addGpios(gpioCookieCcsdsIp); gpioComIF->addGpios(gpioCookieCcsdsIp);
@ -1054,32 +1049,33 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if BOARD_TE0720 == 1 && OBSW_TEST_RADIATION_SENSOR_HANDLER == 1 #if BOARD_TE0720 == 1 && OBSW_TEST_RADIATION_SENSOR_HANDLER == 1
GpioCookie* gpioCookieRadSensor = new GpioCookie; GpioCookie* gpioCookieRadSensor = new GpioCookie;
GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip1"), 0, GpiodRegular* chipSelectRadSensor = new GpiodRegular(
std::string("Chip select radiation sensor"), gpio::DIR_OUT, 1); std::string("gpiochip1"), 0, std::string("Chip select radiation sensor"), gpio::DIR_OUT, 1);
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor); gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
gpioComIF->addGpios(gpioCookieRadSensor); gpioComIF->addGpios(gpioCookieRadSensor);
SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, SpiCookie* spiCookieRadSensor =
std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string("/dev/spidev1.0"),
spi::DEFAULT_MAX_1227_SPEED); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
RadiationSensorHandler* radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, RadiationSensorHandler* radSensor =
objects::SPI_COM_IF, spiCookieRadSensor); new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
radSensor->setStartUpImmediately(); radSensor->setStartUpImmediately();
#endif #endif
#if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_MPSOC == 1 #if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_MPSOC == 1
UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200, UartCookie* plocUartCookie =
PLOC_MPSOC::MAX_REPLY_SIZE); new UartCookie(std::string("/dev/ttyPS1"), 115200, PLOC_MPSOC::MAX_REPLY_SIZE);
/* Testing PlocMPSoCHandler on TE0720-03-1CFA */ /* Testing PlocMPSoCHandler on TE0720-03-1CFA */
PlocMPSoCHandler* mpsocPlocHandler = new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, PlocMPSoCHandler* mpsocPlocHandler =
plocUartCookie); new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocUartCookie);
mpsocPlocHandler->setStartUpImmediately(); mpsocPlocHandler->setStartUpImmediately();
#endif #endif
#if BOARD_TE0720 == 1 && OBSW_TEST_TE7020_HEATER == 1 #if BOARD_TE0720 == 1 && OBSW_TEST_TE7020_HEATER == 1
/* Configuration for MIO0 on TE0720-03-1CFA */ /* Configuration for MIO0 on TE0720-03-1CFA */
GpiodRegular* heaterGpio = new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0); GpiodRegular* heaterGpio =
new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
GpioCookie* gpioCookie = new GpioCookie; GpioCookie* gpioCookie = new GpioCookie;
gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio); gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER, new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
@ -1088,9 +1084,9 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_SUPERVISOR == 1 #if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_SUPERVISOR == 1
/* Configuration for MIO0 on TE0720-03-1CFA */ /* Configuration for MIO0 on TE0720-03-1CFA */
UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, UartCookie* plocSupervisorCookie =
std::string("/dev/ttyPS1"), UartModes::NON_CANONICAL, 115200, new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"),
PLOC_SPV::MAX_PACKET_SIZE * 20); UartModes::NON_CANONICAL, 115200, PLOC_SPV::MAX_PACKET_SIZE * 20);
plocSupervisorCookie->setNoFixedSizeReply(); plocSupervisorCookie->setNoFixedSizeReply();
PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler( PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie); objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
@ -1100,5 +1096,4 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if OBSW_ADD_SPI_TEST_CODE == 1 #if OBSW_ADD_SPI_TEST_CODE == 1
new SpiTestClass(objects::SPI_TEST, gpioComIF); new SpiTestClass(objects::SPI_TEST, gpioComIF);
#endif #endif
} }

4
bsp_q7s/core/ObjectFactory.h
View File

@ -22,9 +22,9 @@ void createSolarArrayDeploymentComponents();
void createSyrlinksComponents(); void createSyrlinksComponents();
void createRtdComponents(LinuxLibgpioIF* gpioComIF); void createRtdComponents(LinuxLibgpioIF* gpioComIF);
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF); void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
void createCcsdsComponents(LinuxLibgpioIF *gpioComIF); void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
void createTestComponents(LinuxLibgpioIF* gpioComIF); void createTestComponents(LinuxLibgpioIF* gpioComIF);
}; }; // namespace ObjectFactory
#endif /* BSP_Q7S_OBJECTFACTORY_H_ */ #endif /* BSP_Q7S_OBJECTFACTORY_H_ */

7
bsp_q7s/core/ParameterHandler.cpp
View File

@ -1,8 +1,5 @@
#include "ParameterHandler.h" #include "ParameterHandler.h"
ParameterHandler::ParameterHandler(std::string mountPrefix): mountPrefix(mountPrefix) { ParameterHandler::ParameterHandler(std::string mountPrefix) : mountPrefix(mountPrefix) {}
}
void ParameterHandler::setMountPrefix(std::string prefix) { void ParameterHandler::setMountPrefix(std::string prefix) { mountPrefix = prefix; }
mountPrefix = prefix;
}

8
bsp_q7s/core/ParameterHandler.h
View File

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

31
bsp_q7s/core/obsw.cpp
View File

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

60
bsp_q7s/devices/PlocMemoryDumper.cpp
View File

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

23
bsp_q7s/devices/PlocMemoryDumper.h
View File

@ -3,18 +3,18 @@
#include <bsp_q7s/devices/devicedefinitions/PlocMemDumpDefinitions.h> #include <bsp_q7s/devices/devicedefinitions/PlocMemDumpDefinitions.h>
#include <bsp_q7s/devices/devicedefinitions/PlocSupervisorDefinitions.h> #include <bsp_q7s/devices/devicedefinitions/PlocSupervisorDefinitions.h>
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "fsfw/action/CommandActionHelper.h" #include "bsp_q7s/memory/SdCardManager.h"
#include "fsfw/action/ActionHelper.h" #include "fsfw/action/ActionHelper.h"
#include "fsfw/action/HasActionsIF.h" #include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/CommandsActionsIF.h" #include "fsfw/action/CommandsActionsIF.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h" #include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "linux/fsfwconfig/objects/systemObjectList.h"
#include "fsfw/tmtcpacket/SpacePacket.h" #include "fsfw/tmtcpacket/SpacePacket.h"
#include "linux/fsfwconfig/objects/systemObjectList.h"
/** /**
* @brief Because the buffer of the linux tty driver is limited to 2 x 65535 bytes, this class is * @brief Because the buffer of the linux tty driver is limited to 2 x 65535 bytes, this class is
@ -29,8 +29,7 @@ class PlocMemoryDumper : public SystemObject,
public ExecutableObjectIF, public ExecutableObjectIF,
public HasReturnvaluesIF, public HasReturnvaluesIF,
public CommandsActionsIF { public CommandsActionsIF {
public: public:
static const ActionId_t NONE = 0; static const ActionId_t NONE = 0;
static const ActionId_t DUMP_MRAM = 1; static const ActionId_t DUMP_MRAM = 1;
@ -49,13 +48,13 @@ public:
void completionSuccessfulReceived(ActionId_t actionId) override; void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override; void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
private: private:
static const uint32_t QUEUE_SIZE = 10; static const uint32_t QUEUE_SIZE = 10;
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MEMORY_DUMPER; static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MEMORY_DUMPER;
//! [EXPORT] : [COMMENT] The capacity of the MRAM amounts to 512 kB. Thus the maximum address must not be higher than 0x7d000. //! [EXPORT] : [COMMENT] The capacity of the MRAM amounts to 512 kB. Thus the maximum address must
//! not be higher than 0x7d000.
static const ReturnValue_t MRAM_ADDRESS_TOO_HIGH = MAKE_RETURN_CODE(0xA0); static const ReturnValue_t MRAM_ADDRESS_TOO_HIGH = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] The specified end address is lower than the start address //! [EXPORT] : [COMMENT] The specified end address is lower than the start address
static const ReturnValue_t MRAM_INVALID_ADDRESS_COMBINATION = MAKE_RETURN_CODE(0xA1); static const ReturnValue_t MRAM_INVALID_ADDRESS_COMBINATION = MAKE_RETURN_CODE(0xA1);
@ -82,7 +81,7 @@ private:
ActionHelper actionHelper; ActionHelper actionHelper;
enum class State: uint8_t { enum class State : uint8_t {
IDLE, IDLE,
COMMAND_FIRST_MRAM_DUMP, COMMAND_FIRST_MRAM_DUMP,
COMMAND_CONSECUTIVE_MRAM_DUMP, COMMAND_CONSECUTIVE_MRAM_DUMP,

425
bsp_q7s/devices/PlocSupervisorHandler.cpp
View File

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

65
bsp_q7s/devices/PlocSupervisorHandler.h
View File

@ -1,12 +1,12 @@
#ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_ #ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_ #define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#include "devicedefinitions/PlocSupervisorDefinitions.h"
#include <bsp_q7s/memory/SdCardManager.h> #include <bsp_q7s/memory/SdCardManager.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h> #include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw_hal/linux/uart/UartComIF.h> #include <fsfw_hal/linux/uart/UartComIF.h>
#include "devicedefinitions/PlocSupervisorDefinitions.h"
/** /**
* @brief This is the device handler for the supervisor of the PLOC which is programmed by * @brief This is the device handler for the supervisor of the PLOC which is programmed by
* Thales. * Thales.
@ -19,26 +19,24 @@
* Arbeitsdaten/08_Used%20Components/PLOC&fileid=940960 * Arbeitsdaten/08_Used%20Components/PLOC&fileid=940960
* @author J. Meier * @author J. Meier
*/ */
class PlocSupervisorHandler: public DeviceHandlerBase { class PlocSupervisorHandler : public DeviceHandlerBase {
public: public:
PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie);
PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF * comCookie);
virtual ~PlocSupervisorHandler(); virtual ~PlocSupervisorHandler();
virtual ReturnValue_t initialize() override; virtual ReturnValue_t initialize() override;
protected: protected:
void doStartUp() override; void doStartUp() override;
void doShutDown() override; void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override; ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override; ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override; void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
const uint8_t * commandData,size_t commandDataLen) override; size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize, ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
DeviceCommandId_t *foundId, size_t *foundLen) override; size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
const uint8_t *packet) override;
void setNormalDatapoolEntriesInvalid() override; void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override; uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -48,8 +46,7 @@ protected:
DeviceCommandId_t alternateReplyID = 0) override; DeviceCommandId_t alternateReplyID = 0) override;
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override; size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
private: private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPERVISOR_HANDLER; static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPERVISOR_HANDLER;
//! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC //! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
@ -64,25 +61,32 @@ private:
static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4); static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Invalid communication interface specified //! [EXPORT] : [COMMENT] Invalid communication interface specified
static const ReturnValue_t INVALID_UART_COM_IF = MAKE_RETURN_CODE(0xA5); static const ReturnValue_t INVALID_UART_COM_IF = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0 for PS, 1 for PL and 2 for INT //! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0
//! for PS, 1 for PL and 2 for INT
static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA6); static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid timeouts must be in the range between 1000 and 360000 ms. //! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid
//! timeouts must be in the range between 1000 and 360000 ms.
static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA7); static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID //! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA8); static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA8);
//! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be larger than 21. //! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be
//! larger than 21.
static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA9); static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA9);
//! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1 and 2. //! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1
//! and 2.
static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xAA); static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xAA);
//! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed. //! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAB); static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAB);
//! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM wipe commands are invalid (e.g. start address bigger than stop address) //! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM wipe
//! commands are invalid (e.g. start address bigger than stop address)
static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAC); static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAC);
//! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with other apid. //! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with
//! other apid.
static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAD); static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAD);
//! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist //! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAE); static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have been created with the reception of the first dump packet. //! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have
//! been created with the reception of the first dump packet.
static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAF); static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAF);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
@ -209,7 +213,7 @@ private:
/** /**
* @brief This function initializes the space packet to select the boot image of the MPSoC. * @brief This function initializes the space packet to select the boot image of the MPSoC.
*/ */
void prepareSelBootImageCmd(const uint8_t * commandData); void prepareSelBootImageCmd(const uint8_t* commandData);
void prepareDisableHk(); void prepareDisableHk();
@ -223,21 +227,21 @@ private:
* @brief This function fills the commandBuffer with the data to change the boot timeout * @brief This function fills the commandBuffer with the data to change the boot timeout
* value in the PLOC supervisor. * value in the PLOC supervisor.
*/ */
void prepareSetBootTimeoutCmd(const uint8_t * commandData); void prepareSetBootTimeoutCmd(const uint8_t* commandData);
void prepareRestartTriesCmd(const uint8_t * commandData); void prepareRestartTriesCmd(const uint8_t* commandData);
/** /**
* @brief This function fills the command buffer with the packet to enable or disable the * @brief This function fills the command buffer with the packet to enable or disable the
* watchdogs on the PLOC. * watchdogs on the PLOC.
*/ */
void prepareWatchdogsEnableCmd(const uint8_t * commandData); void prepareWatchdogsEnableCmd(const uint8_t* commandData);
/** /**
* @brief This function fills the command buffer with the packet to set the watchdog timer * @brief This function fills the command buffer with the packet to set the watchdog timer
* of one of the three watchdogs (PS, PL, INT). * of one of the three watchdogs (PS, PL, INT).
*/ */
ReturnValue_t prepareWatchdogsConfigTimeoutCmd(const uint8_t * commandData); ReturnValue_t prepareWatchdogsConfigTimeoutCmd(const uint8_t* commandData);
ReturnValue_t prepareLatchupConfigCmd(const uint8_t* commandData, ReturnValue_t prepareLatchupConfigCmd(const uint8_t* commandData,
DeviceCommandId_t deviceCommand); DeviceCommandId_t deviceCommand);
@ -258,7 +262,6 @@ private:
void prepareSetGpioCmd(const uint8_t* commandData); void prepareSetGpioCmd(const uint8_t* commandData);
void prepareReadGpioCmd(const uint8_t* commandData); void prepareReadGpioCmd(const uint8_t* commandData);
/** /**
* @brief Copies the content of a space packet to the command buffer. * @brief Copies the content of a space packet to the command buffer.
*/ */
@ -290,7 +293,7 @@ private:
* @brief Function is called in scanForReply and fills the spacePacketBuffer with the read * @brief Function is called in scanForReply and fills the spacePacketBuffer with the read
* data until a full packet has been received. * data until a full packet has been received.
*/ */
ReturnValue_t parseMramPackets(const uint8_t *packet, size_t remainingSize, size_t* foundlen); ReturnValue_t parseMramPackets(const uint8_t* packet, size_t remainingSize, size_t* foundlen);
/** /**
* @brief This function generates the Service 8 packets for the MRAM dump data. * @brief This function generates the Service 8 packets for the MRAM dump data.

96
bsp_q7s/devices/PlocUpdater.cpp
View File

@ -1,17 +1,17 @@
#include "fsfw/ipc/QueueFactory.h"
#include "PlocUpdater.h" #include "PlocUpdater.h"
#include <fstream>
#include <filesystem> #include <filesystem>
#include <fstream>
#include <string> #include <string>
PlocUpdater::PlocUpdater(object_id_t objectId) : #include "fsfw/ipc/QueueFactory.h"
SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
PlocUpdater::PlocUpdater(object_id_t objectId)
: SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE); commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
} }
PlocUpdater::~PlocUpdater() { PlocUpdater::~PlocUpdater() {}
}
ReturnValue_t PlocUpdater::initialize() { ReturnValue_t PlocUpdater::initialize() {
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
@ -39,8 +39,8 @@ ReturnValue_t PlocUpdater::performOperation(uint8_t operationCode) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId, ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) { const uint8_t* data, size_t size) {
ReturnValue_t result = RETURN_FAILED; ReturnValue_t result = RETURN_FAILED;
if (state != State::IDLE) { if (state != State::IDLE) {
@ -99,13 +99,9 @@ ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId,
return EXECUTION_FINISHED; return EXECUTION_FINISHED;
} }
MessageQueueId_t PlocUpdater::getCommandQueue() const { MessageQueueId_t PlocUpdater::getCommandQueue() const { return commandQueue->getId(); }
return commandQueue->getId();
}
MessageQueueIF* PlocUpdater::getCommandQueuePtr() { MessageQueueIF* PlocUpdater::getCommandQueuePtr() { return commandQueue; }
return commandQueue;
}
void PlocUpdater::readCommandQueue() { void PlocUpdater::readCommandQueue() {
CommandMessage message; CommandMessage message;
@ -167,43 +163,37 @@ ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
// Check if file is stored on SD card and if associated SD card is mounted // Check if file is stored on SD card and if associated SD card is mounted
if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_0_MOUNT_POINT)) { if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) { if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::getImageLocation: SD card 0 not mounted" << std::endl; sif::warning << "PlocUpdater::getImageLocation: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED; return SD_NOT_MOUNTED;
} }
} } else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_1_MOUNT_POINT)) { std::string(SdCardManager::SD_1_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) { if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::getImageLocation: SD card 1 not mounted" << std::endl; sif::warning << "PlocUpdater::getImageLocation: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED; return SD_NOT_MOUNTED;
} }
} } else {
else { // update image not stored on SD card
//update image not stored on SD card
} }
#endif /* BOARD_TE0720 == 0 */ #endif /* BOARD_TE0720 == 0 */
updateFile = std::string(reinterpret_cast<const char*>(data), size); updateFile = std::string(reinterpret_cast<const char*>(data), size);
// Check if file exists // Check if file exists
if(not std::filesystem::exists(updateFile)) { if (not std::filesystem::exists(updateFile)) {
return FILE_NOT_EXISTS; return FILE_NOT_EXISTS;
} }
return RETURN_OK; return RETURN_OK;
} }
void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId, void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
uint8_t step) {
}
void PlocUpdater::stepFailedReceived(ActionId_t actionId, uint8_t step, void PlocUpdater::stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) {}
ReturnValue_t returnCode) {
}
void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) { void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
}
void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) { void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
switch (pendingCommand) { switch (pendingCommand) {
@ -214,8 +204,7 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
if (remainingPackets == 0) { if (remainingPackets == 0) {
packetsSent = 0; // Reset packets sent variable for next update sequence packetsSent = 0; // Reset packets sent variable for next update sequence
state = State::UPDATE_VERIFY; state = State::UPDATE_VERIFY;
} } else {
else {
state = State::UPDATE_TRANSFER; state = State::UPDATE_TRANSFER;
} }
break; break;
@ -232,24 +221,22 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
} }
} }
void PlocUpdater::completionFailedReceived(ActionId_t actionId, void PlocUpdater::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
ReturnValue_t returnCode) { switch (pendingCommand) {
switch(pendingCommand) { case (PLOC_SPV::UPDATE_AVAILABLE): {
case(PLOC_SPV::UPDATE_AVAILABLE): {
triggerEvent(UPDATE_AVAILABLE_FAILED); triggerEvent(UPDATE_AVAILABLE_FAILED);
break; break;
} }
case(PLOC_SPV::UPDATE_IMAGE_DATA): { case (PLOC_SPV::UPDATE_IMAGE_DATA): {
triggerEvent(UPDATE_TRANSFER_FAILED, packetsSent); triggerEvent(UPDATE_TRANSFER_FAILED, packetsSent);
break; break;
} }
case(PLOC_SPV::UPDATE_VERIFY): { case (PLOC_SPV::UPDATE_VERIFY): {
triggerEvent(UPDATE_VERIFY_FAILED); triggerEvent(UPDATE_VERIFY_FAILED);
break; break;
} }
default: default:
sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command " sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command " << std::endl;
<< std::endl;
break; break;
} }
state = State::IDLE; state = State::IDLE;
@ -269,7 +256,7 @@ void PlocUpdater::commandUpdateAvailable() {
imageSize = static_cast<size_t>(file.tellg()); imageSize = static_cast<size_t>(file.tellg());
file.close(); file.close();
numOfUpdatePackets = imageSize / MAX_SP_DATA ; numOfUpdatePackets = imageSize / MAX_SP_DATA;
if (imageSize % MAX_SP_DATA) { if (imageSize % MAX_SP_DATA) {
numOfUpdatePackets++; numOfUpdatePackets++;
} }
@ -280,10 +267,12 @@ void PlocUpdater::commandUpdateAvailable() {
calcImageCrc(); calcImageCrc();
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image), PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets); static_cast<uint8_t>(partition), imageSize, imageCrc,
numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(), packet.getFullSize()); PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(),
packet.getFullSize());
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available" sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
<< " packet to supervisor handler" << std::endl; << " packet to supervisor handler" << std::endl;
@ -313,8 +302,7 @@ void PlocUpdater::commandUpdatePacket() {
if (remainingPackets == 1) { if (remainingPackets == 1) {
payloadLength = imageSize - static_cast<uint16_t>(file.tellg()); payloadLength = imageSize - static_cast<uint16_t>(file.tellg());
} } else {
else {
payloadLength = MAX_SP_DATA; payloadLength = MAX_SP_DATA;
} }
@ -329,7 +317,8 @@ void PlocUpdater::commandUpdatePacket() {
packet.makeCrc(); packet.makeCrc();
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(), packet.getFullSize()); PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(),
packet.getFullSize());
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update" sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
@ -351,10 +340,12 @@ void PlocUpdater::commandUpdateVerify() {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_VERIFY, static_cast<uint8_t>(image), PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets); static_cast<uint8_t>(partition), imageSize, imageCrc,
numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, result =
PLOC_SPV::UPDATE_VERIFY, packet.getWholeData(), packet.getFullSize()); commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, PLOC_SPV::UPDATE_VERIFY,
packet.getWholeData(), packet.getFullSize());
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available" sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
<< " packet to supervisor handler" << std::endl; << " packet to supervisor handler" << std::endl;
@ -394,12 +385,9 @@ void PlocUpdater::calcImageCrc() {
void PlocUpdater::adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet) { void PlocUpdater::adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet) {
if (packetsSent == 0) { if (packetsSent == 0) {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT)); packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT));
} } else if (remainingPackets == 1) {
else if (remainingPackets == 1) {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT)); packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT));
} } else {
else {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT)); packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT));
} }
} }

47
bsp_q7s/devices/PlocUpdater.h
View File

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

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

@ -3,20 +3,19 @@
#include <fsfw/src/fsfw/serialize/SerialLinkedListAdapter.h> #include <fsfw/src/fsfw/serialize/SerialLinkedListAdapter.h>
class MemoryParams: public SerialLinkedListAdapter<SerializeIF> { class MemoryParams : public SerialLinkedListAdapter<SerializeIF> {
public: public:
/** /**
* @brief Constructor * @brief Constructor
* @param startAddress Start of address range to dump * @param startAddress Start of address range to dump
* @param endAddress End of address range to dump * @param endAddress End of address range to dump
*/ */
MemoryParams(uint32_t startAddress, uint32_t endAddress) : MemoryParams(uint32_t startAddress, uint32_t endAddress)
startAddress(startAddress), endAddress(endAddress) { : startAddress(startAddress), endAddress(endAddress) {
setLinks(); setLinks();
} }
private:
private:
void setLinks() { void setLinks() {
setStart(&startAddress); setStart(&startAddress);
startAddress.setNext(&endAddress); startAddress.setNext(&endAddress);
@ -24,10 +23,6 @@ private:
SerializeElement<uint32_t> startAddress; SerializeElement<uint32_t> startAddress;
SerializeElement<uint32_t> endAddress; SerializeElement<uint32_t> endAddress;
}; };
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_ */ #endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_ */

615
bsp_q7s/devices/devicedefinitions/PlocSupervisorDefinitions.h
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File diff suppressed because it is too large Load Diff

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

@ -1,11 +1,8 @@
#include "ArcsecDatalinkLayer.h" #include "ArcsecDatalinkLayer.h"
ArcsecDatalinkLayer::ArcsecDatalinkLayer() { ArcsecDatalinkLayer::ArcsecDatalinkLayer() { slipInit(); }
slipInit();
}
ArcsecDatalinkLayer::~ArcsecDatalinkLayer() { ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {}
}
void ArcsecDatalinkLayer::slipInit() { void ArcsecDatalinkLayer::slipInit() {
slipInfo.buffer = rxBuffer; slipInfo.buffer = rxBuffer;
@ -19,8 +16,8 @@ ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t ra
size_t* bytesLeft) { size_t* bytesLeft) {
size_t bytePos = 0; size_t bytePos = 0;
for (bytePos = 0; bytePos < rawDataSize; bytePos++) { for (bytePos = 0; bytePos < rawDataSize; bytePos++) {
enum arc_dec_result decResult = arc_transport_decode_body(*(rawData + bytePos), &slipInfo, enum arc_dec_result decResult =
decodedFrame, &decFrameSize); arc_transport_decode_body(*(rawData + bytePos), &slipInfo, decodedFrame, &decFrameSize);
*bytesLeft = rawDataSize - bytePos - 1; *bytesLeft = rawDataSize - bytePos - 1;
switch (decResult) { switch (decResult) {
case ARC_DEC_INPROGRESS: { case ARC_DEC_INPROGRESS: {
@ -48,31 +45,18 @@ ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t ra
return RETURN_FAILED; return RETURN_FAILED;
} }
uint8_t ArcsecDatalinkLayer::getReplyFrameType() { uint8_t ArcsecDatalinkLayer::getReplyFrameType() { return decodedFrame[0]; }
return decodedFrame[0];
}
const uint8_t* ArcsecDatalinkLayer::getReply() { const uint8_t* ArcsecDatalinkLayer::getReply() { return &decodedFrame[1]; }
return &decodedFrame[1];
}
void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, uint32_t length) { void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, uint32_t length) {
arc_transport_encode_body(data, length, encBuffer, &encFrameSize); arc_transport_encode_body(data, length, encBuffer, &encFrameSize);
} }
uint8_t* ArcsecDatalinkLayer::getEncodedFrame() { uint8_t* ArcsecDatalinkLayer::getEncodedFrame() { return encBuffer; }
return encBuffer;
}
uint32_t ArcsecDatalinkLayer::getEncodedLength() { uint32_t ArcsecDatalinkLayer::getEncodedLength() { return encFrameSize; }
return encFrameSize;
}
uint8_t ArcsecDatalinkLayer::getStatusField() { uint8_t ArcsecDatalinkLayer::getStatusField() { return *(decodedFrame + STATUS_OFFSET); }
return *(decodedFrame + STATUS_OFFSET);
}
uint8_t ArcsecDatalinkLayer::getId() {
return *(decodedFrame + ID_OFFSET);
}
uint8_t ArcsecDatalinkLayer::getId() { return *(decodedFrame + ID_OFFSET); }

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

@ -5,15 +5,14 @@
#include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h"
extern "C" { extern "C" {
#include "common/misc.h" #include "common/misc.h"
} }
/** /**
* @brief Helper class to handle the datalinklayer of replies from the star tracker of arcsec. * @brief Helper class to handle the datalinklayer of replies from the star tracker of arcsec.
*/ */
class ArcsecDatalinkLayer: public HasReturnvaluesIF { class ArcsecDatalinkLayer : public HasReturnvaluesIF {
public: public:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER; static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] More data required to complete frame //! [EXPORT] : [COMMENT] More data required to complete frame
@ -75,8 +74,7 @@ public:
*/ */
uint8_t getId(); uint8_t getId();
private: private:
static const uint8_t ID_OFFSET = 1; static const uint8_t ID_OFFSET = 1;
static const uint8_t STATUS_OFFSET = 2; static const uint8_t STATUS_OFFSET = 2;

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

@ -5,122 +5,122 @@
* @brief Keys used in JSON file of ARCSEC. * @brief Keys used in JSON file of ARCSEC.
*/ */
namespace arcseckeys { namespace arcseckeys {
static const char PROPERTIES[] = "properties"; static const char PROPERTIES[] = "properties";
static const char NAME[] = "name"; static const char NAME[] = "name";
static const char VALUE[] = "value"; static const char VALUE[] = "value";
static const char LIMITS[] = "limits"; static const char LIMITS[] = "limits";
static const char ACTION[] = "action"; static const char ACTION[] = "action";
static const char FPGA18CURRENT[] = "FPGA18Current"; static const char FPGA18CURRENT[] = "FPGA18Current";
static const char FPGA25CURRENT[] = "FPGA25Current"; static const char FPGA25CURRENT[] = "FPGA25Current";
static const char FPGA10CURRENT[] = "FPGA10Current"; static const char FPGA10CURRENT[] = "FPGA10Current";
static const char MCUCURRENT[] = "MCUCurrent"; static const char MCUCURRENT[] = "MCUCurrent";
static const char CMOS21CURRENT[] = "CMOS21Current"; static const char CMOS21CURRENT[] = "CMOS21Current";
static const char CMOSPIXCURRENT[] = "CMOSPixCurrent"; static const char CMOSPIXCURRENT[] = "CMOSPixCurrent";
static const char CMOS33CURRENT[] = "CMOS33Current"; static const char CMOS33CURRENT[] = "CMOS33Current";
static const char CMOSVRESCURRENT[] = "CMOSVResCurrent"; static const char CMOSVRESCURRENT[] = "CMOSVResCurrent";
static const char CMOS_TEMPERATURE[] = "CMOSTemperature"; static const char CMOS_TEMPERATURE[] = "CMOSTemperature";
static const char MCU_TEMPERATURE[] = "MCUTemperature"; static const char MCU_TEMPERATURE[] = "MCUTemperature";
static const char MOUNTING[] = "mounting"; static const char MOUNTING[] = "mounting";
static const char qw[] = "qw"; static const char qw[] = "qw";
static const char qx[] = "qx"; static const char qx[] = "qx";
static const char qy[] = "qy"; static const char qy[] = "qy";
static const char qz[] = "qz"; static const char qz[] = "qz";
static const char CAMERA[] = "camera"; static const char CAMERA[] = "camera";
static const char MODE[] = "mode"; static const char MODE[] = "mode";
static const char FOCALLENGTH[] = "focallength"; static const char FOCALLENGTH[] = "focallength";
static const char EXPOSURE[] = "exposure"; static const char EXPOSURE[] = "exposure";
static const char INTERVAL[] = "interval"; static const char INTERVAL[] = "interval";
static const char OFFSET[] = "offset"; static const char OFFSET[] = "offset";
static const char PGAGAIN[] = "PGAGain"; static const char PGAGAIN[] = "PGAGain";
static const char ADCGAIN[] = "ADCGain"; static const char ADCGAIN[] = "ADCGain";
static const char REG_1[] = "reg1"; static const char REG_1[] = "reg1";
static const char VAL_1[] = "val1"; static const char VAL_1[] = "val1";
static const char REG_2[] = "reg2"; static const char REG_2[] = "reg2";
static const char VAL_2[] = "val2"; static const char VAL_2[] = "val2";
static const char REG_3[] = "reg3"; static const char REG_3[] = "reg3";
static const char VAL_3[] = "val3"; static const char VAL_3[] = "val3";
static const char REG_4[] = "reg4"; static const char REG_4[] = "reg4";
static const char VAL_4[] = "val4"; static const char VAL_4[] = "val4";
static const char REG_5[] = "reg5"; static const char REG_5[] = "reg5";
static const char VAL_5[] = "val5"; static const char VAL_5[] = "val5";
static const char REG_6[] = "reg6"; static const char REG_6[] = "reg6";
static const char VAL_6[] = "val6"; static const char VAL_6[] = "val6";
static const char REG_7[] = "reg7"; static const char REG_7[] = "reg7";
static const char VAL_7[] = "val7"; static const char VAL_7[] = "val7";
static const char REG_8[] = "reg8"; static const char REG_8[] = "reg8";
static const char VAL_8[] = "val8"; static const char VAL_8[] = "val8";
static const char FREQ_1[] = "freq1"; static const char FREQ_1[] = "freq1";
static const char FREQ_2[] = "freq2"; static const char FREQ_2[] = "freq2";
static const char BLOB[] = "blob"; static const char BLOB[] = "blob";
static const char MIN_VALUE[] = "minValue"; static const char MIN_VALUE[] = "minValue";
static const char MIN_DISTANCE[] = "minDistance"; static const char MIN_DISTANCE[] = "minDistance";
static const char NEIGHBOUR_DISTANCE[] = "neighbourDistance"; static const char NEIGHBOUR_DISTANCE[] = "neighbourDistance";
static const char NEIGHBOUR_BRIGHT_PIXELS[] = "neighbourBrightPixels"; static const char NEIGHBOUR_BRIGHT_PIXELS[] = "neighbourBrightPixels";
static const char MIN_TOTAL_VALUE[] = "minTotalValue"; static const char MIN_TOTAL_VALUE[] = "minTotalValue";
static const char MAX_TOTAL_VALUE[] = "maxTotalValue"; static const char MAX_TOTAL_VALUE[] = "maxTotalValue";
static const char MIN_BRIGHT_NEIGHBOURS[] = "minBrightNeighbours"; static const char MIN_BRIGHT_NEIGHBOURS[] = "minBrightNeighbours";
static const char MAX_BRIGHT_NEIGHBOURS[] = "maxBrightNeighbours"; static const char MAX_BRIGHT_NEIGHBOURS[] = "maxBrightNeighbours";
static const char MAX_PIXEL_TO_CONSIDER[] = "maxPixelsToConsider"; static const char MAX_PIXEL_TO_CONSIDER[] = "maxPixelsToConsider";
static const char SIGNAL_THRESHOLD[] = "signalThreshold"; static const char SIGNAL_THRESHOLD[] = "signalThreshold";
static const char DARK_THRESHOLD[] = "darkThreshold"; static const char DARK_THRESHOLD[] = "darkThreshold";
static const char ENABLE_HISTOGRAM[] = "enableHistogram"; static const char ENABLE_HISTOGRAM[] = "enableHistogram";
static const char ENABLE_CONTRAST[] = "enableContrast"; static const char ENABLE_CONTRAST[] = "enableContrast";
static const char BIN_MODE[] = "binMode"; static const char BIN_MODE[] = "binMode";
static const char CENTROIDING[] = "centroiding"; static const char CENTROIDING[] = "centroiding";
static const char ENABLE_FILTER[] = "enableFilter"; static const char ENABLE_FILTER[] = "enableFilter";
static const char MAX_QUALITY[] = "maxquality"; static const char MAX_QUALITY[] = "maxquality";
static const char MIN_QUALITY[] = "minquality"; static const char MIN_QUALITY[] = "minquality";
static const char MAX_INTENSITY[] = "maxintensity"; static const char MAX_INTENSITY[] = "maxintensity";
static const char MIN_INTENSITY[] = "minintensity"; static const char MIN_INTENSITY[] = "minintensity";
static const char MAX_MAGNITUDE[] = "maxmagnitude"; static const char MAX_MAGNITUDE[] = "maxmagnitude";
static const char GAUSSIAN_CMAX[] = "gaussianCmax"; static const char GAUSSIAN_CMAX[] = "gaussianCmax";
static const char GAUSSIAN_CMIN[] = "gaussianCmin"; static const char GAUSSIAN_CMIN[] = "gaussianCmin";
static const char TRANSMATRIX_00[] = "transmatrix00"; static const char TRANSMATRIX_00[] = "transmatrix00";
static const char TRANSMATRIX_01[] = "transmatrix01"; static const char TRANSMATRIX_01[] = "transmatrix01";
static const char TRANSMATRIX_10[] = "transmatrix10"; static const char TRANSMATRIX_10[] = "transmatrix10";
static const char TRANSMATRIX_11[] = "transmatrix11"; static const char TRANSMATRIX_11[] = "transmatrix11";
static const char LISA[] = "lisa"; static const char LISA[] = "lisa";
static const char PREFILTER_DIST_THRESHOLD[] = "prefilterDistThreshold"; static const char PREFILTER_DIST_THRESHOLD[] = "prefilterDistThreshold";
static const char PREFILTER_ANGLE_THRESHOLD[] = "prefilterAngleThreshold"; static const char PREFILTER_ANGLE_THRESHOLD[] = "prefilterAngleThreshold";
static const char FOV_WIDTH[] = "fov_width"; static const char FOV_WIDTH[] = "fov_width";
static const char FOV_HEIGHT[] = "fov_height"; static const char FOV_HEIGHT[] = "fov_height";
static const char FLOAT_STAR_LIMIT[] = "float_star_limit"; static const char FLOAT_STAR_LIMIT[] = "float_star_limit";
static const char CLOSE_STAR_LIMIT[] = "close_star_limit"; static const char CLOSE_STAR_LIMIT[] = "close_star_limit";
static const char RATING_WEIGHT_CLOSE_STAR_COUNT[] = "rating_weight_close_star_count"; static const char RATING_WEIGHT_CLOSE_STAR_COUNT[] = "rating_weight_close_star_count";
static const char RATING_WEIGHT_FRACTION_CLOSE[] = "rating_weight_fraction_close"; static const char RATING_WEIGHT_FRACTION_CLOSE[] = "rating_weight_fraction_close";
static const char RATING_WEIGHT_MEAN_SUM[] = "rating_weight_mean_sum"; static const char RATING_WEIGHT_MEAN_SUM[] = "rating_weight_mean_sum";
static const char RATING_WEIGHT_DB_STAR_COUNT[] = "rating_weight_db_star_count"; static const char RATING_WEIGHT_DB_STAR_COUNT[] = "rating_weight_db_star_count";
static const char MAX_COMBINATIONS[] = "max_combinations"; static const char MAX_COMBINATIONS[] = "max_combinations";
static const char NR_STARS_STOP[] = "nr_stars_stop"; static const char NR_STARS_STOP[] = "nr_stars_stop";
static const char FRACTION_CLOSE_STOP[] = "fraction_close_stop"; static const char FRACTION_CLOSE_STOP[] = "fraction_close_stop";
static const char MATCHING[] = "matching"; static const char MATCHING[] = "matching";
static const char SQUARED_DISTANCE_LIMIT[] = "squaredDistanceLimit"; static const char SQUARED_DISTANCE_LIMIT[] = "squaredDistanceLimit";
static const char SQUARED_SHIFT_LIMIT[] = "squaredShiftLimit"; static const char SQUARED_SHIFT_LIMIT[] = "squaredShiftLimit";
static const char VALIDATION[] = "validation"; static const char VALIDATION[] = "validation";
static const char STABLE_COUNT[] = "stable_count"; static const char STABLE_COUNT[] = "stable_count";
static const char MAX_DIFFERENCE[] = "max_difference"; static const char MAX_DIFFERENCE[] = "max_difference";
static const char MIN_TRACKER_CONFIDENCE[] = "min_trackerConfidence"; static const char MIN_TRACKER_CONFIDENCE[] = "min_trackerConfidence";
static const char MIN_MATCHED_STARS[] = "min_matchedStars"; static const char MIN_MATCHED_STARS[] = "min_matchedStars";
static const char TRACKING[] = "tracking"; static const char TRACKING[] = "tracking";
static const char THIN_LIMIT[] = "thinLimit"; static const char THIN_LIMIT[] = "thinLimit";
static const char OUTLIER_THRESHOLD[] = "outlierThreshold"; static const char OUTLIER_THRESHOLD[] = "outlierThreshold";
static const char OUTLIER_THRESHOLD_QUEST[] = "outlierThresholdQUEST"; static const char OUTLIER_THRESHOLD_QUEST[] = "outlierThresholdQUEST";
static const char TRACKER_CHOICE[] = "trackerChoice"; static const char TRACKER_CHOICE[] = "trackerChoice";
static const char ALGO[] = "algo"; static const char ALGO[] = "algo";
static const char L2T_MIN_CONFIDENCE[] = "l2t_minConfidence"; static const char L2T_MIN_CONFIDENCE[] = "l2t_minConfidence";
static const char L2T_MIN_MATCHED[] = "l2t_minConfidence"; static const char L2T_MIN_MATCHED[] = "l2t_minConfidence";
static const char T2L_MIN_CONFIDENCE[] = "t2l_minConfidence"; static const char T2L_MIN_CONFIDENCE[] = "t2l_minConfidence";
static const char T2L_MIN_MATCHED[] = "t2l_minMatched"; static const char T2L_MIN_MATCHED[] = "t2l_minMatched";
} } // namespace arcseckeys
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_ */ #endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_ */

1
bsp_q7s/devices/startracker/ArcsecJsonParamBase.cpp
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@ -1,4 +1,5 @@
#include "ArcsecJsonParamBase.h" #include "ArcsecJsonParamBase.h"
#include "ArcsecJsonKeys.h" #include "ArcsecJsonKeys.h"
ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {} ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {}

17
bsp_q7s/devices/startracker/ArcsecJsonParamBase.h
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@ -1,16 +1,16 @@
#ifndef BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_ #ifndef BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_
#define BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_ #define BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_
#include <fstream>
#include <filesystem> #include <filesystem>
#include <fstream>
#include <nlohmann/json.hpp> #include <nlohmann/json.hpp>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "StarTrackerDefinitions.h" #include "StarTrackerDefinitions.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
extern "C" { extern "C" {
#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h" #include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
#include "thirdparty/arcsec_star_tracker/common/genericstructs.h" #include "thirdparty/arcsec_star_tracker/common/genericstructs.h"
} }
using json = nlohmann::json; using json = nlohmann::json;
@ -23,8 +23,7 @@ using json = nlohmann::json;
* @author J. Meier * @author J. Meier
*/ */
class ArcsecJsonParamBase : public HasReturnvaluesIF { class ArcsecJsonParamBase : public HasReturnvaluesIF {
public: public:
static const uint8_t INTERFACE_ID = CLASS_ID::ARCSEC_JSON_BASE; static const uint8_t INTERFACE_ID = CLASS_ID::ARCSEC_JSON_BASE;
//! [EXPORT] : [COMMENT] Specified json file does not exist //! [EXPORT] : [COMMENT] Specified json file does not exist
static const ReturnValue_t JSON_FILE_NOT_EXISTS = MAKE_RETURN_CODE(1); static const ReturnValue_t JSON_FILE_NOT_EXISTS = MAKE_RETURN_CODE(1);
@ -54,8 +53,7 @@ public:
*/ */
virtual size_t getSize() = 0; virtual size_t getSize() = 0;
protected: protected:
/** /**
* @brief Reads the value of a parameter from a json set * @brief Reads the value of a parameter from a json set
* *
@ -113,8 +111,7 @@ protected:
void addSetParamHeader(uint8_t* buffer, uint8_t setId); void addSetParamHeader(uint8_t* buffer, uint8_t setId);
private: private:
json properties; json properties;
json set; json set;
std::string setName; std::string setName;

694
bsp_q7s/devices/startracker/StarTrackerDefinitions.h
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File diff suppressed because it is too large Load Diff

582
bsp_q7s/devices/startracker/StarTrackerHandler.cpp
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@ -1,25 +1,39 @@
#include <fstream>
#include "StarTrackerHandler.h" #include "StarTrackerHandler.h"
#include "OBSWConfig.h"
#include "StarTrackerJsonCommands.h"
#include <fsfw/globalfunctions/CRC.h> #include <fsfw/globalfunctions/CRC.h>
#include <fsfw/ipc/QueueFactory.h> #include <fsfw/ipc/QueueFactory.h>
#include <mission/memory/NVMParameterBase.h> #include <mission/memory/NVMParameterBase.h>
#include <fstream>
#include "OBSWConfig.h"
#include "StarTrackerJsonCommands.h"
extern "C" { extern "C" {
#include <thirdparty/arcsec_star_tracker/client/generated/telemetry.h> #include <thirdparty/arcsec_star_tracker/client/generated/actionreq.h>
#include <thirdparty/arcsec_star_tracker/client/generated/actionreq.h> #include <thirdparty/arcsec_star_tracker/client/generated/telemetry.h>
#include "common/misc.h"
#include "common/misc.h"
} }
using json = nlohmann::json; using json = nlohmann::json;
StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
CookieIF * comCookie, StrHelper* strHelper) : StrHelper* strHelper)
DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this), versionSet(this), powerSet( : DeviceHandlerBase(objectId, comIF, comCookie),
this), interfaceSet(this), timeSet(this), solutionSet(this), histogramSet(this), contrastSet( temperatureSet(this),
this), checksumSet(this), downloadCentroidSet(this), downloadMatchedStar(this), versionSet(this),
downloadDbImage(this), downloadBlobPixel(this), strHelper( powerSet(this),
strHelper) { interfaceSet(this),
timeSet(this),
solutionSet(this),
histogramSet(this),
contrastSet(this),
checksumSet(this),
downloadCentroidSet(this),
downloadMatchedStar(this),
downloadDbImage(this),
downloadBlobPixel(this),
strHelper(strHelper) {
if (comCookie == nullptr) { if (comCookie == nullptr) {
sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl; sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
} }
@ -29,8 +43,7 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5); eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
} }
StarTrackerHandler::~StarTrackerHandler() { StarTrackerHandler::~StarTrackerHandler() {}
}
ReturnValue_t StarTrackerHandler::initialize() { ReturnValue_t StarTrackerHandler::initialize() {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
@ -39,13 +52,13 @@ ReturnValue_t StarTrackerHandler::initialize() {
return result; return result;
} }
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>( EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
objects::EVENT_MANAGER);
if (manager == nullptr) { if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "StarTrackerHandler::initialize: Invalid event manager" << std::endl; sif::error << "StarTrackerHandler::initialize: Invalid event manager" << std::endl;
#endif #endif
return ObjectManagerIF::CHILD_INIT_FAILED;; return ObjectManagerIF::CHILD_INIT_FAILED;
;
} }
result = manager->registerListener(eventQueue->getId()); result = manager->registerListener(eventQueue->getId());
if (result != RETURN_OK) { if (result != RETURN_OK) {
@ -57,7 +70,8 @@ ReturnValue_t StarTrackerHandler::initialize() {
if (result != RETURN_OK) { if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "StarTrackerHandler::initialize: Failed to subscribe to events from " sif::warning << "StarTrackerHandler::initialize: Failed to subscribe to events from "
" str helper" << std::endl; " str helper"
<< std::endl;
#endif #endif
return ObjectManagerIF::CHILD_INIT_FAILED; return ObjectManagerIF::CHILD_INIT_FAILED;
} }
@ -72,15 +86,14 @@ ReturnValue_t StarTrackerHandler::initialize() {
ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, ReturnValue_t StarTrackerHandler::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; ReturnValue_t result = RETURN_OK;
switch(actionId) { switch (actionId) {
case(StarTracker::STOP_IMAGE_LOADER): { case (StarTracker::STOP_IMAGE_LOADER): {
strHelper->stopProcess(); strHelper->stopProcess();
return EXECUTION_FINISHED; return EXECUTION_FINISHED;
} }
case(StarTracker::SET_JSON_FILE_NAME): { case (StarTracker::SET_JSON_FILE_NAME): {
if (size > MAX_PATH_SIZE) { if (size > MAX_PATH_SIZE) {
return FILE_PATH_TOO_LONG; return FILE_PATH_TOO_LONG;
} }
@ -101,8 +114,8 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
} }
// Intercept image loader commands which do not follow the common DHB communication flow // Intercept image loader commands which do not follow the common DHB communication flow
switch(actionId) { switch (actionId) {
case(StarTracker::UPLOAD_IMAGE): { case (StarTracker::UPLOAD_IMAGE): {
result = DeviceHandlerBase::acceptExternalDeviceCommands(); result = DeviceHandlerBase::acceptExternalDeviceCommands();
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
@ -110,15 +123,14 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
if (size > MAX_PATH_SIZE + MAX_FILE_NAME) { if (size > MAX_PATH_SIZE + MAX_FILE_NAME) {
return FILE_PATH_TOO_LONG; return FILE_PATH_TOO_LONG;
} }
result = strHelper->startImageUpload( result = strHelper->startImageUpload(std::string(reinterpret_cast<const char*>(data), size));
std::string(reinterpret_cast<const char*>(data), size));
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
strHelperExecuting = true; strHelperExecuting = true;
return EXECUTION_FINISHED; return EXECUTION_FINISHED;
} }
case(StarTracker::DOWNLOAD_IMAGE): { case (StarTracker::DOWNLOAD_IMAGE): {
result = DeviceHandlerBase::acceptExternalDeviceCommands(); result = DeviceHandlerBase::acceptExternalDeviceCommands();
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
@ -126,15 +138,15 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
if (size > MAX_PATH_SIZE) { if (size > MAX_PATH_SIZE) {
return FILE_PATH_TOO_LONG; return FILE_PATH_TOO_LONG;
} }
result = strHelper->startImageDownload( result =
std::string(reinterpret_cast<const char*>(data), size)); strHelper->startImageDownload(std::string(reinterpret_cast<const char*>(data), size));
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
strHelperExecuting = true; strHelperExecuting = true;
return EXECUTION_FINISHED; return EXECUTION_FINISHED;
} }
case(StarTracker::WRITE): { case (StarTracker::WRITE): {
result = DeviceHandlerBase::acceptExternalDeviceCommands(); result = DeviceHandlerBase::acceptExternalDeviceCommands();
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
@ -147,7 +159,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
strHelperExecuting = true; strHelperExecuting = true;
return EXECUTION_FINISHED; return EXECUTION_FINISHED;
} }
case(StarTracker::READ): { case (StarTracker::READ): {
result = DeviceHandlerBase::acceptExternalDeviceCommands(); result = DeviceHandlerBase::acceptExternalDeviceCommands();
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
@ -159,30 +171,28 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
strHelperExecuting = true; strHelperExecuting = true;
return EXECUTION_FINISHED; return EXECUTION_FINISHED;
} }
case(StarTracker::CHANGE_DOWNLOAD_FILE): { case (StarTracker::CHANGE_DOWNLOAD_FILE): {
if (size > MAX_FILE_NAME) { if (size > MAX_FILE_NAME) {
return FILENAME_TOO_LONG; return FILENAME_TOO_LONG;
} }
strHelper->setDownloadImageName( strHelper->setDownloadImageName(std::string(reinterpret_cast<const char*>(data), size));
std::string(reinterpret_cast<const char*>(data), size));
return EXECUTION_FINISHED; return EXECUTION_FINISHED;
} }
case(StarTracker::CHANGE_FPGA_DOWNLOAD_FILE): { case (StarTracker::CHANGE_FPGA_DOWNLOAD_FILE): {
if (size > MAX_FILE_NAME) { if (size > MAX_FILE_NAME) {
return FILENAME_TOO_LONG; return FILENAME_TOO_LONG;
} }
strHelper->setDownloadFpgaImage(std::string(reinterpret_cast<const char*>(data), size)); strHelper->setDownloadFpgaImage(std::string(reinterpret_cast<const char*>(data), size));
return EXECUTION_FINISHED; return EXECUTION_FINISHED;
} }
case(StarTracker::SET_READ_FILENAME): { case (StarTracker::SET_READ_FILENAME): {
if (size > MAX_FILE_NAME) { if (size > MAX_FILE_NAME) {
return FILENAME_TOO_LONG; return FILENAME_TOO_LONG;
} }
strHelper->setDownloadImageName( strHelper->setDownloadImageName(std::string(reinterpret_cast<const char*>(data), size));
std::string(reinterpret_cast<const char*>(data), size));
return EXECUTION_FINISHED; return EXECUTION_FINISHED;
} }
case(StarTracker::DOWNLOAD_FPGA_IMAGE): { case (StarTracker::DOWNLOAD_FPGA_IMAGE): {
result = DeviceHandlerBase::acceptExternalDeviceCommands(); result = DeviceHandlerBase::acceptExternalDeviceCommands();
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
@ -197,7 +207,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
strHelperExecuting = true; strHelperExecuting = true;
return EXECUTION_FINISHED; return EXECUTION_FINISHED;
} }
case(StarTracker::UPLOAD_FPGA_IMAGE): { case (StarTracker::UPLOAD_FPGA_IMAGE): {
result = DeviceHandlerBase::acceptExternalDeviceCommands(); result = DeviceHandlerBase::acceptExternalDeviceCommands();
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
@ -220,8 +230,8 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
void StarTrackerHandler::performOperationHook() { void StarTrackerHandler::performOperationHook() {
EventMessage event; EventMessage event;
for (ReturnValue_t result = eventQueue->receiveMessage(&event); for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK;
result == RETURN_OK; result = eventQueue->receiveMessage(&event)) { result = eventQueue->receiveMessage(&event)) {
switch (event.getMessageId()) { switch (event.getMessageId()) {
case EventMessage::EVENT_MESSAGE: case EventMessage::EVENT_MESSAGE:
handleEvent(&event); handleEvent(&event);
@ -235,7 +245,7 @@ void StarTrackerHandler::performOperationHook() {
} }
void StarTrackerHandler::doStartUp() { void StarTrackerHandler::doStartUp() {
switch(startupState) { switch (startupState) {
case StartupState::IDLE: case StartupState::IDLE:
startupState = StartupState::CHECK_BOOT_STATE; startupState = StartupState::CHECK_BOOT_STATE;
return; return;
@ -258,11 +268,9 @@ void StarTrackerHandler::doShutDown() {
setMode(_MODE_POWER_DOWN); setMode(_MODE_POWER_DOWN);
} }
void StarTrackerHandler::doOffActivity() { void StarTrackerHandler::doOffActivity() { startupState = StartupState::IDLE; }
startupState = StartupState::IDLE;
}
ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) { ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
switch (internalState) { switch (internalState) {
case InternalState::TEMPERATURE_REQUEST: case InternalState::TEMPERATURE_REQUEST:
*id = StarTracker::REQ_TEMPERATURE; *id = StarTracker::REQ_TEMPERATURE;
@ -275,7 +283,7 @@ ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t * i
return buildCommandFromCommand(*id, NULL, 0); return buildCommandFromCommand(*id, NULL, 0);
} }
ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) { ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
if (mode != _MODE_START_UP) { if (mode != _MODE_START_UP) {
return NOTHING_TO_SEND; return NOTHING_TO_SEND;
} }
@ -346,7 +354,8 @@ ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t
} }
ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand, ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t * commandData, size_t commandDataLen) { const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
switch (deviceCommand) { switch (deviceCommand) {
case (StarTracker::PING_REQUEST): { case (StarTracker::PING_REQUEST): {
@ -575,14 +584,13 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
} }
ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t remainingSize, ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) { DeviceCommandId_t* foundId, size_t* foundLen) {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
size_t bytesLeft = 0; size_t bytesLeft = 0;
result = dataLinkLayer.decodeFrame(start, remainingSize, &bytesLeft); result = dataLinkLayer.decodeFrame(start, remainingSize, &bytesLeft);
switch(result) { switch (result) {
case ArcsecDatalinkLayer::DEC_IN_PROGRESS: { case ArcsecDatalinkLayer::DEC_IN_PROGRESS: {
remainingSize = bytesLeft; remainingSize = bytesLeft;
// Need a second doSendRead pass to reaa in whole packet // Need a second doSendRead pass to reaa in whole packet
@ -624,8 +632,8 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t rema
return result; return result;
} }
ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) { ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t* packet) {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
switch (id) { switch (id) {
@ -736,221 +744,215 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, con
return result; return result;
} }
void StarTrackerHandler::setNormalDatapoolEntriesInvalid() {}
void StarTrackerHandler::setNormalDatapoolEntriesInvalid() { uint32_t StarTrackerHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 20000; }
}
uint32_t StarTrackerHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 20000;
}
ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) { LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(StarTracker::TICKS_TIME_SET, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TIME_TIME_SET, new PoolEntry<uint64_t>({0}));
localDataPoolMap.emplace(StarTracker::RUN_TIME, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::UNIX_TIME, new PoolEntry<uint64_t>({0}));
localDataPoolMap.emplace(StarTracker::TICKS_TIME_SET, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::TICKS_VERSION_SET, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TIME_TIME_SET, new PoolEntry<uint64_t>( { 0 })); localDataPoolMap.emplace(StarTracker::TIME_VERSION_SET, new PoolEntry<uint64_t>({0}));
localDataPoolMap.emplace(StarTracker::RUN_TIME, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::PROGRAM, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::UNIX_TIME, new PoolEntry<uint64_t>( { 0 })); localDataPoolMap.emplace(StarTracker::MAJOR, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::MINOR, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::TICKS_VERSION_SET, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::TICKS_INTERFACE_SET, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TIME_VERSION_SET, new PoolEntry<uint64_t>( { 0 })); localDataPoolMap.emplace(StarTracker::TIME_INTERFACE_SET, new PoolEntry<uint64_t>({0}));
localDataPoolMap.emplace(StarTracker::PROGRAM, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(StarTracker::FRAME_COUNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::MAJOR, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CHECKSUM_ERROR_COUNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::MINOR, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(StarTracker::SET_PARAM_COUNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::SET_PARAM_REPLY_COUNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::PARAM_REQUEST_COUNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::PARAM_REPLY_COUNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::REQ_TM_COUNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TM_REPLY_COUNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::ACTION_REQ_COUNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::ACTION_REPLY_COUNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TICKS_INTERFACE_SET, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::TICKS_POWER_SET, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TIME_INTERFACE_SET, new PoolEntry<uint64_t>( { 0 })); localDataPoolMap.emplace(StarTracker::TIME_POWER_SET, new PoolEntry<uint64_t>({0}));
localDataPoolMap.emplace(StarTracker::FRAME_COUNT, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::MCU_CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CHECKSUM_ERROR_COUNT, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::MCU_VOLTAGE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::SET_PARAM_COUNT, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::FPGA_CORE_CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::SET_PARAM_REPLY_COUNT, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::FPGA_CORE_VOLTAGE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::PARAM_REQUEST_COUNT, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::FPGA_18_CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::PARAM_REPLY_COUNT, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::FPGA_18_VOLTAGE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::REQ_TM_COUNT, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::FPGA_25_CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::TM_REPLY_COUNT, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::FPGA_25_VOLTAGE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::ACTION_REQ_COUNT, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CMV_21_CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::ACTION_REPLY_COUNT, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CMV_21_VOLTAGE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CMV_PIX_CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CMV_PIX_VOLTAGE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CMV_33_CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CMV_33_VOLTAGE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CMV_RES_CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CMV_RES_VOLTAGE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::TICKS_POWER_SET, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::TICKS_TEMPERATURE_SET, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TIME_POWER_SET, new PoolEntry<uint64_t>( { 0 })); localDataPoolMap.emplace(StarTracker::TIME_TEMPERATURE_SET, new PoolEntry<uint64_t>({0}));
localDataPoolMap.emplace(StarTracker::MCU_CURRENT, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::MCU_TEMPERATURE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::MCU_VOLTAGE, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::CMOS_TEMPERATURE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::FPGA_CORE_CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::FPGA_CORE_VOLTAGE, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::FPGA_18_CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::FPGA_18_VOLTAGE, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::FPGA_25_CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::FPGA_25_VOLTAGE, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::CMV_21_CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::CMV_21_VOLTAGE, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::CMV_PIX_CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::CMV_PIX_VOLTAGE, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::CMV_33_CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::CMV_33_VOLTAGE, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::CMV_RES_CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::CMV_RES_VOLTAGE, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::TICKS_TEMPERATURE_SET, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::TICKS_SOLUTION_SET, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TIME_TEMPERATURE_SET, new PoolEntry<uint64_t>( { 0 })); localDataPoolMap.emplace(StarTracker::TIME_SOLUTION_SET, new PoolEntry<uint64_t>({0}));
localDataPoolMap.emplace(StarTracker::MCU_TEMPERATURE, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::CALI_QW, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CMOS_TEMPERATURE, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::CALI_QX, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CALI_QY, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CALI_QZ, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::TRACK_CONFIDENCE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::TRACK_QW, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::TRACK_QX, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::TRACK_QY, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::TRACK_QZ, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::TRACK_REMOVED, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::STARS_CENTROIDED, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::STARS_MATCHED_DATABASE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::LISA_QW, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::LISA_QX, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::LISA_QY, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::LISA_QZ, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::LISA_PERC_CLOSE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::LISA_NR_CLOSE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::TRUST_WORTHY, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::STABLE_COUNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::SOLUTION_STRATEGY, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::TICKS_SOLUTION_SET, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::TICKS_HISTOGRAM_SET, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TIME_SOLUTION_SET, new PoolEntry<uint64_t>( { 0 })); localDataPoolMap.emplace(StarTracker::TIME_HISTOGRAM_SET, new PoolEntry<uint64_t>({0}));
localDataPoolMap.emplace(StarTracker::CALI_QW, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA0, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::CALI_QX, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA1, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::CALI_QY, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA2, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::CALI_QZ, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA3, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TRACK_CONFIDENCE, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA4, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TRACK_QW, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA5, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TRACK_QX, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA6, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TRACK_QY, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA7, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TRACK_QZ, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA8, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TRACK_REMOVED, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB0, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::STARS_CENTROIDED, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB1, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::STARS_MATCHED_DATABASE, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB2, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::LISA_QW, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB3, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::LISA_QX, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB4, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::LISA_QY, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB5, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::LISA_QZ, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB6, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::LISA_PERC_CLOSE, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB7, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::LISA_NR_CLOSE, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB8, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TRUST_WORTHY, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC0, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::STABLE_COUNT, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC1, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::SOLUTION_STRATEGY, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC2, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC3, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC4, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC5, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC6, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC7, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC8, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND0, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND1, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND2, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND3, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND4, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND5, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND6, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND7, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND8, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TICKS_HISTOGRAM_SET, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::TICKS_CONTRAST_SET, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TIME_HISTOGRAM_SET, new PoolEntry<uint64_t>( { 0 })); localDataPoolMap.emplace(StarTracker::TIME_CONTRAST_SET, new PoolEntry<uint64_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA0, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINA0, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA1, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINA1, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA2, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINA2, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA3, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINA3, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA4, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINA4, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA5, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINA5, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA6, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINA6, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA7, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINA7, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA8, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINA8, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB0, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINB0, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB1, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINB1, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB2, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINB2, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB3, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINB3, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB4, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINB4, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB5, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINB5, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB6, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINB6, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB7, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINB7, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB8, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINB8, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC0, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINC8, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC1, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINC0, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC2, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINC1, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC3, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINC2, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC4, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINC3, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC5, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINC4, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC6, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINC5, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC7, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINC6, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC8, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINC7, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND0, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BINC8, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND1, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BIND0, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND2, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BIND1, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND3, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BIND2, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND4, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BIND3, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND5, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BIND4, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND6, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BIND5, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND7, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BIND6, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND8, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::CONTRAST_BIND7, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND8, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::CHKSUM, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::TICKS_CONTRAST_SET, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::DWL_ID, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::TIME_CONTRAST_SET, new PoolEntry<uint64_t>( { 0 })); localDataPoolMap.emplace(StarTracker::DWL_PIXX, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA0, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::DWL_PIXY, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA1, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::DWL_X_UNCORRECTED, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA2, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::DWL_Y_UNCORRECTED, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA3, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::DWL_X_CORRECTED, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA4, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::DWL_Y_CORRECTED, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA5, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::DWL_MAGNITUDE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA6, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::DWL_CXA, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA7, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::DWL_CYA, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA8, new PoolEntry<uint32_t>( { 0 })); localDataPoolMap.emplace(StarTracker::DWL_QUALITY, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB0, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB1, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB2, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB3, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB4, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB5, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB6, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB7, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB8, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC8, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC0, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC1, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC2, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC3, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC4, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC5, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC6, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC7, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC8, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND0, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND1, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND2, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND3, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND4, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND5, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND6, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND7, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND8, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CHKSUM, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::DWL_ID, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(StarTracker::MATCHEDSTR_ID, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::DWL_PIXX, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMFPX, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::DWL_PIXY, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMFPY, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::DWL_X_UNCORRECTED, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMCARTX, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::DWL_Y_UNCORRECTED, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMCARTY, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::DWL_X_CORRECTED, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMCARTZ, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::DWL_Y_CORRECTED, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMMAGNITUDE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::DWL_MAGNITUDE, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBFPX, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::DWL_CXA, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBFPY, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::DWL_CYA, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBCARTX, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::DWL_QUALITY, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBCARTY, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBCARTZ, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBMAGNITUDE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CATALOGID, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_ID, new PoolEntry<uint8_t>( { 0 })); localDataPoolMap.emplace(StarTracker::BLOBPIX_ID, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMFPX, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::BLOBPIX_X, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMFPY, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::BLOBPIX_Y, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMCARTX, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::BLOBPIX_TOT_VAL, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMCARTY, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::BLOBPIX_IN_USE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMCARTZ, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::BLOBPIX_BRIGHT_NEIGHBOURS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMMAGNITUDE, new PoolEntry<float>( { 0 })); localDataPoolMap.emplace(StarTracker::BLOBPIX_REGION, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBFPX, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBFPY, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBCARTX, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBCARTY, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBCARTZ, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBMAGNITUDE, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CATALOGID, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOBPIX_ID, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOBPIX_X, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOBPIX_Y, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOBPIX_TOT_VAL, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOBPIX_IN_USE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOBPIX_BRIGHT_NEIGHBOURS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::BLOBPIX_REGION, new PoolEntry<uint32_t>( { 0 }));
return RETURN_OK; return RETURN_OK;
} }
size_t StarTrackerHandler::getNextReplyLength(DeviceCommandId_t commandId){ size_t StarTrackerHandler::getNextReplyLength(DeviceCommandId_t commandId) {
return StarTracker::MAX_FRAME_SIZE; return StarTracker::MAX_FRAME_SIZE;
} }
ReturnValue_t StarTrackerHandler::doSendReadHook() { ReturnValue_t StarTrackerHandler::doSendReadHook() {
// Prevent DHB from polling UART during commands executed by the image loader task // Prevent DHB from polling UART during commands executed by the image loader task
if(strHelperExecuting) { if (strHelperExecuting) {
return RETURN_FAILED; return RETURN_FAILED;
} }
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t StarTrackerHandler::checkMode(ActionId_t actionId) { ReturnValue_t StarTrackerHandler::checkMode(ActionId_t actionId) {
switch(actionId) { switch (actionId) {
case StarTracker::UPLOAD_IMAGE: case StarTracker::UPLOAD_IMAGE:
case StarTracker::DOWNLOAD_IMAGE: { case StarTracker::DOWNLOAD_IMAGE: {
return DeviceHandlerBase::acceptExternalDeviceCommands(); return DeviceHandlerBase::acceptExternalDeviceCommands();
@ -961,7 +963,7 @@ ReturnValue_t StarTrackerHandler::checkMode(ActionId_t actionId) {
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t *foundId) { ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t* foundId) {
const uint8_t* reply = dataLinkLayer.getReply(); const uint8_t* reply = dataLinkLayer.getReply();
switch (*reply) { switch (*reply) {
case (StarTracker::ID::PING): { case (StarTracker::ID::PING): {
@ -1036,7 +1038,7 @@ ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t *foundId)
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t StarTrackerHandler::scanForParameterReply(DeviceCommandId_t *foundId) { ReturnValue_t StarTrackerHandler::scanForParameterReply(DeviceCommandId_t* foundId) {
const uint8_t* reply = dataLinkLayer.getReply(); const uint8_t* reply = dataLinkLayer.getReply();
switch (*reply) { switch (*reply) {
case (StarTracker::ID::SUBSCRIBE): { case (StarTracker::ID::SUBSCRIBE): {
@ -1091,7 +1093,7 @@ ReturnValue_t StarTrackerHandler::scanForParameterReply(DeviceCommandId_t *found
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t *foundId) { ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t* foundId) {
const uint8_t* reply = dataLinkLayer.getReply(); const uint8_t* reply = dataLinkLayer.getReply();
switch (*reply) { switch (*reply) {
case (StarTracker::ID::VERSION): { case (StarTracker::ID::VERSION): {
@ -1138,7 +1140,7 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t *foundId) {
void StarTrackerHandler::handleEvent(EventMessage* eventMessage) { void StarTrackerHandler::handleEvent(EventMessage* eventMessage) {
object_id_t objectId = eventMessage->getReporter(); object_id_t objectId = eventMessage->getReporter();
switch(objectId){ switch (objectId) {
case objects::STR_HELPER: { case objects::STR_HELPER: {
// All events from image loader signal either that the operation was successful or that it // All events from image loader signal either that the operation was successful or that it
// failed // failed
@ -1146,8 +1148,7 @@ void StarTrackerHandler::handleEvent(EventMessage* eventMessage) {
break; break;
} }
default: default:
sif::debug << "StarTrackerHandler::handleEvent: Did not subscribe to this event" sif::debug << "StarTrackerHandler::handleEvent: Did not subscribe to this event" << std::endl;
<< std::endl;
break; break;
} }
} }
@ -1163,8 +1164,7 @@ ReturnValue_t StarTrackerHandler::executeWriteCommand(const uint8_t* commandData
uint32_t address; uint32_t address;
size_t size = sizeof(address); size_t size = sizeof(address);
const uint8_t* addressPtr = commandData + WriteCmd::ADDRESS_OFFSET; const uint8_t* addressPtr = commandData + WriteCmd::ADDRESS_OFFSET;
result = SerializeAdapter::deSerialize(&address, addressPtr, &size, result = SerializeAdapter::deSerialize(&address, addressPtr, &size, SerializeIF::Endianness::BIG);
SerializeIF::Endianness::BIG);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::debug << "StarTrackerHandler::executeWriteCommand: Deserialization of address failed" sif::debug << "StarTrackerHandler::executeWriteCommand: Deserialization of address failed"
<< std::endl; << std::endl;
@ -1195,8 +1195,8 @@ ReturnValue_t StarTrackerHandler::executeFpgaDownloadCommand(const uint8_t* comm
} }
uint32_t position; uint32_t position;
size_t size = sizeof(position); size_t size = sizeof(position);
result = SerializeAdapter::deSerialize(&position, &commandData, &size, result =
SerializeIF::Endianness::BIG); SerializeAdapter::deSerialize(&position, &commandData, &size, SerializeIF::Endianness::BIG);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::debug << "StarTrackerHandler::executeWriteCommand: Deserialization of position failed" sif::debug << "StarTrackerHandler::executeWriteCommand: Deserialization of position failed"
<< std::endl; << std::endl;
@ -1204,8 +1204,8 @@ ReturnValue_t StarTrackerHandler::executeFpgaDownloadCommand(const uint8_t* comm
} }
uint32_t length; uint32_t length;
size = sizeof(length); size = sizeof(length);
result = SerializeAdapter::deSerialize(&length, &commandData, &size, result =
SerializeIF::Endianness::BIG); SerializeAdapter::deSerialize(&length, &commandData, &size, SerializeIF::Endianness::BIG);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::debug << "StarTrackerHandler::executeWriteCommand: Deserialization of length failed" sif::debug << "StarTrackerHandler::executeWriteCommand: Deserialization of length failed"
<< std::endl; << std::endl;
@ -1213,7 +1213,8 @@ ReturnValue_t StarTrackerHandler::executeFpgaDownloadCommand(const uint8_t* comm
} }
if (commandDataLen - sizeof(position) - sizeof(length) > MAX_PATH_SIZE) { if (commandDataLen - sizeof(position) - sizeof(length) > MAX_PATH_SIZE) {
sif::warning << "StarTrackerHandler::executeFpgaDownloadCommand: Received command with " sif::warning << "StarTrackerHandler::executeFpgaDownloadCommand: Received command with "
" invalid path and filename" << std::endl; " invalid path and filename"
<< std::endl;
return FILE_PATH_TOO_LONG; return FILE_PATH_TOO_LONG;
} }
std::string fullname = std::string(reinterpret_cast<const char*>(commandData), std::string fullname = std::string(reinterpret_cast<const char*>(commandData),
@ -1236,8 +1237,7 @@ ReturnValue_t StarTrackerHandler::executeReadCommand(const uint8_t* commandData,
uint32_t address; uint32_t address;
size_t size = sizeof(address); size_t size = sizeof(address);
const uint8_t* addressPtr = commandData + ReadCmd::ADDRESS_OFFSET; const uint8_t* addressPtr = commandData + ReadCmd::ADDRESS_OFFSET;
result = SerializeAdapter::deSerialize(&address, addressPtr, &size, result = SerializeAdapter::deSerialize(&address, addressPtr, &size, SerializeIF::Endianness::BIG);
SerializeIF::Endianness::BIG);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::debug << "StarTrackerHandler::executeReadCommand: Deserialization of address failed" sif::debug << "StarTrackerHandler::executeReadCommand: Deserialization of address failed"
<< std::endl; << std::endl;
@ -1246,8 +1246,7 @@ ReturnValue_t StarTrackerHandler::executeReadCommand(const uint8_t* commandData,
uint32_t length; uint32_t length;
size = sizeof(length); size = sizeof(length);
const uint8_t* lengthPtr = commandData + ReadCmd::LENGTH_OFFSET; const uint8_t* lengthPtr = commandData + ReadCmd::LENGTH_OFFSET;
result = SerializeAdapter::deSerialize(&length, lengthPtr, &size, result = SerializeAdapter::deSerialize(&length, lengthPtr, &size, SerializeIF::Endianness::BIG);
SerializeIF::Endianness::BIG);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::debug << "StarTrackerHandler::executeReadCommand: Deserialization of length failed" sif::debug << "StarTrackerHandler::executeReadCommand: Deserialization of length failed"
<< std::endl; << std::endl;
@ -1259,7 +1258,8 @@ ReturnValue_t StarTrackerHandler::executeReadCommand(const uint8_t* commandData,
return FILE_PATH_TOO_LONG; return FILE_PATH_TOO_LONG;
} }
const uint8_t* filePtr = commandData + ReadCmd::FILE_OFFSET; const uint8_t* filePtr = commandData + ReadCmd::FILE_OFFSET;
std::string fullname = std::string(reinterpret_cast<const char*>(filePtr), std::string fullname =
std::string(reinterpret_cast<const char*>(filePtr),
commandDataLen - sizeof(address) - sizeof(region) - sizeof(length)); commandDataLen - sizeof(address) - sizeof(region) - sizeof(length));
result = strHelper->startFlashRead(fullname, region, address, length); result = strHelper->startFlashRead(fullname, region, address, length);
if (result != RETURN_OK) { if (result != RETURN_OK) {
@ -1302,8 +1302,7 @@ ReturnValue_t StarTrackerHandler::prepareUnlockCommand(const uint8_t* commandDat
req.region = *commandData; req.region = *commandData;
size_t size = sizeof(req.code); size_t size = sizeof(req.code);
const uint8_t* codePtr = commandData + UnlockCmd::CODE_OFFSET; const uint8_t* codePtr = commandData + UnlockCmd::CODE_OFFSET;
result = SerializeAdapter::deSerialize(&req.code, &codePtr, &size, result = SerializeAdapter::deSerialize(&req.code, &codePtr, &size, SerializeIF::Endianness::BIG);
SerializeIF::Endianness::BIG);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
@ -1325,8 +1324,8 @@ ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandD
req.region = *(commandData); req.region = *(commandData);
size_t size = sizeof(req.address); size_t size = sizeof(req.address);
const uint8_t* addressPtr = commandData + ChecksumCmd::ADDRESS_OFFSET; const uint8_t* addressPtr = commandData + ChecksumCmd::ADDRESS_OFFSET;
result = SerializeAdapter::deSerialize(&req.address, addressPtr, &size, result =
SerializeIF::Endianness::BIG); SerializeAdapter::deSerialize(&req.address, addressPtr, &size, SerializeIF::Endianness::BIG);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::debug << "StarTrackerHandler::prepareChecksumCommand: Deserialization of address " sif::debug << "StarTrackerHandler::prepareChecksumCommand: Deserialization of address "
<< "failed" << std::endl; << "failed" << std::endl;
@ -1334,8 +1333,8 @@ ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandD
} }
size = sizeof(req.length); size = sizeof(req.length);
const uint8_t* lengthPtr = commandData + ChecksumCmd::LENGTH_OFFSET; const uint8_t* lengthPtr = commandData + ChecksumCmd::LENGTH_OFFSET;
result = SerializeAdapter::deSerialize(&req.length, lengthPtr, &size, result =
SerializeIF::Endianness::BIG); SerializeAdapter::deSerialize(&req.length, lengthPtr, &size, SerializeIF::Endianness::BIG);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::debug << "StarTrackerHandler::prepareChecksumCommand: Deserialization of length failed" sif::debug << "StarTrackerHandler::prepareChecksumCommand: Deserialization of length failed"
<< std::endl; << std::endl;
@ -1352,7 +1351,6 @@ ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandD
return result; return result;
} }
ReturnValue_t StarTrackerHandler::prepareSetTimeCommand(const uint8_t* commandData, ReturnValue_t StarTrackerHandler::prepareSetTimeCommand(const uint8_t* commandData,
size_t commandDataLen) { size_t commandDataLen) {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
@ -1365,8 +1363,7 @@ ReturnValue_t StarTrackerHandler::prepareSetTimeCommand(const uint8_t* commandDa
result = SerializeAdapter::deSerialize(&req.unixTime, commandData, &size, result = SerializeAdapter::deSerialize(&req.unixTime, commandData, &size,
SerializeIF::Endianness::BIG); SerializeIF::Endianness::BIG);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::debug << "StarTrackerHandler::prepareSetTimeCommand: Deserialization failed" sif::debug << "StarTrackerHandler::prepareSetTimeCommand: Deserialization failed" << std::endl;
<< std::endl;
return result; return result;
} }
uint32_t length = 0; uint32_t length = 0;
@ -1402,8 +1399,8 @@ ReturnValue_t StarTrackerHandler::prepareUploadCentroidCommand(const uint8_t* co
} }
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
struct UploadCentroidActionRequest req; struct UploadCentroidActionRequest req;
std::string jsonFileName = std::string(reinterpret_cast<const char*>(commandData), std::string jsonFileName =
commandDataLen); std::string(reinterpret_cast<const char*>(commandData), commandDataLen);
NVMParameterBase j(jsonFileName); NVMParameterBase j(jsonFileName);
result = j.readJsonFile(); result = j.readJsonFile();
if (result != RETURN_OK) { if (result != RETURN_OK) {
@ -1432,13 +1429,15 @@ ReturnValue_t StarTrackerHandler::prepareUploadCentroidCommand(const uint8_t* co
result = j.getValue(StarTracker::UploadCentroidKeys::x_uncorrected, &req.x_uncorrected); result = j.getValue(StarTracker::UploadCentroidKeys::x_uncorrected, &req.x_uncorrected);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key " sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key "
<< StarTracker::UploadCentroidKeys::x_uncorrected << " does not exist" << std::endl; << StarTracker::UploadCentroidKeys::x_uncorrected << " does not exist"
<< std::endl;
return result; return result;
} }
result = j.getValue(StarTracker::UploadCentroidKeys::y_uncorrected, &req.y_uncorrected); result = j.getValue(StarTracker::UploadCentroidKeys::y_uncorrected, &req.y_uncorrected);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key " sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key "
<< StarTracker::UploadCentroidKeys::y_uncorrected << " does not exist" << std::endl; << StarTracker::UploadCentroidKeys::y_uncorrected << " does not exist"
<< std::endl;
return result; return result;
} }
result = j.getValue(StarTracker::UploadCentroidKeys::x_corrected, &req.x_corrected); result = j.getValue(StarTracker::UploadCentroidKeys::x_corrected, &req.x_corrected);
@ -1614,7 +1613,8 @@ void StarTrackerHandler::prepareErrorResetRequest() {
} }
ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData, ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData,
size_t commandDataLen, ArcsecJsonParamBase& paramSet) { size_t commandDataLen,
ArcsecJsonParamBase& paramSet) {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
if (commandDataLen > MAX_PATH_SIZE) { if (commandDataLen > MAX_PATH_SIZE) {
return FILE_PATH_TOO_LONG; return FILE_PATH_TOO_LONG;
@ -1624,7 +1624,8 @@ ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData
result = paramSet.create(fullName, commandBuffer); result = paramSet.create(fullName, commandBuffer);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::warning << "StarTrackerHandler::prepareParamCommand: Failed to create parameter " sif::warning << "StarTrackerHandler::prepareParamCommand: Failed to create parameter "
"command" << std::endl; "command"
<< std::endl;
return result; return result;
} }
dataLinkLayer.encodeFrame(commandBuffer, paramSet.getSize()); dataLinkLayer.encodeFrame(commandBuffer, paramSet.getSize());
@ -1705,8 +1706,8 @@ ReturnValue_t StarTrackerHandler::handleSetParamReply() {
uint8_t status = *(reply + STATUS_OFFSET); uint8_t status = *(reply + STATUS_OFFSET);
if (status != StarTracker::STATUS_OK) { if (status != StarTracker::STATUS_OK) {
sif::warning << "StarTrackerHandler::handleSetParamReply: Failed to execute parameter set " sif::warning << "StarTrackerHandler::handleSetParamReply: Failed to execute parameter set "
" command with parameter ID" << " command with parameter ID"
static_cast<unsigned int>(*(reply + PARAMETER_ID_OFFSET)) << std::endl; << static_cast<unsigned int>(*(reply + PARAMETER_ID_OFFSET)) << std::endl;
if (startupState != StartupState::IDLE) { if (startupState != StartupState::IDLE) {
startupState = StartupState::IDLE; startupState = StartupState::IDLE;
} }
@ -1724,8 +1725,8 @@ ReturnValue_t StarTrackerHandler::handleActionReply() {
if (status != StarTracker::STATUS_OK) { if (status != StarTracker::STATUS_OK) {
sif::warning << "StarTrackerHandler::handleActionReply: Failed to execute action " sif::warning << "StarTrackerHandler::handleActionReply: Failed to execute action "
<< "command with action ID " << "command with action ID "
<< static_cast<unsigned int>(*(reply + ACTION_ID_OFFSET)) << static_cast<unsigned int>(*(reply + ACTION_ID_OFFSET)) << " and status "
<< " and status "<< static_cast<unsigned int>(status) << std::endl; << static_cast<unsigned int>(status) << std::endl;
return ACTION_FAILED; return ACTION_FAILED;
} }
return RETURN_OK; return RETURN_OK;
@ -1797,14 +1798,13 @@ ReturnValue_t StarTrackerHandler::handlePingReply() {
size_t size = sizeof(pingId); size_t size = sizeof(pingId);
SerializeAdapter::deSerialize(&pingId, &buffer, &size, SerializeIF::Endianness::LITTLE); SerializeAdapter::deSerialize(&pingId, &buffer, &size, SerializeIF::Endianness::LITTLE);
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 #if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
sif::info << "StarTracker: Ping status: "<< static_cast<unsigned int>(status) << std::endl; sif::info << "StarTracker: Ping status: " << static_cast<unsigned int>(status) << std::endl;
sif::info << "Ping id: 0x"<< std::hex << pingId << std::endl; sif::info << "Ping id: 0x" << std::hex << pingId << std::endl;
#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */ #endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */
if (status != StarTracker::STATUS_OK || pingId != PING_ID) { if (status != StarTracker::STATUS_OK || pingId != PING_ID) {
sif::warning << "StarTrackerHandler::handlePingReply: Ping failed" << std::endl; sif::warning << "StarTrackerHandler::handlePingReply: Ping failed" << std::endl;
result = PING_FAILED; result = PING_FAILED;
} } else {
else {
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 #if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
sif::info << "StarTracker: Ping successful" << std::endl; sif::info << "StarTracker: Ping successful" << std::endl;
#endif #endif
@ -1814,7 +1814,7 @@ ReturnValue_t StarTrackerHandler::handlePingReply() {
ReturnValue_t StarTrackerHandler::checkProgram() { ReturnValue_t StarTrackerHandler::checkProgram() {
PoolReadGuard pg(&versionSet); PoolReadGuard pg(&versionSet);
switch(versionSet.program.value) { switch (versionSet.program.value) {
case StarTracker::Program::BOOTLOADER: case StarTracker::Program::BOOTLOADER:
// Star tracker currently in bootloader program. Need to send boot command to switch to // Star tracker currently in bootloader program. Need to send boot command to switch to
// firmware program // firmware program
@ -1839,7 +1839,7 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t size) { ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t size) {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET); uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET);
if(status != StarTracker::STATUS_OK) { if (status != StarTracker::STATUS_OK) {
sif::warning << "StarTrackerHandler::handleTm: Reply error: " sif::warning << "StarTrackerHandler::handleTm: Reply error: "
<< static_cast<unsigned int>(status) << std::endl; << static_cast<unsigned int>(status) << std::endl;
return REPLY_ERROR; return REPLY_ERROR;
@ -1852,8 +1852,7 @@ ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t
dataset.setValidityBufferGeneration(false); dataset.setValidityBufferGeneration(false);
result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE); result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::warning << "StarTrackerHandler::handleTm: Deserialization failed" sif::warning << "StarTrackerHandler::handleTm: Deserialization failed" << std::endl;
<< std::endl;
} }
dataset.setValidityBufferGeneration(true); dataset.setValidityBufferGeneration(true);
dataset.setValidity(true, true); dataset.setValidity(true, true);
@ -1870,7 +1869,7 @@ ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t
ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size) { ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size) {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET); uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET);
if(status != StarTracker::STATUS_OK) { if (status != StarTracker::STATUS_OK) {
sif::warning << "StarTrackerHandler::handleActionReplySet: Reply error: " sif::warning << "StarTrackerHandler::handleActionReplySet: Reply error: "
<< static_cast<unsigned int>(status) << std::endl; << static_cast<unsigned int>(status) << std::endl;
return REPLY_ERROR; return REPLY_ERROR;
@ -1883,8 +1882,7 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dat
dataset.setValidityBufferGeneration(false); dataset.setValidityBufferGeneration(false);
result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE); result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::warning << "StarTrackerHandler::handleActionReplySet Deserialization failed" sif::warning << "StarTrackerHandler::handleActionReplySet Deserialization failed" << std::endl;
<< std::endl;
} }
dataset.setValidityBufferGeneration(true); dataset.setValidityBufferGeneration(true);
dataset.setValidity(true, true); dataset.setValidity(true, true);
@ -1899,7 +1897,7 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dat
} }
void StarTrackerHandler::handleStartup(const uint8_t* parameterId) { void StarTrackerHandler::handleStartup(const uint8_t* parameterId) {
switch(*parameterId) { switch (*parameterId) {
case (StarTracker::ID::LIMITS): { case (StarTracker::ID::LIMITS): {
startupState = StartupState::TRACKING; startupState = StartupState::TRACKING;
break; break;

59
bsp_q7s/devices/startracker/StarTrackerHandler.h
View File

@ -1,15 +1,16 @@
#ifndef MISSION_DEVICES_STARTRACKERHANDLER_H_ #ifndef MISSION_DEVICES_STARTRACKERHANDLER_H_
#define MISSION_DEVICES_STARTRACKERHANDLER_H_ #define MISSION_DEVICES_STARTRACKERHANDLER_H_
#include <fsfw/datapool/PoolReadGuard.h>
#include "ArcsecDatalinkLayer.h"
#include "ArcsecJsonParamBase.h"
#include "StarTrackerDefinitions.h"
#include "StrHelper.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/src/fsfw/serialize/SerializeAdapter.h" #include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
#include "fsfw/timemanager/Countdown.h" #include "fsfw/timemanager/Countdown.h"
#include "thirdparty/arcsec_star_tracker/common/SLIP.h" #include "thirdparty/arcsec_star_tracker/common/SLIP.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include "ArcsecDatalinkLayer.h"
#include "StarTrackerDefinitions.h"
#include "ArcsecJsonParamBase.h"
#include "StrHelper.h"
/** /**
* @brief This is the device handler for the star tracker from arcsec. * @brief This is the device handler for the star tracker from arcsec.
@ -19,9 +20,8 @@
* Sagitta%201.0%20Datapack&fileid=659181 * Sagitta%201.0%20Datapack&fileid=659181
* @author J. Meier * @author J. Meier
*/ */
class StarTrackerHandler: public DeviceHandlerBase { class StarTrackerHandler : public DeviceHandlerBase {
public: public:
/** /**
* @brief Constructor * @brief Constructor
* *
@ -32,7 +32,7 @@ public:
* @param enablePin GPIO connected to the enable pin of the reaction wheels. Must be pulled * @param enablePin GPIO connected to the enable pin of the reaction wheels. Must be pulled
* to high to enable the device. * to high to enable the device.
*/ */
StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie, StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
StrHelper* strHelper); StrHelper* strHelper);
virtual ~StarTrackerHandler(); virtual ~StarTrackerHandler();
@ -47,19 +47,18 @@ public:
void performOperationHook() override; void performOperationHook() override;
protected: protected:
void doStartUp() override; void doStartUp() override;
void doShutDown() override; void doShutDown() override;
void doOffActivity() override; void doOffActivity() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override; ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override; ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override; void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
const uint8_t * commandData,size_t commandDataLen) override; size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize, ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
DeviceCommandId_t *foundId, size_t *foundLen) override; size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
const uint8_t *packet) override;
void setNormalDatapoolEntriesInvalid() override; void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override; uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -70,8 +69,7 @@ protected:
virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override; virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
virtual ReturnValue_t doSendReadHook() override; virtual ReturnValue_t doSendReadHook() override;
private: private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER; static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] Received reply is too short //! [EXPORT] : [COMMENT] Received reply is too short
@ -115,7 +113,8 @@ private:
static const ReturnValue_t REPLY_ERROR = MAKE_RETURN_CODE(0xAE); static const ReturnValue_t REPLY_ERROR = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] Status field of contrast reply signals error //! [EXPORT] : [COMMENT] Status field of contrast reply signals error
static const ReturnValue_t CONTRAST_REQ_FAILED = MAKE_RETURN_CODE(0xAE); static const ReturnValue_t CONTRAST_REQ_FAILED = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] Received command which is too short (some data is missing for proper execution) //! [EXPORT] : [COMMENT] Received command which is too short (some data is missing for proper
//! execution)
static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAF); static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAF);
//! [EXPORT] : [COMMENT] Received command with invalid length (too few or too many parameters) //! [EXPORT] : [COMMENT] Received command with invalid length (too few or too many parameters)
static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xB0); static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xB0);
@ -140,7 +139,7 @@ private:
// position (uint32) + 1024 image data // position (uint32) + 1024 image data
static const size_t UPLOAD_COMMAND_LEN = 1028; static const size_t UPLOAD_COMMAND_LEN = 1028;
// Max valid position value in upload image command // Max valid position value in upload image command
static const uint16_t MAX_POSITION= 4095; static const uint16_t MAX_POSITION = 4095;
static const uint8_t STATUS_OFFSET = 1; static const uint8_t STATUS_OFFSET = 1;
static const uint8_t TICKS_OFFSET = 2; static const uint8_t TICKS_OFFSET = 2;
static const uint8_t TIME_OFFSET = 6; static const uint8_t TIME_OFFSET = 6;
@ -271,9 +270,7 @@ private:
std::string paramJsonFile = "/mnt/sd0/startracker/full.json"; std::string paramJsonFile = "/mnt/sd0/startracker/full.json";
enum class InternalState { enum class InternalState { TEMPERATURE_REQUEST };
TEMPERATURE_REQUEST
};
InternalState internalState = InternalState::TEMPERATURE_REQUEST; InternalState internalState = InternalState::TEMPERATURE_REQUEST;
@ -317,9 +314,9 @@ private:
*/ */
void slipInit(); void slipInit();
ReturnValue_t scanForActionReply(DeviceCommandId_t *foundId); ReturnValue_t scanForActionReply(DeviceCommandId_t* foundId);
ReturnValue_t scanForParameterReply(DeviceCommandId_t *foundId); ReturnValue_t scanForParameterReply(DeviceCommandId_t* foundId);
ReturnValue_t scanForTmReply(DeviceCommandId_t *foundId); ReturnValue_t scanForTmReply(DeviceCommandId_t* foundId);
/** /**
* @brief Fills command buffer with data to ping the star tracker * @brief Fills command buffer with data to ping the star tracker
@ -478,14 +475,12 @@ private:
/** /**
* @brief Fills command buffer with data to request matched star coordinates. * @brief Fills command buffer with data to request matched star coordinates.
*/ */
ReturnValue_t prepareDownloadDbImageCommand(const uint8_t* commandData, ReturnValue_t prepareDownloadDbImageCommand(const uint8_t* commandData, size_t commandDataLen);
size_t commandDataLen);
/** /**
* @brief Fills command buffer with data to request output of the blob filter algorithm. * @brief Fills command buffer with data to request output of the blob filter algorithm.
*/ */
ReturnValue_t prepareDownloadBlobPixelCommand(const uint8_t* commandData, ReturnValue_t prepareDownloadBlobPixelCommand(const uint8_t* commandData, size_t commandDataLen);
size_t commandDataLen);
/** /**
* @brief With this command the FPGA update will be applied to the star tracker * @brief With this command the FPGA update will be applied to the star tracker

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

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

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

@ -9,207 +9,168 @@
#include <string> #include <string>
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "ArcsecJsonParamBase.h" #include "ArcsecJsonParamBase.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
/** /**
* @brief Generates command to set the limit parameters * @brief Generates command to set the limit parameters
* *
*/ */
class Limits : public ArcsecJsonParamBase { class Limits : public ArcsecJsonParamBase {
public: public:
Limits(); Limits();
size_t getSize(); size_t getSize();
private: private:
static const size_t COMMAND_SIZE = 43; static const size_t COMMAND_SIZE = 43;
virtual ReturnValue_t createCommand(uint8_t* buffer) override; virtual ReturnValue_t createCommand(uint8_t* buffer) override;
}; };
/** /**
* @brief Generates the command to configure the tracking algorithm. * @brief Generates the command to configure the tracking algorithm.
* *
*/ */
class Tracking : public ArcsecJsonParamBase { class Tracking : public ArcsecJsonParamBase {
public: public:
Tracking(); Tracking();
size_t getSize(); size_t getSize();
private: private:
static const size_t COMMAND_SIZE = 15; static const size_t COMMAND_SIZE = 15;
ReturnValue_t createCommand(uint8_t* buffer) override; ReturnValue_t createCommand(uint8_t* buffer) override;
}; };
/** /**
* @brief Generates the command to set the mounting quaternion * @brief Generates the command to set the mounting quaternion
* *
*/ */
class Mounting : public ArcsecJsonParamBase { class Mounting : public ArcsecJsonParamBase {
public: public:
Mounting(); Mounting();
size_t getSize(); size_t getSize();
private: private:
static const size_t COMMAND_SIZE = 18; static const size_t COMMAND_SIZE = 18;
ReturnValue_t createCommand(uint8_t* buffer) override; ReturnValue_t createCommand(uint8_t* buffer) override;
}; };
/** /**
* @brief Generates the command to set the mounting quaternion * @brief Generates the command to set the mounting quaternion
* *
*/ */
class Camera : public ArcsecJsonParamBase { class Camera : public ArcsecJsonParamBase {
public: public:
Camera(); Camera();
size_t getSize(); size_t getSize();
private: private:
static const size_t COMMAND_SIZE = 43; static const size_t COMMAND_SIZE = 43;
ReturnValue_t createCommand(uint8_t* buffer) override; ReturnValue_t createCommand(uint8_t* buffer) override;
}; };
/** /**
* @brief Generates the command to configure the blob algorithm * @brief Generates the command to configure the blob algorithm
* *
*/ */
class Blob : public ArcsecJsonParamBase { class Blob : public ArcsecJsonParamBase {
public: public:
Blob(); Blob();
size_t getSize(); size_t getSize();
private: private:
static const size_t COMMAND_SIZE = 24; static const size_t COMMAND_SIZE = 24;
ReturnValue_t createCommand(uint8_t* buffer) override; ReturnValue_t createCommand(uint8_t* buffer) override;
}; };
/** /**
* @brief Generates the command to configure the centroiding algorithm * @brief Generates the command to configure the centroiding algorithm
* *
*/ */
class Centroiding : public ArcsecJsonParamBase { class Centroiding : public ArcsecJsonParamBase {
public: public:
Centroiding(); Centroiding();
size_t getSize(); size_t getSize();
private: private:
static const size_t COMMAND_SIZE = 47; static const size_t COMMAND_SIZE = 47;
ReturnValue_t createCommand(uint8_t* buffer) override; ReturnValue_t createCommand(uint8_t* buffer) override;
}; };
/** /**
* @brief Generates the command to configure the LISA (lost in space algorithm) * @brief Generates the command to configure the LISA (lost in space algorithm)
* *
*/ */
class Lisa : public ArcsecJsonParamBase { class Lisa : public ArcsecJsonParamBase {
public: public:
Lisa(); Lisa();
size_t getSize(); size_t getSize();
private: private:
static const size_t COMMAND_SIZE = 48; static const size_t COMMAND_SIZE = 48;
ReturnValue_t createCommand(uint8_t* buffer) override; ReturnValue_t createCommand(uint8_t* buffer) override;
}; };
/** /**
* @brief Generates the command to configure the matching algorithm * @brief Generates the command to configure the matching algorithm
* *
*/ */
class Matching : public ArcsecJsonParamBase { class Matching : public ArcsecJsonParamBase {
public: public:
Matching(); Matching();
size_t getSize(); size_t getSize();
private: private:
static const size_t COMMAND_SIZE = 10; static const size_t COMMAND_SIZE = 10;
ReturnValue_t createCommand(uint8_t* buffer) override; ReturnValue_t createCommand(uint8_t* buffer) override;
}; };
/** /**
* @brief Generates the command to configure the validation parameters * @brief Generates the command to configure the validation parameters
* *
*/ */
class Validation : public ArcsecJsonParamBase { class Validation : public ArcsecJsonParamBase {
public: public:
Validation(); Validation();
size_t getSize(); size_t getSize();
private: private:
static const size_t COMMAND_SIZE = 12; static const size_t COMMAND_SIZE = 12;
ReturnValue_t createCommand(uint8_t* buffer) override; ReturnValue_t createCommand(uint8_t* buffer) override;
}; };
/** /**
* @brief Generates command to configure the mechanism of automatically switching between the * @brief Generates command to configure the mechanism of automatically switching between the
* LISA and other algorithms. * LISA and other algorithms.
* *
*/ */
class Algo : public ArcsecJsonParamBase { class Algo : public ArcsecJsonParamBase {
public: public:
Algo(); Algo();
size_t getSize(); size_t getSize();
private: private:
static const size_t COMMAND_SIZE = 13; static const size_t COMMAND_SIZE = 13;
ReturnValue_t createCommand(uint8_t* buffer) override; ReturnValue_t createCommand(uint8_t* buffer) override;
}; };
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_ */ #endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_ */

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

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

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

@ -2,26 +2,26 @@
#define BSP_Q7S_DEVICES_STRHELPER_H_ #define BSP_Q7S_DEVICES_STRHELPER_H_
#include <string> #include <string>
#include "ArcsecDatalinkLayer.h" #include "ArcsecDatalinkLayer.h"
#include "fsfw/osal/linux/BinarySemaphore.h"
#include "bsp_q7s/memory/SdCardManager.h" #include "bsp_q7s/memory/SdCardManager.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/devicehandlers/CookieIF.h"
#include "fsfw/objectmanager/SystemObject.h" #include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/osal/linux/BinarySemaphore.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h" #include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw_hal/linux/uart/UartComIF.h" #include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw/devicehandlers/CookieIF.h"
extern "C" { extern "C" {
#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h" #include "thirdparty/arcsec_star_tracker/client/generated/actionreq.h"
#include "thirdparty/arcsec_star_tracker/client/generated/actionreq.h" #include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
} }
/** /**
* @brief Helper class for the star tracker handler to accelerate large data transfers. * @brief Helper class for the star tracker handler to accelerate large data transfers.
*/ */
class StrHelper: public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF { class StrHelper : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
public: public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER;
//! [EXPORT] : [COMMENT] Image upload failed //! [EXPORT] : [COMMENT] Image upload failed
@ -49,33 +49,35 @@ public:
//! [EXPORT] : [COMMENT] Upload of FPGA image failed //! [EXPORT] : [COMMENT] Upload of FPGA image failed
static const Event FPGA_UPLOAD_FAILED = MAKE_EVENT(11, severity::LOW); static const Event FPGA_UPLOAD_FAILED = MAKE_EVENT(11, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to read communication interface reply data //! [EXPORT] : [COMMENT] Failed to read communication interface reply data
//!P1: Return code of failed communication interface read call //! P1: Return code of failed communication interface read call
//!P1: Upload/download position for which the read call failed //! P1: Upload/download position for which the read call failed
static const Event STR_HELPER_READING_REPLY_FAILED = MAKE_EVENT(12, severity::LOW); static const Event STR_HELPER_READING_REPLY_FAILED = MAKE_EVENT(12, severity::LOW);
//! [EXPORT] : [COMMENT] Unexpected stop of decoding sequence //! [EXPORT] : [COMMENT] Unexpected stop of decoding sequence
//!P1: Return code of failed communication interface read call //! P1: Return code of failed communication interface read call
//!P1: Upload/download position for which the read call failed //! P1: Upload/download position for which the read call failed
static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(13, severity::LOW); static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(13, severity::LOW);
//! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off) //! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off)
//!P1: Position of upload or download packet for which no reply was sent //! P1: Position of upload or download packet for which no reply was sent
static const Event STR_HELPER_NO_REPLY = MAKE_EVENT(14, severity::LOW); static const Event STR_HELPER_NO_REPLY = MAKE_EVENT(14, severity::LOW);
//! [EXPORT] : [COMMENT] Error during decoding of received reply occurred //! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
//P1: Return value of decoding function // P1: Return value of decoding function
//P2: Position of upload/download packet, or address of flash write/read request // P2: Position of upload/download packet, or address of flash write/read request
static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(15, severity::LOW); static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(15, severity::LOW);
//! [EXPORT] : [COMMENT] Position mismatch //! [EXPORT] : [COMMENT] Position mismatch
//! P1: The expected position and thus the position for which the image upload/download failed //! P1: The expected position and thus the position for which the image upload/download failed
static const Event POSITION_MISMATCH = MAKE_EVENT(16, severity::LOW); static const Event POSITION_MISMATCH = MAKE_EVENT(16, severity::LOW);
//! [EXPORT] : [COMMENT] Specified file does not exist //! [EXPORT] : [COMMENT] Specified file does not exist
//!P1: Internal state of str helper //! P1: Internal state of str helper
static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(17, severity::LOW); static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(17, severity::LOW);
//! [EXPORT] : [COMMENT] Sending packet to star tracker failed //! [EXPORT] : [COMMENT] Sending packet to star tracker failed
//!P1: Return code of communication interface sendMessage function //! P1: Return code of communication interface sendMessage function
//!P2: Position of upload/download packet, or address of flash write/read request for which sending failed //! P2: Position of upload/download packet, or address of flash write/read request for which
//! sending failed
static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(18, severity::LOW); static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(18, severity::LOW);
//! [EXPORT] : [COMMENT] Communication interface requesting reply failed //! [EXPORT] : [COMMENT] Communication interface requesting reply failed
//!P1: Return code of failed request //! P1: Return code of failed request
//!P1: Upload/download position, or address of flash write/read request for which transmission failed //! P1: Upload/download position, or address of flash write/read request for which transmission
//! failed
static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(19, severity::LOW); static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(19, severity::LOW);
StrHelper(object_id_t objectId); StrHelper(object_id_t objectId);
@ -119,8 +121,7 @@ public:
* @param address Start address of flash section to read * @param address Start address of flash section to read
* @param length Number of bytes to read from flash * @param length Number of bytes to read from flash
*/ */
ReturnValue_t startFlashRead(std::string path, uint8_t region, uint32_t address, ReturnValue_t startFlashRead(std::string path, uint8_t region, uint32_t address, uint32_t length);
uint32_t length);
/** /**
* @brief Starts the download of the FPGA image * @brief Starts the download of the FPGA image
@ -159,8 +160,7 @@ public:
*/ */
void setDownloadFpgaImage(std::string filename); void setDownloadFpgaImage(std::string filename);
private: private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER; static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
//! [EXPORT] : [COMMENT] SD card specified in path string not mounted //! [EXPORT] : [COMMENT] SD card specified in path string not mounted

180
bsp_q7s/gpio/gpioCallbacks.cpp
View File

@ -1,18 +1,17 @@
#include "gpioCallbacks.h" #include "gpioCallbacks.h"
#include "busConf.h"
#include <devices/gpioIds.h> #include <devices/gpioIds.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/serviceinterface/ServiceInterface.h> #include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include "busConf.h"
namespace gpioCallbacks { namespace gpioCallbacks {
GpioIF* gpioComInterface; GpioIF* gpioComInterface;
void initSpiCsDecoder(GpioIF* gpioComIF) { void initSpiCsDecoder(GpioIF* gpioComIF) {
ReturnValue_t result; ReturnValue_t result;
if (gpioComIF == nullptr) { if (gpioComIF == nullptr) {
@ -38,15 +37,15 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
gpio::DIR_OUT, gpio::LOW); gpio::DIR_OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
// spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1", // spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1",
// gpio::OUT, gpio::LOW); // gpio::OUT, gpio::LOW);
// spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit); // spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
// /** Setting mux bit 2 to low disables IC1 on the TCS board */ // /** Setting mux bit 2 to low disables IC1 on the TCS board */
// spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 2", gpio::OUT, gpio::HIGH); // spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 2",
// spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit); // gpio::OUT, gpio::HIGH); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
// /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */ // /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board
// spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 3", gpio::OUT, gpio::LOW); // */ spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit
// spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit); // 3", gpio::OUT, gpio::LOW); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
/** The following gpios can take arbitrary initial values */ /** The following gpios can take arbitrary initial values */
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 4", spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 4",
@ -58,8 +57,8 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_6_PIN, "SPI Mux Bit 6", spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_6_PIN, "SPI Mux Bit 6",
gpio::DIR_OUT, gpio::LOW); gpio::DIR_OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit);
GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_CS, GpiodRegularByLineName* enRwDecoder =
"EN_RW_CS", gpio::DIR_OUT, gpio::HIGH); new GpiodRegularByLineName(q7s::gpioNames::EN_RW_CS, "EN_RW_CS", gpio::DIR_OUT, gpio::HIGH);
spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder); spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
result = gpioComInterface->addGpios(spiMuxGpios); result = gpioComInterface->addGpios(spiMuxGpios);
@ -71,7 +70,6 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value, void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
void* args) { void* args) {
if (gpioComInterface == nullptr) { if (gpioComInterface == nullptr) {
sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder " sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder "
<< "to specify gpioComIF" << std::endl; << "to specify gpioComIF" << std::endl;
@ -85,305 +83,304 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev
if (value == gpio::HIGH) { if (value == gpio::HIGH) {
switch (gpioId) { switch (gpioId) {
case(gpioIds::RTD_IC_3): { case (gpioIds::RTD_IC_3): {
disableDecoderTcsIc1(); disableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_4): { case (gpioIds::RTD_IC_4): {
disableDecoderTcsIc1(); disableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_5): { case (gpioIds::RTD_IC_5): {
disableDecoderTcsIc1(); disableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_6): { case (gpioIds::RTD_IC_6): {
disableDecoderTcsIc1(); disableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_7): { case (gpioIds::RTD_IC_7): {
disableDecoderTcsIc1(); disableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_8): { case (gpioIds::RTD_IC_8): {
disableDecoderTcsIc1(); disableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_9): { case (gpioIds::RTD_IC_9): {
disableDecoderTcsIc1(); disableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_10): { case (gpioIds::RTD_IC_10): {
disableDecoderTcsIc1(); disableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_11): { case (gpioIds::RTD_IC_11): {
disableDecoderTcsIc2(); disableDecoderTcsIc2();
break; break;
} }
case(gpioIds::RTD_IC_12): { case (gpioIds::RTD_IC_12): {
disableDecoderTcsIc2(); disableDecoderTcsIc2();
break; break;
} }
case(gpioIds::RTD_IC_13): { case (gpioIds::RTD_IC_13): {
disableDecoderTcsIc2(); disableDecoderTcsIc2();
break; break;
} }
case(gpioIds::RTD_IC_14): { case (gpioIds::RTD_IC_14): {
disableDecoderTcsIc2(); disableDecoderTcsIc2();
break; break;
} }
case(gpioIds::RTD_IC_15): { case (gpioIds::RTD_IC_15): {
disableDecoderTcsIc2(); disableDecoderTcsIc2();
break; break;
} }
case(gpioIds::RTD_IC_16): { case (gpioIds::RTD_IC_16): {
disableDecoderTcsIc2(); disableDecoderTcsIc2();
break; break;
} }
case(gpioIds::RTD_IC_17): { case (gpioIds::RTD_IC_17): {
disableDecoderTcsIc2(); disableDecoderTcsIc2();
break; break;
} }
case(gpioIds::RTD_IC_18): { case (gpioIds::RTD_IC_18): {
disableDecoderTcsIc2(); disableDecoderTcsIc2();
break; break;
} }
case(gpioIds::CS_SUS_1): { case (gpioIds::CS_SUS_1): {
disableDecoderInterfaceBoardIc1(); disableDecoderInterfaceBoardIc1();
break; break;
} }
case(gpioIds::CS_SUS_2): { case (gpioIds::CS_SUS_2): {
disableDecoderInterfaceBoardIc1(); disableDecoderInterfaceBoardIc1();
break; break;
} }
case(gpioIds::CS_SUS_3): { case (gpioIds::CS_SUS_3): {
disableDecoderInterfaceBoardIc2(); disableDecoderInterfaceBoardIc2();
break; break;
} }
case(gpioIds::CS_SUS_4): { case (gpioIds::CS_SUS_4): {
disableDecoderInterfaceBoardIc2(); disableDecoderInterfaceBoardIc2();
break; break;
} }
case(gpioIds::CS_SUS_5): { case (gpioIds::CS_SUS_5): {
disableDecoderInterfaceBoardIc2(); disableDecoderInterfaceBoardIc2();
break; break;
} }
case(gpioIds::CS_SUS_6): { case (gpioIds::CS_SUS_6): {
disableDecoderInterfaceBoardIc1(); disableDecoderInterfaceBoardIc1();
break; break;
} }
case(gpioIds::CS_SUS_7): { case (gpioIds::CS_SUS_7): {
disableDecoderInterfaceBoardIc1(); disableDecoderInterfaceBoardIc1();
break; break;
} }
case(gpioIds::CS_SUS_8): { case (gpioIds::CS_SUS_8): {
disableDecoderInterfaceBoardIc2(); disableDecoderInterfaceBoardIc2();
break; break;
} }
case(gpioIds::CS_SUS_9): { case (gpioIds::CS_SUS_9): {
disableDecoderInterfaceBoardIc1(); disableDecoderInterfaceBoardIc1();
break; break;
} }
case(gpioIds::CS_SUS_10): { case (gpioIds::CS_SUS_10): {
disableDecoderInterfaceBoardIc1(); disableDecoderInterfaceBoardIc1();
break; break;
} }
case(gpioIds::CS_SUS_11): { case (gpioIds::CS_SUS_11): {
disableDecoderInterfaceBoardIc2(); disableDecoderInterfaceBoardIc2();
break; break;
} }
case(gpioIds::CS_SUS_12): { case (gpioIds::CS_SUS_12): {
disableDecoderInterfaceBoardIc2(); disableDecoderInterfaceBoardIc2();
break; break;
} }
case(gpioIds::CS_SUS_13): { case (gpioIds::CS_SUS_13): {
disableDecoderInterfaceBoardIc1(); disableDecoderInterfaceBoardIc1();
break; break;
} }
case(gpioIds::CS_RW1): { case (gpioIds::CS_RW1): {
disableRwDecoder(); disableRwDecoder();
break; break;
} }
case(gpioIds::CS_RW2): { case (gpioIds::CS_RW2): {
disableRwDecoder(); disableRwDecoder();
break; break;
} }
case(gpioIds::CS_RW3): { case (gpioIds::CS_RW3): {
disableRwDecoder(); disableRwDecoder();
break; break;
} }
case(gpioIds::CS_RW4): { case (gpioIds::CS_RW4): {
disableRwDecoder(); disableRwDecoder();
break; break;
} }
default: default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl; sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
} }
} } else if (value == gpio::LOW) {
else if (value == gpio::LOW) {
switch (gpioId) { switch (gpioId) {
case(gpioIds::RTD_IC_3): { case (gpioIds::RTD_IC_3): {
selectY7(); selectY7();
enableDecoderTcsIc1(); enableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_4): { case (gpioIds::RTD_IC_4): {
selectY6(); selectY6();
enableDecoderTcsIc1(); enableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_5): { case (gpioIds::RTD_IC_5): {
selectY5(); selectY5();
enableDecoderTcsIc1(); enableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_6): { case (gpioIds::RTD_IC_6): {
selectY4(); selectY4();
enableDecoderTcsIc1(); enableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_7): { case (gpioIds::RTD_IC_7): {
selectY3(); selectY3();
enableDecoderTcsIc1(); enableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_8): { case (gpioIds::RTD_IC_8): {
selectY2(); selectY2();
enableDecoderTcsIc1(); enableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_9): { case (gpioIds::RTD_IC_9): {
selectY1(); selectY1();
enableDecoderTcsIc1(); enableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_10): { case (gpioIds::RTD_IC_10): {
selectY0(); selectY0();
enableDecoderTcsIc1(); enableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_11): { case (gpioIds::RTD_IC_11): {
selectY7(); selectY7();
enableDecoderTcsIc2(); enableDecoderTcsIc2();
break; break;
} }
case(gpioIds::RTD_IC_12): { case (gpioIds::RTD_IC_12): {
selectY6(); selectY6();
enableDecoderTcsIc2(); enableDecoderTcsIc2();
break; break;
} }
case(gpioIds::RTD_IC_13): { case (gpioIds::RTD_IC_13): {
selectY5(); selectY5();
enableDecoderTcsIc2(); enableDecoderTcsIc2();
break; break;
} }
case(gpioIds::RTD_IC_14): { case (gpioIds::RTD_IC_14): {
selectY4(); selectY4();
enableDecoderTcsIc2(); enableDecoderTcsIc2();
break; break;
} }
case(gpioIds::RTD_IC_15): { case (gpioIds::RTD_IC_15): {
selectY3(); selectY3();
enableDecoderTcsIc2(); enableDecoderTcsIc2();
break; break;
} }
case(gpioIds::RTD_IC_16): { case (gpioIds::RTD_IC_16): {
selectY2(); selectY2();
enableDecoderTcsIc2(); enableDecoderTcsIc2();
break; break;
} }
case(gpioIds::RTD_IC_17): { case (gpioIds::RTD_IC_17): {
selectY1(); selectY1();
enableDecoderTcsIc2(); enableDecoderTcsIc2();
break; break;
} }
case(gpioIds::RTD_IC_18): { case (gpioIds::RTD_IC_18): {
selectY0(); selectY0();
enableDecoderTcsIc2(); enableDecoderTcsIc2();
break; break;
} }
case(gpioIds::CS_SUS_1): { case (gpioIds::CS_SUS_1): {
selectY0(); selectY0();
enableDecoderInterfaceBoardIc1(); enableDecoderInterfaceBoardIc1();
break; break;
} }
case(gpioIds::CS_SUS_2): { case (gpioIds::CS_SUS_2): {
selectY1(); selectY1();
enableDecoderInterfaceBoardIc1(); enableDecoderInterfaceBoardIc1();
break; break;
} }
case(gpioIds::CS_SUS_3): { case (gpioIds::CS_SUS_3): {
selectY0(); selectY0();
enableDecoderInterfaceBoardIc2(); enableDecoderInterfaceBoardIc2();
break; break;
} }
case(gpioIds::CS_SUS_4): { case (gpioIds::CS_SUS_4): {
selectY1(); selectY1();
enableDecoderInterfaceBoardIc2(); enableDecoderInterfaceBoardIc2();
break; break;
} }
case(gpioIds::CS_SUS_5): { case (gpioIds::CS_SUS_5): {
selectY2(); selectY2();
enableDecoderInterfaceBoardIc2(); enableDecoderInterfaceBoardIc2();
break; break;
} }
case(gpioIds::CS_SUS_6): { case (gpioIds::CS_SUS_6): {
selectY2(); selectY2();
enableDecoderInterfaceBoardIc1(); enableDecoderInterfaceBoardIc1();
break; break;
} }
case(gpioIds::CS_SUS_7): { case (gpioIds::CS_SUS_7): {
selectY3(); selectY3();
enableDecoderInterfaceBoardIc1(); enableDecoderInterfaceBoardIc1();
break; break;
} }
case(gpioIds::CS_SUS_8): { case (gpioIds::CS_SUS_8): {
selectY3(); selectY3();
enableDecoderInterfaceBoardIc2(); enableDecoderInterfaceBoardIc2();
break; break;
} }
case(gpioIds::CS_SUS_9): { case (gpioIds::CS_SUS_9): {
selectY4(); selectY4();
enableDecoderInterfaceBoardIc1(); enableDecoderInterfaceBoardIc1();
break; break;
} }
case(gpioIds::CS_SUS_10): { case (gpioIds::CS_SUS_10): {
selectY5(); selectY5();
enableDecoderInterfaceBoardIc1(); enableDecoderInterfaceBoardIc1();
break; break;
} }
case(gpioIds::CS_SUS_11): { case (gpioIds::CS_SUS_11): {
selectY4(); selectY4();
enableDecoderInterfaceBoardIc2(); enableDecoderInterfaceBoardIc2();
break; break;
} }
case(gpioIds::CS_SUS_12): { case (gpioIds::CS_SUS_12): {
selectY5(); selectY5();
enableDecoderInterfaceBoardIc2(); enableDecoderInterfaceBoardIc2();
break; break;
} }
case(gpioIds::CS_SUS_13): { case (gpioIds::CS_SUS_13): {
selectY6(); selectY6();
enableDecoderInterfaceBoardIc1(); enableDecoderInterfaceBoardIc1();
break; break;
} }
case(gpioIds::CS_RW1): { case (gpioIds::CS_RW1): {
selectY0(); selectY0();
enableRwDecoder(); enableRwDecoder();
break; break;
} }
case(gpioIds::CS_RW2): { case (gpioIds::CS_RW2): {
selectY1(); selectY1();
enableRwDecoder(); enableRwDecoder();
break; break;
} }
case(gpioIds::CS_RW3): { case (gpioIds::CS_RW3): {
selectY2(); selectY2();
enableRwDecoder(); enableRwDecoder();
break; break;
} }
case(gpioIds::CS_RW4): { case (gpioIds::CS_RW4): {
selectY3(); selectY3();
enableRwDecoder(); enableRwDecoder();
break; break;
@ -391,8 +388,7 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev
default: default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl; sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
} }
} } else {
else {
sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl; sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl;
} }
} }
@ -446,13 +442,9 @@ void disableDecoderInterfaceBoardIc2() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
} }
void enableRwDecoder() { void enableRwDecoder() { gpioComInterface->pullHigh(gpioIds::EN_RW_CS); }
gpioComInterface->pullHigh(gpioIds::EN_RW_CS);
}
void disableRwDecoder() { void disableRwDecoder() { gpioComInterface->pullLow(gpioIds::EN_RW_CS); }
gpioComInterface->pullLow(gpioIds::EN_RW_CS);
}
void selectY0() { void selectY0() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
@ -509,4 +501,4 @@ void disableAllDecoder() {
gpioComInterface->pullLow(gpioIds::EN_RW_CS); gpioComInterface->pullLow(gpioIds::EN_RW_CS);
} }
} } // namespace gpioCallbacks

67
bsp_q7s/gpio/gpioCallbacks.h
View File

@ -1,74 +1,73 @@
#ifndef LINUX_GPIO_GPIOCALLBACKS_H_ #ifndef LINUX_GPIO_GPIOCALLBACKS_H_
#define LINUX_GPIO_GPIOCALLBACKS_H_ #define LINUX_GPIO_GPIOCALLBACKS_H_
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/common/gpio/GpioIF.h> #include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
namespace gpioCallbacks { namespace gpioCallbacks {
/** /**
* @brief This function initializes the GPIOs used to control the SN74LVC138APWR decoders on * @brief This function initializes the GPIOs used to control the SN74LVC138APWR decoders on
* the TCS Board and the interface board. * the TCS Board and the interface board.
*/ */
void initSpiCsDecoder(GpioIF* gpioComIF); void initSpiCsDecoder(GpioIF* gpioComIF);
/** /**
* @brief This function implements the decoding to multiply gpios by using the decoder * @brief This function implements the decoding to multiply gpios by using the decoder
* chips SN74LVC138APWR on the TCS board and the interface board. * chips SN74LVC138APWR on the TCS board and the interface board.
*/ */
void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
gpio::Levels value, void* args); void* args);
/** /**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder * @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the TCS board which is named to IC1 in the schematic. * on the TCS board which is named to IC1 in the schematic.
*/ */
void enableDecoderTcsIc1(); void enableDecoderTcsIc1();
/** /**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder * @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the TCS board which is named to IC2 in the schematic. * on the TCS board which is named to IC2 in the schematic.
*/ */
void enableDecoderTcsIc2(); void enableDecoderTcsIc2();
/** /**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder * @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the inteface board board which is named to IC21 in the schematic. * on the inteface board board which is named to IC21 in the schematic.
*/ */
void enableDecoderInterfaceBoardIc1(); void enableDecoderInterfaceBoardIc1();
/** /**
* @brief This function sets mux bits 1-3 to a state which will only enable the decoder * @brief This function sets mux bits 1-3 to a state which will only enable the decoder
* on the inteface board board which is named to IC22 in the schematic. * on the inteface board board which is named to IC22 in the schematic.
*/ */
void enableDecoderInterfaceBoardIc2(); void enableDecoderInterfaceBoardIc2();
void disableDecoderTcsIc1(); void disableDecoderTcsIc1();
void disableDecoderTcsIc2(); void disableDecoderTcsIc2();
void disableDecoderInterfaceBoardIc1(); void disableDecoderInterfaceBoardIc1();
void disableDecoderInterfaceBoardIc2(); void disableDecoderInterfaceBoardIc2();
/** /**
* @brief Enables the reaction wheel chip select decoder (IC3). * @brief Enables the reaction wheel chip select decoder (IC3).
*/ */
void enableRwDecoder(); void enableRwDecoder();
void disableRwDecoder(); void disableRwDecoder();
/** /**
* @brief This function disables all decoder. * @brief This function disables all decoder.
*/ */
void disableAllDecoder(); void disableAllDecoder();
/** The following functions enable the appropriate channel of the currently enabled decoder */ /** The following functions enable the appropriate channel of the currently enabled decoder */
void selectY0(); void selectY0();
void selectY1(); void selectY1();
void selectY2(); void selectY2();
void selectY3(); void selectY3();
void selectY4(); void selectY4();
void selectY5(); void selectY5();
void selectY6(); void selectY6();
void selectY7(); void selectY7();
} } // namespace gpioCallbacks
#endif /* LINUX_GPIO_GPIOCALLBACKS_H_ */ #endif /* LINUX_GPIO_GPIOCALLBACKS_H_ */

3
bsp_q7s/main.cpp
View File

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

170
bsp_q7s/memory/FileSystemHandler.cpp
View File

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

50
bsp_q7s/memory/FileSystemHandler.h
View File

@ -1,31 +1,28 @@
#ifndef BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_ #ifndef BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
#define BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_ #define BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
#include "SdCardManager.h"
#include "OBSWConfig.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/memory/HasFileSystemIF.h"
#include <string>
#include <filesystem> #include <filesystem>
#include <string>
#include "OBSWConfig.h"
#include "SdCardManager.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/memory/HasFileSystemIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
class CoreController; class CoreController;
class FileSystemHandler: public SystemObject, class FileSystemHandler : public SystemObject, public ExecutableObjectIF, public HasFileSystemIF {
public ExecutableObjectIF, public:
public HasFileSystemIF { struct FsCommandCfg : public FileSystemArgsIF {
public:
struct FsCommandCfg: public FileSystemArgsIF {
// Can be used to automatically use mount prefix of active SD card. // Can be used to automatically use mount prefix of active SD card.
// Otherwise, the operator has to specify the full path to the mounted SD card as well. // Otherwise, the operator has to specify the full path to the mounted SD card as well.
bool useMountPrefix = false; bool useMountPrefix = false;
}; };
FileSystemHandler(object_id_t fileSystemHandler); FileSystemHandler(object_id_t fileSystemHandler);
virtual~ FileSystemHandler(); virtual ~FileSystemHandler();
ReturnValue_t performOperation(uint8_t) override; ReturnValue_t performOperation(uint8_t) override;
@ -36,22 +33,23 @@ public:
* @return MessageQueueId_t of the object * @return MessageQueueId_t of the object
*/ */
MessageQueueId_t getCommandQueue() const override; MessageQueueId_t getCommandQueue() const override;
ReturnValue_t appendToFile(const char* repositoryPath, ReturnValue_t appendToFile(const char* repositoryPath, const char* filename, const uint8_t* data,
const char* filename, const uint8_t* data, size_t size, size_t size, uint16_t packetNumber,
uint16_t packetNumber, FileSystemArgsIF* args = nullptr) override; FileSystemArgsIF* args = nullptr) override;
ReturnValue_t createFile(const char* repositoryPath, ReturnValue_t createFile(const char* repositoryPath, const char* filename,
const char* filename, const uint8_t* data = nullptr, const uint8_t* data = nullptr, size_t size = 0,
size_t size = 0, FileSystemArgsIF* args = nullptr) override; FileSystemArgsIF* args = nullptr) override;
ReturnValue_t removeFile(const char* repositoryPath, ReturnValue_t removeFile(const char* repositoryPath, const char* filename,
const char* filename, FileSystemArgsIF* args = nullptr) override; FileSystemArgsIF* args = nullptr) override;
ReturnValue_t createDirectory(const char* repositoryPath, const char* dirname, ReturnValue_t createDirectory(const char* repositoryPath, const char* dirname,
bool createParentDirs, FileSystemArgsIF* args = nullptr) override; bool createParentDirs, FileSystemArgsIF* args = nullptr) override;
ReturnValue_t removeDirectory(const char* repositoryPath, const char* dirname, ReturnValue_t removeDirectory(const char* repositoryPath, const char* dirname,
bool deleteRecurively = false, FileSystemArgsIF* args = nullptr) override; bool deleteRecurively = false,
FileSystemArgsIF* args = nullptr) override;
ReturnValue_t renameFile(const char* repositoryPath, const char* oldFilename, ReturnValue_t renameFile(const char* repositoryPath, const char* oldFilename,
const char* newFilename, FileSystemArgsIF* args = nullptr) override; const char* newFilename, FileSystemArgsIF* args = nullptr) override;
private: private:
CoreController* coreCtrl = nullptr; CoreController* coreCtrl = nullptr;
MessageQueueIF* mq = nullptr; MessageQueueIF* mq = nullptr;
std::string currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT; std::string currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
@ -66,6 +64,4 @@ private:
void parseCfg(FsCommandCfg* cfg, bool& useMountPrefix); void parseCfg(FsCommandCfg* cfg, bool& useMountPrefix);
}; };
#endif /* BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_ */ #endif /* BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_ */

247
bsp_q7s/memory/SdCardManager.cpp
View File

@ -1,28 +1,25 @@
#include "SdCardManager.h" #include "SdCardManager.h"
#include "scratchApi.h"
#include "linux/utility/utility.h"
#include "fsfw/ipc/MutexFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <unistd.h> #include <unistd.h>
#include <cstring>
#include <filesystem>
#include <fstream> #include <fstream>
#include <memory> #include <memory>
#include <filesystem>
#include <cstring> #include "fsfw/ipc/MutexFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "linux/utility/utility.h"
#include "scratchApi.h"
SdCardManager* SdCardManager::factoryInstance = nullptr; SdCardManager* SdCardManager::factoryInstance = nullptr;
SdCardManager::SdCardManager(): cmdExecutor(256) { SdCardManager::SdCardManager() : cmdExecutor(256) {}
}
SdCardManager::~SdCardManager() { SdCardManager::~SdCardManager() {}
}
void SdCardManager::create() { void SdCardManager::create() {
if(factoryInstance == nullptr) { if (factoryInstance == nullptr) {
factoryInstance = new SdCardManager(); factoryInstance = new SdCardManager();
} }
} }
@ -35,62 +32,57 @@ SdCardManager* SdCardManager::instance() {
ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard, ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
SdStatePair* statusPair) { SdStatePair* statusPair) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(doMountSdCard) { if (doMountSdCard) {
if(not blocking) { if (not blocking) {
sif::warning << "SdCardManager::switchOnSdCard: Two-step command but manager is" sif::warning << "SdCardManager::switchOnSdCard: Two-step command but manager is"
" not configured for blocking operation. " " not configured for blocking operation. "
"Forcing blocking mode.." << std::endl; "Forcing blocking mode.."
<< std::endl;
blocking = true; blocking = true;
} }
} }
std::unique_ptr<SdStatePair> sdStatusPtr; std::unique_ptr<SdStatePair> sdStatusPtr;
if(statusPair == nullptr) { if (statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>(); sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get(); statusPair = sdStatusPtr.get();
result = getSdCardActiveStatus(*statusPair); result = getSdCardActiveStatus(*statusPair);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
} }
// Not allowed, this function turns on one SD card // Not allowed, this function turns on one SD card
if(sdCard == sd::SdCard::BOTH) { if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH" sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl; << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
sd::SdState currentState; sd::SdState currentState;
if(sdCard == sd::SdCard::SLOT_0) { if (sdCard == sd::SdCard::SLOT_0) {
currentState = statusPair->first; currentState = statusPair->first;
} } else if (sdCard == sd::SdCard::SLOT_1) {
else if(sdCard == sd::SdCard::SLOT_1) {
currentState = statusPair->second; currentState = statusPair->second;
} } else {
else {
// Should not happen // Should not happen
currentState = sd::SdState::OFF; currentState = sd::SdState::OFF;
} }
if(currentState == sd::SdState::ON) { if (currentState == sd::SdState::ON) {
if(not doMountSdCard) { if (not doMountSdCard) {
return ALREADY_ON; return ALREADY_ON;
} } else {
else {
return mountSdCard(sdCard); return mountSdCard(sdCard);
} }
} } else if (currentState == sd::SdState::MOUNTED) {
else if(currentState == sd::SdState::MOUNTED) {
result = ALREADY_MOUNTED; result = ALREADY_MOUNTED;
} } else if (currentState == sd::SdState::OFF) {
else if(currentState == sd::SdState::OFF) {
result = setSdCardState(sdCard, true); result = setSdCardState(sdCard, true);
} } else {
else {
result = HasReturnvaluesIF::RETURN_FAILED; result = HasReturnvaluesIF::RETURN_FAILED;
} }
if(result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) { if (result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) {
return result; return result;
} }
@ -101,36 +93,36 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
SdStatePair* statusPair) { SdStatePair* statusPair) {
std::pair<sd::SdState, sd::SdState> active; std::pair<sd::SdState, sd::SdState> active;
ReturnValue_t result = getSdCardActiveStatus(active); ReturnValue_t result = getSdCardActiveStatus(active);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
if(doUnmountSdCard) { if (doUnmountSdCard) {
if(not blocking) { if (not blocking) {
sif::warning << "SdCardManager::switchOffSdCard: Two-step command but manager is" sif::warning << "SdCardManager::switchOffSdCard: Two-step command but manager is"
" not configured for blocking operation. Forcing blocking mode.." << std::endl; " not configured for blocking operation. Forcing blocking mode.."
<< std::endl;
blocking = true; blocking = true;
} }
} }
// Not allowed, this function turns off one SD card // Not allowed, this function turns off one SD card
if(sdCard == sd::SdCard::BOTH) { if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH" sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl; << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
if(sdCard == sd::SdCard::SLOT_0) { if (sdCard == sd::SdCard::SLOT_0) {
if(active.first == sd::SdState::OFF) { if (active.first == sd::SdState::OFF) {
return ALREADY_OFF; return ALREADY_OFF;
} }
} } else if (sdCard == sd::SdCard::SLOT_1) {
else if(sdCard == sd::SdCard::SLOT_1) { if (active.second == sd::SdState::OFF) {
if(active.second == sd::SdState::OFF) {
return ALREADY_OFF; return ALREADY_OFF;
} }
} }
if(doUnmountSdCard) { if (doUnmountSdCard) {
result = unmountSdCard(sdCard); result = unmountSdCard(sdCard);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
} }
@ -140,22 +132,20 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) { ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
using namespace std; using namespace std;
if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) { if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING; return CommandExecutor::COMMAND_PENDING;
} }
string sdstring = ""; string sdstring = "";
string statestring = ""; string statestring = "";
if(sdCard == sd::SdCard::SLOT_0) { if (sdCard == sd::SdCard::SLOT_0) {
sdstring = "0"; sdstring = "0";
} } else if (sdCard == sd::SdCard::SLOT_1) {
else if(sdCard == sd::SdCard::SLOT_1) {
sdstring = "1"; sdstring = "1";
} }
if(on) { if (on) {
currentOp = Operations::SWITCHING_ON; currentOp = Operations::SWITCHING_ON;
statestring = "on"; statestring = "on";
} } else {
else {
currentOp = Operations::SWITCHING_OFF; currentOp = Operations::SWITCHING_OFF;
statestring = "off"; statestring = "off";
} }
@ -163,7 +153,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
command << "q7hw sd set " << sdstring << " " << statestring; command << "q7hw sd set " << sdstring << " " << statestring;
cmdExecutor.load(command.str(), blocking, printCmdOutput); cmdExecutor.load(command.str(), blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute(); ReturnValue_t result = cmdExecutor.execute();
if(blocking and result != HasReturnvaluesIF::RETURN_OK) { if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState"); utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState");
} }
return result; return result;
@ -171,7 +161,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) { ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) {
using namespace std; using namespace std;
if(not filesystem::exists(SD_STATE_FILE)) { if (not filesystem::exists(SD_STATE_FILE)) {
return STATUS_FILE_NEXISTS; return STATUS_FILE_NEXISTS;
} }
@ -192,76 +182,75 @@ ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) {
ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) { ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
using namespace std; using namespace std;
if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) { if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING; return CommandExecutor::COMMAND_PENDING;
} }
if(sdCard == sd::SdCard::BOTH) { if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::mountSdCard: API does not allow sd::SdStatus::BOTH" sif::warning << "SdCardManager::mountSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl; << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
string mountDev; string mountDev;
string mountPoint; string mountPoint;
if(sdCard == sd::SdCard::SLOT_0) { if (sdCard == sd::SdCard::SLOT_0) {
mountDev = SD_0_DEV_NAME; mountDev = SD_0_DEV_NAME;
mountPoint = SD_0_MOUNT_POINT; mountPoint = SD_0_MOUNT_POINT;
} } else if (sdCard == sd::SdCard::SLOT_1) {
else if(sdCard == sd::SdCard::SLOT_1) {
mountDev = SD_1_DEV_NAME; mountDev = SD_1_DEV_NAME;
mountPoint = SD_1_MOUNT_POINT; mountPoint = SD_1_MOUNT_POINT;
} }
if(not filesystem::exists(mountDev)) { if (not filesystem::exists(mountDev)) {
sif::warning << "SdCardManager::mountSdCard: Device file does not exists. Make sure to" sif::warning << "SdCardManager::mountSdCard: Device file does not exists. Make sure to"
" turn on the SD card" << std::endl; " turn on the SD card"
<< std::endl;
return MOUNT_ERROR; return MOUNT_ERROR;
} }
if(not blocking) { if (not blocking) {
currentOp = Operations::MOUNTING; currentOp = Operations::MOUNTING;
} }
string sdMountCommand = "mount " + mountDev + " " + mountPoint; string sdMountCommand = "mount " + mountDev + " " + mountPoint;
cmdExecutor.load(sdMountCommand, blocking, printCmdOutput); cmdExecutor.load(sdMountCommand, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute(); ReturnValue_t result = cmdExecutor.execute();
if(blocking and result != HasReturnvaluesIF::RETURN_OK) { if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard"); utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
} }
return result; return result;
} }
ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) { ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) { if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING; return CommandExecutor::COMMAND_PENDING;
} }
using namespace std; using namespace std;
if(sdCard == sd::SdCard::BOTH) { if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::unmountSdCard: API does not allow sd::SdStatus::BOTH" sif::warning << "SdCardManager::unmountSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl; << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
string mountPoint; string mountPoint;
if(sdCard == sd::SdCard::SLOT_0) { if (sdCard == sd::SdCard::SLOT_0) {
mountPoint = SD_0_MOUNT_POINT; mountPoint = SD_0_MOUNT_POINT;
} } else if (sdCard == sd::SdCard::SLOT_1) {
else if(sdCard == sd::SdCard::SLOT_1) {
mountPoint = SD_1_MOUNT_POINT; mountPoint = SD_1_MOUNT_POINT;
} }
if(not filesystem::exists(mountPoint)) { if (not filesystem::exists(mountPoint)) {
sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint << sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint
"does not exist" << std::endl; << "does not exist" << std::endl;
return UNMOUNT_ERROR; return UNMOUNT_ERROR;
} }
if(filesystem::is_empty(mountPoint)) { if (filesystem::is_empty(mountPoint)) {
// The mount point will always exist, but if it is empty, that is strong hint that // The mount point will always exist, but if it is empty, that is strong hint that
// the SD card was not mounted properly. Still proceed with operation. // the SD card was not mounted properly. Still proceed with operation.
sif::warning << "SdCardManager::unmountSdCard: Mount point is empty!" << std::endl; sif::warning << "SdCardManager::unmountSdCard: Mount point is empty!" << std::endl;
} }
string sdUnmountCommand = "umount " + mountPoint; string sdUnmountCommand = "umount " + mountPoint;
if(not blocking) { if (not blocking) {
currentOp = Operations::UNMOUNTING; currentOp = Operations::UNMOUNTING;
} }
cmdExecutor.load(sdUnmountCommand, blocking, printCmdOutput); cmdExecutor.load(sdUnmountCommand, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute(); ReturnValue_t result = cmdExecutor.execute();
if(blocking and result != HasReturnvaluesIF::RETURN_OK) { if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::unmountSdCard"); utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::unmountSdCard");
} }
return result; return result;
@ -272,26 +261,27 @@ ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard p
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// Enforce blocking operation for now. Be careful to reset it when returning prematurely! // Enforce blocking operation for now. Be careful to reset it when returning prematurely!
bool resetNonBlockingState = false; bool resetNonBlockingState = false;
if(not this->blocking) { if (not this->blocking) {
blocking = true; blocking = true;
resetNonBlockingState = true; resetNonBlockingState = true;
} }
if(prefSdCard == sd::SdCard::NONE) { if (prefSdCard == sd::SdCard::NONE) {
result = getPreferredSdCard(prefSdCard); result = getPreferredSdCard(prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {} if (result != HasReturnvaluesIF::RETURN_OK) {
} }
if(statusPair == nullptr) { }
if (statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>(); sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get(); statusPair = sdStatusPtr.get();
getSdCardActiveStatus(*statusPair); getSdCardActiveStatus(*statusPair);
} }
if(statusPair->first == sd::SdState::ON) { if (statusPair->first == sd::SdState::ON) {
result = mountSdCard(prefSdCard); result = mountSdCard(prefSdCard);
} }
result = switchOnSdCard(prefSdCard, true, statusPair); result = switchOnSdCard(prefSdCard, true, statusPair);
if(resetNonBlockingState) { if (resetNonBlockingState) {
blocking = false; blocking = false;
} }
return result; return result;
@ -302,56 +292,53 @@ void SdCardManager::resetState() {
currentOp = Operations::IDLE; currentOp = Operations::IDLE;
} }
void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState> &active, void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& active,
std::string& line, uint8_t& idx, sd::SdCard& currentSd) { std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
using namespace std; using namespace std;
istringstream iss(line); istringstream iss(line);
string word; string word;
bool slotLine = false; bool slotLine = false;
bool mountLine = false; bool mountLine = false;
while(iss >> word) { while (iss >> word) {
if (word == "Slot") { if (word == "Slot") {
slotLine = true; slotLine = true;
} }
if(word == "Mounted") { if (word == "Mounted") {
mountLine = true; mountLine = true;
} }
if(slotLine) { if (slotLine) {
if (word == "1:") { if (word == "1:") {
currentSd = sd::SdCard::SLOT_1; currentSd = sd::SdCard::SLOT_1;
} }
if(word == "on") { if (word == "on") {
if(currentSd == sd::SdCard::SLOT_0) { if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::ON; active.first = sd::SdState::ON;
} } else {
else {
active.second = sd::SdState::ON; active.second = sd::SdState::ON;
} }
} } else if (word == "off") {
else if (word == "off") { if (currentSd == sd::SdCard::SLOT_0) {
if(currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::OFF; active.first = sd::SdState::OFF;
} } else {
else {
active.second = sd::SdState::OFF; active.second = sd::SdState::OFF;
} }
} }
} }
if(mountLine) { if (mountLine) {
if(currentSd == sd::SdCard::SLOT_0) { if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::MOUNTED; active.first = sd::SdState::MOUNTED;
} } else {
else {
active.second = sd::SdState::MOUNTED; active.second = sd::SdState::MOUNTED;
} }
} }
if(idx > 5) { if (idx > 5) {
sif::warning << "SdCardManager::sdCardActive: /tmp/sd_status.txt has more than 6 " sif::warning << "SdCardManager::sdCardActive: /tmp/sd_status.txt has more than 6 "
"lines and might be invalid!" << std::endl; "lines and might be invalid!"
<< std::endl;
} }
} }
idx++; idx++;
@ -360,7 +347,7 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState> &act
ReturnValue_t SdCardManager::getPreferredSdCard(sd::SdCard& sdCard) const { ReturnValue_t SdCardManager::getPreferredSdCard(sd::SdCard& sdCard) const {
uint8_t prefSdCard = 0; uint8_t prefSdCard = 0;
ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdCard); ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
sdCard = static_cast<sd::SdCard>(prefSdCard); sdCard = static_cast<sd::SdCard>(prefSdCard);
@ -368,44 +355,43 @@ ReturnValue_t SdCardManager::getPreferredSdCard(sd::SdCard& sdCard) const {
} }
ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) { ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
if(sdCard == sd::SdCard::BOTH) { if (sdCard == sd::SdCard::BOTH) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard)); return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard));
} }
ReturnValue_t SdCardManager::updateSdCardStateFile() { ReturnValue_t SdCardManager::updateSdCardStateFile() {
if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) { if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING; return CommandExecutor::COMMAND_PENDING;
} }
// Use q7hw utility and pipe the command output into the state file // Use q7hw utility and pipe the command output into the state file
std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE); std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
cmdExecutor.load(updateCmd, blocking, printCmdOutput); cmdExecutor.load(updateCmd, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute(); ReturnValue_t result = cmdExecutor.execute();
if(blocking and result != HasReturnvaluesIF::RETURN_OK) { if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard"); utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
} }
return result; return result;
} }
std::string SdCardManager::getCurrentMountPrefix(sd::SdCard prefSdCard) { std::string SdCardManager::getCurrentMountPrefix(sd::SdCard prefSdCard) {
if(prefSdCard == sd::SdCard::NONE) { if (prefSdCard == sd::SdCard::NONE) {
ReturnValue_t result = getPreferredSdCard(prefSdCard); ReturnValue_t result = getPreferredSdCard(prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return SD_0_MOUNT_POINT; return SD_0_MOUNT_POINT;
} }
} }
if(prefSdCard == sd::SdCard::SLOT_0) { if (prefSdCard == sd::SdCard::SLOT_0) {
return SD_0_MOUNT_POINT; return SD_0_MOUNT_POINT;
} } else {
else {
return SD_1_MOUNT_POINT; return SD_1_MOUNT_POINT;
} }
} }
SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations &currentOp) { SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
CommandExecutor::States state = cmdExecutor.getCurrentState(); CommandExecutor::States state = cmdExecutor.getCurrentState();
if(state == CommandExecutor::States::IDLE or state == CommandExecutor::States::COMMAND_LOADED) { if (state == CommandExecutor::States::IDLE or state == CommandExecutor::States::COMMAND_LOADED) {
return OpStatus::IDLE; return OpStatus::IDLE;
} }
currentOp = this->currentOp; currentOp = this->currentOp;
@ -416,27 +402,27 @@ SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations &currentOp) {
timer.setTimer(100); timer.setTimer(100);
uint32_t remainingTimeMs = 0; uint32_t remainingTimeMs = 0;
#endif #endif
while(true) { while (true) {
ReturnValue_t result = cmdExecutor.check(bytesRead); ReturnValue_t result = cmdExecutor.check(bytesRead);
// This timer can prevent deadlocks due to missconfigurations // This timer can prevent deadlocks due to missconfigurations
#if OBSW_ENABLE_TIMERS == 1 #if OBSW_ENABLE_TIMERS == 1
timer.getTimer(&remainingTimeMs); timer.getTimer(&remainingTimeMs);
if(remainingTimeMs == 0) { if (remainingTimeMs == 0) {
sif::error << "SdCardManager::checkCurrentOp: Timeout!" << std::endl; sif::error << "SdCardManager::checkCurrentOp: Timeout!" << std::endl;
return OpStatus::FAIL; return OpStatus::FAIL;
} }
#endif #endif
switch(result) { switch (result) {
case(CommandExecutor::BYTES_READ): { case (CommandExecutor::BYTES_READ): {
continue; continue;
} }
case(CommandExecutor::EXECUTION_FINISHED): { case (CommandExecutor::EXECUTION_FINISHED): {
return OpStatus::SUCCESS; return OpStatus::SUCCESS;
} }
case(HasReturnvaluesIF::RETURN_OK): { case (HasReturnvaluesIF::RETURN_OK): {
return OpStatus::ONGOING; return OpStatus::ONGOING;
} }
case(HasReturnvaluesIF::RETURN_FAILED): { case (HasReturnvaluesIF::RETURN_FAILED): {
return OpStatus::FAIL; return OpStatus::FAIL;
} }
default: { default: {
@ -446,14 +432,9 @@ SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations &currentOp) {
} }
} }
void SdCardManager::setBlocking(bool blocking) { void SdCardManager::setBlocking(bool blocking) { this->blocking = blocking; }
this->blocking = blocking;
}
void SdCardManager::setPrintCommandOutput(bool print) { void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = print; }
this->printCmdOutput = print;
}
bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) { bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
SdCardManager::SdStatePair active; SdCardManager::SdStatePair active;
@ -465,23 +446,17 @@ bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
if (sdCard == sd::SLOT_0) { if (sdCard == sd::SLOT_0) {
if (active.first == sd::MOUNTED) { if (active.first == sd::MOUNTED) {
return true; return true;
} } else {
else {
return false; return false;
} }
} } else if (sdCard == sd::SLOT_1) {
else if (sdCard == sd::SLOT_1) {
if (active.second == sd::MOUNTED) { if (active.second == sd::MOUNTED) {
return true; return true;
} } else {
else {
return false; return false;
} }
} } else {
else {
sif::debug << "SdCardManager::isSdCardMounted: Unknown SD card specified" << std::endl; sif::debug << "SdCardManager::isSdCardMounted: Unknown SD card specified" << std::endl;
} }
return false; return false;
} }

57
bsp_q7s/memory/SdCardManager.h
View File

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

13
bsp_q7s/memory/definitions.h
View File

@ -5,22 +5,15 @@
namespace sd { namespace sd {
enum SdState: uint8_t { enum SdState : uint8_t {
OFF = 0, OFF = 0,
ON = 1, ON = 1,
// A mounted SD card is on as well // A mounted SD card is on as well
MOUNTED = 2 MOUNTED = 2
}; };
enum SdCard: uint8_t { enum SdCard : uint8_t { SLOT_0 = 0, SLOT_1 = 1, BOTH, NONE };
SLOT_0 = 0,
SLOT_1 = 1,
BOTH,
NONE
};
}
} // namespace sd
#endif /* BSP_Q7S_MEMORY_DEFINITIONS_H_ */ #endif /* BSP_Q7S_MEMORY_DEFINITIONS_H_ */

11
bsp_q7s/memory/scratchApi.cpp
View File

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

42
bsp_q7s/memory/scratchApi.h
View File

@ -1,17 +1,17 @@
#ifndef BSP_Q7S_MEMORY_SCRATCHAPI_H_ #ifndef BSP_Q7S_MEMORY_SCRATCHAPI_H_
#define BSP_Q7S_MEMORY_SCRATCHAPI_H_ #define BSP_Q7S_MEMORY_SCRATCHAPI_H_
#include <cstdlib>
#include <fstream>
#include <iostream>
#include <sstream>
#include <type_traits>
#include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
#include "linux/utility/utility.h" #include "linux/utility/utility.h"
#include "returnvalues/classIds.h" #include "returnvalues/classIds.h"
#include <iostream>
#include <fstream>
#include <sstream>
#include <type_traits>
#include <cstdlib>
/** /**
* @brief API for the scratch buffer * @brief API for the scratch buffer
*/ */
@ -48,7 +48,7 @@ ReturnValue_t readString(std::string key, std::string& string);
* @param num Number. Template allows to set signed, unsigned and floating point numbers * @param num Number. Template allows to set signed, unsigned and floating point numbers
* @return * @return
*/ */
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type> template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t writeNumber(std::string key, T num) noexcept; inline ReturnValue_t writeNumber(std::string key, T num) noexcept;
/** /**
@ -59,10 +59,9 @@ inline ReturnValue_t writeNumber(std::string key, T num) noexcept;
* @param num * @param num
* @return * @return
*/ */
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type> template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t readNumber(std::string key, T& num) noexcept; inline ReturnValue_t readNumber(std::string key, T& num) noexcept;
// Anonymous namespace // Anonymous namespace
namespace { namespace {
@ -75,14 +74,13 @@ ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& fil
oss << "xsc_scratch read " << name << " > " << filename; oss << "xsc_scratch read " << name << " > " << filename;
int result = std::system(oss.str().c_str()); int result = std::system(oss.str().c_str());
if(result != 0) { if (result != 0) {
if(result == 256) { if (result == 256) {
sif::warning << "scratch::readNumber: Key " << name << " does not exist" << std::endl; sif::warning << "scratch::readNumber: Key " << name << " does not exist" << std::endl;
// Could not find value // Could not find value
std::remove(filename.c_str()); std::remove(filename.c_str());
return KEY_NOT_FOUND; return KEY_NOT_FOUND;
} } else {
else {
utility::handleSystemError(result, "scratch::readNumber"); utility::handleSystemError(result, "scratch::readNumber");
std::remove(filename.c_str()); std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
@ -94,25 +92,25 @@ ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& fil
} // End of anonymous namespace } // End of anonymous namespace
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type> template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t writeNumber(std::string key, T num) noexcept { inline ReturnValue_t writeNumber(std::string key, T num) noexcept {
std::ostringstream oss; std::ostringstream oss;
oss << "xsc_scratch write " << key << " " << std::to_string(num); oss << "xsc_scratch write " << key << " " << std::to_string(num);
int result = std::system(oss.str().c_str()); int result = std::system(oss.str().c_str());
if(result != 0) { if (result != 0) {
utility::handleSystemError(result, "scratch::writeNumber"); utility::handleSystemError(result, "scratch::writeNumber");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type> template <typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
inline ReturnValue_t readNumber(std::string key, T& num) noexcept { inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
using namespace std; using namespace std;
ifstream file; ifstream file;
std::string filename; std::string filename;
ReturnValue_t result = readToFile(key, file, filename); ReturnValue_t result = readToFile(key, file, filename);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
std::remove(filename.c_str()); std::remove(filename.c_str());
return result; return result;
} }
@ -124,9 +122,10 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
} }
size_t pos = line.find("="); size_t pos = line.find("=");
if(pos == string::npos) { if (pos == string::npos) {
sif::warning << "scratch::readNumber: Output file format invalid, " sif::warning << "scratch::readNumber: Output file format invalid, "
"no \"=\" found" << std::endl; "no \"=\" found"
<< std::endl;
// Could not find value // Could not find value
std::remove(filename.c_str()); std::remove(filename.c_str());
return KEY_NOT_FOUND; return KEY_NOT_FOUND;
@ -134,8 +133,7 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
std::string valueAsString = line.substr(pos + 1); std::string valueAsString = line.substr(pos + 1);
try { try {
num = std::stoi(valueAsString); num = std::stoi(valueAsString);
} } catch (std::invalid_argument& e) {
catch(std::invalid_argument& e) {
sif::warning << "scratch::readNumber: stoi call failed with " << e.what() << std::endl; sif::warning << "scratch::readNumber: stoi call failed with " << e.what() << std::endl;
} }
@ -143,6 +141,6 @@ inline ReturnValue_t readNumber(std::string key, T& num) noexcept {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
} } // namespace scratch
#endif /* BSP_Q7S_MEMORY_SCRATCHAPI_H_ */ #endif /* BSP_Q7S_MEMORY_SCRATCHAPI_H_ */

6
bsp_q7s/simple/simple.cpp
View File

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

8
bsp_q7s/spi/Q7sSpiComIF.cpp
View File

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

5
bsp_q7s/spi/Q7sSpiComIF.h
View File

@ -3,7 +3,6 @@
#include <fsfw_hal/linux/spi/SpiComIF.h> #include <fsfw_hal/linux/spi/SpiComIF.h>
/** /**
* @brief This additional communication interface is required because the SPI busses behind the * @brief This additional communication interface is required because the SPI busses behind the
* devices "/dev/spi2.0" and "dev/spidev3.0" are multiplexed to one SPI interface. * devices "/dev/spi2.0" and "dev/spidev3.0" are multiplexed to one SPI interface.
@ -17,8 +16,8 @@
* the SPI interface. The multiplexing is performed via a GPIO connected to a VHDL * the SPI interface. The multiplexing is performed via a GPIO connected to a VHDL
* module responsible for switching between the to SPI peripherals. * module responsible for switching between the to SPI peripherals.
*/ */
class Q7sSpiComIF: public SpiComIF { class Q7sSpiComIF : public SpiComIF {
public: public:
/** /**
* @brief Constructor * @brief Constructor
* *

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

@ -1,21 +1,21 @@
#include "GpioCookie.h" #include "GpioCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h> #include <fsfw/serviceinterface/ServiceInterface.h>
GpioCookie::GpioCookie() { GpioCookie::GpioCookie() {}
}
ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig){ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
if (gpioConfig == nullptr) { if (gpioConfig == nullptr) {
sif::debug << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl; sif::debug << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
auto gpioMapIter = gpioMap.find(gpioId); auto gpioMapIter = gpioMap.find(gpioId);
if(gpioMapIter == gpioMap.end()) { if (gpioMapIter == gpioMap.end()) {
auto statusPair = gpioMap.emplace(gpioId, gpioConfig); auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
if (statusPair.second == false) { if (statusPair.second == false) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
sif::error << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << sif::error << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
" to GPIO map" << std::endl; << std::endl;
#endif #endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -27,8 +27,6 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig){
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
GpioMap GpioCookie::getGpioMap() const { GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
return gpioMap;
}
GpioCookie::~GpioCookie() {} GpioCookie::~GpioCookie() {}

12
linux/archive/gpio/GpioCookie.h
View File

@ -1,11 +1,12 @@
#ifndef LINUX_GPIO_GPIOCOOKIE_H_ #ifndef LINUX_GPIO_GPIOCOOKIE_H_
#define LINUX_GPIO_GPIOCOOKIE_H_ #define LINUX_GPIO_GPIOCOOKIE_H_
#include "GpioIF.h"
#include "gpioDefinitions.h"
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "GpioIF.h"
#include "gpioDefinitions.h"
/** /**
* @brief Cookie for the GpioIF. Allows the GpioIF to determine which * @brief Cookie for the GpioIF. Allows the GpioIF to determine which
* GPIOs to initialize and whether they should be configured as in- or * GPIOs to initialize and whether they should be configured as in- or
@ -16,9 +17,8 @@
* *
* @author J. Meier * @author J. Meier
*/ */
class GpioCookie: public CookieIF { class GpioCookie : public CookieIF {
public: public:
GpioCookie(); GpioCookie();
virtual ~GpioCookie(); virtual ~GpioCookie();
@ -29,7 +29,7 @@ public:
*/ */
GpioMap getGpioMap() const; GpioMap getGpioMap() const;
private: private:
/** /**
* Returns a copy of the internal GPIO map. * Returns a copy of the internal GPIO map.
*/ */

10
linux/archive/gpio/GpioIF.h
View File

@ -1,9 +1,10 @@
#ifndef LINUX_GPIO_GPIOIF_H_ #ifndef LINUX_GPIO_GPIOIF_H_
#define LINUX_GPIO_GPIOIF_H_ #define LINUX_GPIO_GPIOIF_H_
#include "gpioDefinitions.h"
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "gpioDefinitions.h"
class GpioCookie; class GpioCookie;
@ -13,9 +14,8 @@ class GpioCookie;
* @author J. Meier * @author J. Meier
*/ */
class GpioIF : public HasReturnvaluesIF { class GpioIF : public HasReturnvaluesIF {
public: public:
virtual ~GpioIF(){};
virtual ~GpioIF() {};
/** /**
* @brief Called by the GPIO using object. * @brief Called by the GPIO using object.

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

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

10
linux/archive/gpio/LinuxLibgpioIF.h
View File

@ -1,9 +1,9 @@
#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_ #ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
#define LINUX_GPIO_LINUXLIBGPIOIF_H_ #define LINUX_GPIO_LINUXLIBGPIOIF_H_
#include <linux/gpio/GpioIF.h>
#include <fsfwconfig/returnvalues/classIds.h>
#include <fsfw/objectmanager/SystemObject.h> #include <fsfw/objectmanager/SystemObject.h>
#include <fsfwconfig/returnvalues/classIds.h>
#include <linux/gpio/GpioIF.h>
class GpioCookie; class GpioCookie;
@ -15,8 +15,7 @@ class GpioCookie;
* 2019.1. * 2019.1.
*/ */
class LinuxLibgpioIF : public GpioIF, public SystemObject { class LinuxLibgpioIF : public GpioIF, public SystemObject {
public: public:
static const uint8_t gpioRetvalId = CLASS_ID::LINUX_LIBGPIO_IF; static const uint8_t gpioRetvalId = CLASS_ID::LINUX_LIBGPIO_IF;
static constexpr ReturnValue_t UNKNOWN_GPIO_ID = static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
@ -36,7 +35,7 @@ public:
ReturnValue_t pullLow(gpioId_t gpioId) override; ReturnValue_t pullLow(gpioId_t gpioId) override;
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override; ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
private: private:
/* Holds the information and configuration of all used GPIOs */ /* Holds the information and configuration of all used GPIOs */
GpioMap gpioMap; GpioMap gpioMap;
GpioMapIter gpioMapIter; GpioMapIter gpioMapIter;
@ -71,7 +70,6 @@ private:
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd. * @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
*/ */
ReturnValue_t configureGpios(GpioMap& mapToAdd); ReturnValue_t configureGpios(GpioMap& mapToAdd);
}; };
#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */ #endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

65
linux/archive/gpio/gpioDefinitions.h
View File

@ -8,29 +8,16 @@ using gpioId_t = uint16_t;
namespace gpio { namespace gpio {
enum Levels { enum Levels { LOW = 0, HIGH = 1 };
LOW = 0,
HIGH = 1
};
enum Direction { enum Direction { IN = 0, OUT = 1 };
IN = 0,
OUT = 1
};
enum GpioOperation { enum GpioOperation { READ, WRITE };
READ,
WRITE
};
enum GpioTypes { enum GpioTypes { NONE, GPIOD_REGULAR, CALLBACK };
NONE,
GPIOD_REGULAR,
CALLBACK
};
static constexpr gpioId_t NO_GPIO = -1; static constexpr gpioId_t NO_GPIO = -1;
} } // namespace gpio
/** /**
* @brief Struct containing information about the GPIO to use. This is * @brief Struct containing information about the GPIO to use. This is
@ -47,15 +34,13 @@ static constexpr gpioId_t NO_GPIO = -1;
* pointer. * pointer.
*/ */
class GpioBase { class GpioBase {
public: public:
GpioBase() = default; GpioBase() = default;
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, int initValue)
int initValue): : gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
virtual~ GpioBase() {}; virtual ~GpioBase(){};
/* Can be used to cast GpioBase to a concrete child implementation */ /* Can be used to cast GpioBase to a concrete child implementation */
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE; gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
@ -64,34 +49,34 @@ public:
int initValue = 0; int initValue = 0;
}; };
class GpiodRegular: public GpioBase { class GpiodRegular : public GpioBase {
public: public:
GpiodRegular(): GpioBase(gpio::GpioTypes::GPIOD_REGULAR, std::string(), GpiodRegular()
gpio::Direction::IN, 0) {}; : GpioBase(gpio::GpioTypes::GPIOD_REGULAR, std::string(), gpio::Direction::IN, 0){};
GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_, GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_): gpio::Direction direction_, int initValue_)
GpioBase(gpio::GpioTypes::GPIOD_REGULAR, consumer_, direction_, initValue_), : GpioBase(gpio::GpioTypes::GPIOD_REGULAR, consumer_, direction_, initValue_),
chipname(chipname_), lineNum(lineNum_) {} chipname(chipname_),
lineNum(lineNum_) {}
std::string chipname; std::string chipname;
int lineNum = 0; int lineNum = 0;
struct gpiod_line* lineHandle = nullptr; struct gpiod_line* lineHandle = nullptr;
}; };
class GpioCallback: public GpioBase { class GpioCallback : public GpioBase {
public: public:
GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_, GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
void (* callback) (gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args), void (*callback)(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args),
void* callbackArgs): void* callbackArgs)
GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_), : GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
callback(callback), callbackArgs(callbackArgs) {} callback(callback),
callbackArgs(callbackArgs) {}
void (* callback) (gpioId_t gpioId, gpio::GpioOperation gpioOp, void (*callback)(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args) = nullptr;
int value, void* args) = nullptr;
void* callbackArgs = nullptr; void* callbackArgs = nullptr;
}; };
using GpioMap = std::unordered_map<gpioId_t, GpioBase*>; using GpioMap = std::unordered_map<gpioId_t, GpioBase*>;
using GpioMapIter = GpioMap::iterator; using GpioMapIter = GpioMap::iterator;

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

@ -1,17 +1,18 @@
#include <sys/mman.h>
#include <fcntl.h> #include <fcntl.h>
#include <linux/obc/Ptme.h> #include <linux/obc/Ptme.h>
#include <sys/mman.h>
CCSDSIPCoreBridge::CCSDSIPCoreBridge(object_id_t objectId, object_id_t tcDestination, CCSDSIPCoreBridge::CCSDSIPCoreBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId, LinuxLibgpioIF* gpioComIF, object_id_t tmStoreId, object_id_t tcStoreId,
std::string uioPtme, gpioId_t papbBusyId, gpioId_t papbEmptyId) : LinuxLibgpioIF* gpioComIF, std::string uioPtme,
TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId), gpioComIF(gpioComIF), uioPtme( gpioId_t papbBusyId, gpioId_t papbEmptyId)
uioPtme), papbBusyId(papbBusyId), papbEmptyId(papbEmptyId) { : TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId),
} gpioComIF(gpioComIF),
uioPtme(uioPtme),
papbBusyId(papbBusyId),
papbEmptyId(papbEmptyId) {}
CCSDSIPCoreBridge::~CCSDSIPCoreBridge() { CCSDSIPCoreBridge::~CCSDSIPCoreBridge() {}
}
ReturnValue_t CCSDSIPCoreBridge::initialize() { ReturnValue_t CCSDSIPCoreBridge::initialize() {
ReturnValue_t result = TmTcBridge::initialize(); ReturnValue_t result = TmTcBridge::initialize();
@ -26,8 +27,8 @@ ReturnValue_t CCSDSIPCoreBridge::initialize() {
* Map uio device in virtual address space * Map uio device in virtual address space
* PROT_WRITE: Map uio device in writable only mode * PROT_WRITE: Map uio device in writable only mode
*/ */
ptmeBaseAddress = static_cast<uint32_t*>(mmap(NULL, MAP_SIZE, PROT_READ | PROT_WRITE, ptmeBaseAddress =
MAP_SHARED, fd, 0)); static_cast<uint32_t*>(mmap(NULL, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
if (ptmeBaseAddress == MAP_FAILED) { if (ptmeBaseAddress == MAP_FAILED) {
sif::error << "CCSDSIPCoreBridge::initialize: Failed to map uio address" << std::endl; sif::error << "CCSDSIPCoreBridge::initialize: Failed to map uio address" << std::endl;
@ -38,45 +39,37 @@ ReturnValue_t CCSDSIPCoreBridge::initialize() {
} }
ReturnValue_t CCSDSIPCoreBridge::handleTm() { ReturnValue_t CCSDSIPCoreBridge::handleTm() {
#if OBSW_TEST_CCSDS_PTME == 1 #if OBSW_TEST_CCSDS_PTME == 1
return sendTestFrame(); return sendTestFrame();
#else #else
return TmTcBridge::handleTm(); return TmTcBridge::handleTm();
#endif #endif
} }
ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t * data, size_t dataLen) { ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t* data, size_t dataLen) {
if (pollPapbBusySignal() == RETURN_OK) {
if(pollPapbBusySignal() == RETURN_OK) {
startPacketTransfer(); startPacketTransfer();
} }
for(size_t idx = 0; idx < dataLen; idx++) { for (size_t idx = 0; idx < dataLen; idx++) {
if(pollPapbBusySignal() == RETURN_OK) { if (pollPapbBusySignal() == RETURN_OK) {
*(ptmeBaseAddress + PTME_DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx)); *(ptmeBaseAddress + PTME_DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx));
} } else {
else {
sif::debug << "CCSDSIPCoreBridge::sendTm: Only written " << idx - 1 << " of " << dataLen sif::debug << "CCSDSIPCoreBridge::sendTm: Only written " << idx - 1 << " of " << dataLen
<< " data" << std::endl; << " data" << std::endl;
return RETURN_FAILED; return RETURN_FAILED;
} }
} }
if(pollPapbBusySignal() == RETURN_OK) { if (pollPapbBusySignal() == RETURN_OK) {
endPacketTransfer(); endPacketTransfer();
} }
return RETURN_OK; return RETURN_OK;
} }
void CCSDSIPCoreBridge::startPacketTransfer() { void CCSDSIPCoreBridge::startPacketTransfer() { *ptmeBaseAddress = PTME_CONFIG_START; }
*ptmeBaseAddress = PTME_CONFIG_START;
}
void CCSDSIPCoreBridge::endPacketTransfer() { void CCSDSIPCoreBridge::endPacketTransfer() { *ptmeBaseAddress = PTME_CONFIG_END; }
*ptmeBaseAddress = PTME_CONFIG_END;
}
ReturnValue_t CCSDSIPCoreBridge::pollPapbBusySignal() { ReturnValue_t CCSDSIPCoreBridge::pollPapbBusySignal() {
int papbBusyState = 0; int papbBusyState = 0;
@ -111,8 +104,7 @@ void CCSDSIPCoreBridge::isPtmeBufferEmpty() {
if (papbEmptyState == 1) { if (papbEmptyState == 1) {
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is empty" << std::endl; sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is empty" << std::endl;
} } else {
else {
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is not empty" << std::endl; sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is not empty" << std::endl;
} }
return; return;
@ -123,12 +115,12 @@ ReturnValue_t CCSDSIPCoreBridge::sendTestFrame() {
uint8_t testPacket[1105]; uint8_t testPacket[1105];
/** Fill one test packet */ /** Fill one test packet */
for(int idx = 0; idx < 1105; idx++) { for (int idx = 0; idx < 1105; idx++) {
testPacket[idx] = static_cast<uint8_t>(idx & 0xFF); testPacket[idx] = static_cast<uint8_t>(idx & 0xFF);
} }
ReturnValue_t result = sendTm(testPacket, 1105); ReturnValue_t result = sendTm(testPacket, 1105);
if(result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }

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

@ -1,20 +1,21 @@
#ifndef MISSION_OBC_CCSDSIPCOREBRIDGE_H_ #ifndef MISSION_OBC_CCSDSIPCOREBRIDGE_H_
#define MISSION_OBC_CCSDSIPCOREBRIDGE_H_ #define MISSION_OBC_CCSDSIPCOREBRIDGE_H_
#include "OBSWConfig.h"
#include <fsfw/tmtcservices/TmTcBridge.h> #include <fsfw/tmtcservices/TmTcBridge.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h> #include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h> #include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <cstring> #include <cstring>
#include "OBSWConfig.h"
/** /**
* @brief This class handles the interfacing to the telemetry (PTME) and telecommand (PDEC) IP * @brief This class handles the interfacing to the telemetry (PTME) and telecommand (PDEC) IP
* cores responsible for the CCSDS encoding and decoding. The IP cores are implemented * cores responsible for the CCSDS encoding and decoding. The IP cores are implemented
* on the programmable logic and are accessible through the linux UIO driver. * on the programmable logic and are accessible through the linux UIO driver.
*/ */
class CCSDSIPCoreBridge: public TmTcBridge { class CCSDSIPCoreBridge : public TmTcBridge {
public: public:
/** /**
* @brief Constructor * @brief Constructor
* *
@ -37,25 +38,22 @@ public:
ReturnValue_t initialize() override; ReturnValue_t initialize() override;
protected: protected:
/** /**
* Overwriting this function to provide the capability of testing the PTME IP Core * Overwriting this function to provide the capability of testing the PTME IP Core
* implementation. * implementation.
*/ */
virtual ReturnValue_t handleTm() override; virtual ReturnValue_t handleTm() override;
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override; virtual ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override;
private:
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;
static const ReturnValue_t PAPB_BUSY = MAKE_RETURN_CODE(0xA0); static const ReturnValue_t PAPB_BUSY = MAKE_RETURN_CODE(0xA0);
/** Size of mapped address space. 4k (minimal size of pl device) */ /** Size of mapped address space. 4k (minimal size of pl device) */
// static const int MAP_SIZE = 0xFA0; // static const int MAP_SIZE = 0xFA0;
static const int MAP_SIZE = 0x1000; static const int MAP_SIZE = 0x1000;
/** /**

7
linux/boardtest/I2cTestClass.cpp
View File

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

8
linux/boardtest/I2cTestClass.h
View File

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

82
linux/boardtest/LibgpiodTest.cpp
View File

@ -1,15 +1,13 @@
#include "LibgpiodTest.h" #include "LibgpiodTest.h"
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/TaskFactory.h>
#include "devices/gpioIds.h" #include "devices/gpioIds.h"
#include <fsfw/serviceinterface/ServiceInterfaceStream.h> LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, GpioCookie* gpioCookie)
#include <fsfw/objectmanager/ObjectManager.h> : TestTask(objectId) {
#include <fsfw/tasks/TaskFactory.h>
LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId,
GpioCookie* gpioCookie):
TestTask(objectId) {
gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioIfobjectId); gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioIfobjectId);
if (gpioInterface == nullptr) { if (gpioInterface == nullptr) {
sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl; sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
@ -18,54 +16,48 @@ LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId,
testCase = TestCases::BLINK; testCase = TestCases::BLINK;
} }
LibgpiodTest::~LibgpiodTest() { LibgpiodTest::~LibgpiodTest() {}
}
ReturnValue_t LibgpiodTest::performPeriodicAction() { ReturnValue_t LibgpiodTest::performPeriodicAction() {
int gpioState; int gpioState;
ReturnValue_t result; ReturnValue_t result;
switch(testCase) { switch (testCase) {
case(TestCases::READ): { case (TestCases::READ): {
result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState); result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl;
<< std::endl;
return RETURN_FAILED; return RETURN_FAILED;
} } else {
else {
sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << gpioState sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << gpioState
<< std::endl; << std::endl;
} }
break; break;
} }
case(TestCases::LOOPBACK): { case (TestCases::LOOPBACK): {
break; break;
} }
case(TestCases::BLINK): { case (TestCases::BLINK): {
result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState); result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl;
<< std::endl;
return RETURN_FAILED; return RETURN_FAILED;
} }
if (gpioState == 1) { if (gpioState == 1) {
result = gpioInterface->pullLow(gpioIds::TEST_ID_0); result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO low!" sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO low!"
<< std::endl; << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} } else if (gpioState == 0) {
else if (gpioState == 0) {
result = gpioInterface->pullHigh(gpioIds::TEST_ID_0); result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO high!" sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO high!"
<< std::endl; << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} } else {
else {
sif::warning << "LibgpiodTest::performPeriodicAction: Invalid GPIO state" << std::endl; sif::warning << "LibgpiodTest::performPeriodicAction: Invalid GPIO state" << std::endl;
} }
@ -76,7 +68,6 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
break; break;
} }
return RETURN_OK; return RETURN_OK;
} }
@ -84,46 +75,47 @@ ReturnValue_t LibgpiodTest::performOneShotAction() {
int gpioState; int gpioState;
ReturnValue_t result; ReturnValue_t result;
switch(testCase) { switch (testCase) {
case(TestCases::READ): { case (TestCases::READ): {
break; break;
} }
case(TestCases::BLINK): { case (TestCases::BLINK): {
break; break;
} }
case(TestCases::LOOPBACK): { case (TestCases::LOOPBACK): {
result = gpioInterface->pullHigh(gpioIds::TEST_ID_0); result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
if(result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "LibgpiodTest::performOneShotAction: " sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO pulled high successfully for loopback test" << std::endl; "GPIO pulled high successfully for loopback test"
} << std::endl;
else { } else {
sif::warning << "LibgpiodTest::performOneShotAction: Could not pull GPIO high!" sif::warning << "LibgpiodTest::performOneShotAction: Could not pull GPIO high!"
<< std::endl; << std::endl;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState); result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState);
if(result == HasReturnvaluesIF::RETURN_OK and gpioState == 1) { if (result == HasReturnvaluesIF::RETURN_OK and gpioState == 1) {
sif::info << "LibgpiodTest::performOneShotAction: " sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO state read successfully and is high" << std::endl; "GPIO state read successfully and is high"
} << std::endl;
else { } else {
sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not high!" sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not high!"
<< std::endl; << std::endl;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
result = gpioInterface->pullLow(gpioIds::TEST_ID_0); result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
if(result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "LibgpiodTest::performOneShotAction: " sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO pulled low successfully for loopback test" << std::endl; "GPIO pulled low successfully for loopback test"
<< std::endl;
} }
result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState); result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState);
if(result == HasReturnvaluesIF::RETURN_OK and gpioState == 0) { if (result == HasReturnvaluesIF::RETURN_OK and gpioState == 0) {
sif::info << "LibgpiodTest::performOneShotAction: " sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO state read successfully and is low" << std::endl; "GPIO state read successfully and is low"
} << std::endl;
else { } else {
sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not low!" sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not low!"
<< std::endl; << std::endl;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;

21
linux/boardtest/LibgpiodTest.h
View File

@ -1,33 +1,30 @@
#ifndef TEST_TESTTASKS_LIBGPIODTEST_H_ #ifndef TEST_TESTTASKS_LIBGPIODTEST_H_
#define TEST_TESTTASKS_LIBGPIODTEST_H_ #define TEST_TESTTASKS_LIBGPIODTEST_H_
#include "TestTask.h"
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/objectmanager/SystemObject.h> #include <fsfw/objectmanager/SystemObject.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include "TestTask.h"
/** /**
* @brief Test for the GPIO read implementation of the LinuxLibgpioIF. * @brief Test for the GPIO read implementation of the LinuxLibgpioIF.
* @author J. Meier * @author J. Meier
*/ */
class LibgpiodTest: public TestTask { class LibgpiodTest : public TestTask {
public: public:
enum TestCases { enum TestCases { READ = 0, LOOPBACK = 1, BLINK };
READ = 0,
LOOPBACK = 1,
BLINK
};
TestCases testCase; TestCases testCase;
LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, GpioCookie* gpioCookie); LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, GpioCookie* gpioCookie);
virtual ~LibgpiodTest(); virtual ~LibgpiodTest();
protected: protected:
ReturnValue_t performOneShotAction() override; ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override; ReturnValue_t performPeriodicAction() override;
private: private:
GpioIF* gpioInterface; GpioIF* gpioInterface;
}; };

248
linux/boardtest/SpiTestClass.cpp
View File

@ -1,27 +1,25 @@
#include "SpiTestClass.h" #include "SpiTestClass.h"
#include <fcntl.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
#include <fsfw_hal/linux/utility.h>
#include <linux/spi/spidev.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <bitset>
#include "devices/gpioIds.h" #include "devices/gpioIds.h"
#include <fsfw/serviceinterface/ServiceInterface.h> SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF *gpioIF)
#include <fsfw/globalfunctions/arrayprinter.h> : TestTask(objectId), gpioIF(gpioIF) {
#include <fsfw/tasks/TaskFactory.h> if (gpioIF == nullptr) {
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw_hal/linux/utility.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <linux/spi/spidev.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <bitset>
SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objectId),
gpioIF(gpioIF) {
if(gpioIF == nullptr) {
sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl; sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
} }
testMode = TestModes::MGM_LIS3MDL; testMode = TestModes::MGM_LIS3MDL;
@ -30,19 +28,19 @@ gpioIF(gpioIF) {
} }
ReturnValue_t SpiTestClass::performOneShotAction() { ReturnValue_t SpiTestClass::performOneShotAction() {
switch(testMode) { switch (testMode) {
case(TestModes::NONE): { case (TestModes::NONE): {
break; break;
} }
case(TestModes::MGM_LIS3MDL): { case (TestModes::MGM_LIS3MDL): {
performLis3MdlTest(mgm0Lis3mdlChipSelect); performLis3MdlTest(mgm0Lis3mdlChipSelect);
break; break;
} }
case(TestModes::MGM_RM3100): { case (TestModes::MGM_RM3100): {
performRm3100Test(mgm1Rm3100ChipSelect); performRm3100Test(mgm1Rm3100ChipSelect);
break; break;
} }
case(TestModes::GYRO_L3GD20H): { case (TestModes::GYRO_L3GD20H): {
performL3gTest(gyro1L3gd20ChipSelect); performL3gTest(gyro1L3gd20ChipSelect);
break; break;
} }
@ -50,24 +48,21 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t SpiTestClass::performPeriodicAction() { ReturnValue_t SpiTestClass::performPeriodicAction() { return HasReturnvaluesIF::RETURN_OK; }
return HasReturnvaluesIF::RETURN_OK;
}
void SpiTestClass::performRm3100Test(uint8_t mgmId) { void SpiTestClass::performRm3100Test(uint8_t mgmId) {
/* Configure all SPI chip selects and pull them high */ /* Configure all SPI chip selects and pull them high */
acsInit(); acsInit();
/* Adapt accordingly */ /* Adapt accordingly */
if(mgmId != mgm1Rm3100ChipSelect and mgmId != mgm3Rm3100ChipSelect) { if (mgmId != mgm1Rm3100ChipSelect and mgmId != mgm3Rm3100ChipSelect) {
sif::warning << "SpiTestClass::performRm3100Test: Invalid MGM ID!" << std::endl; sif::warning << "SpiTestClass::performRm3100Test: Invalid MGM ID!" << std::endl;
} }
gpioId_t currentGpioId = 0; gpioId_t currentGpioId = 0;
uint8_t chipSelectPin = mgmId; uint8_t chipSelectPin = mgmId;
if(chipSelectPin == mgm1Rm3100ChipSelect) { if (chipSelectPin == mgm1Rm3100ChipSelect) {
currentGpioId = gpioIds::MGM_1_RM3100_CS; currentGpioId = gpioIds::MGM_1_RM3100_CS;
} } else {
else {
currentGpioId = gpioIds::MGM_3_RM3100_CS; currentGpioId = gpioIds::MGM_3_RM3100_CS;
} }
uint32_t rm3100speed = 976'000; uint32_t rm3100speed = 976'000;
@ -81,10 +76,8 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
#endif #endif
int fileDescriptor = 0; int fileDescriptor = 0;
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, if (fileHelper.getOpenResult()) {
"SpiComIF::initializeInterface");
if(fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performRm3100Test: File descriptor could not be opened!" sif::error << "SpiTestClass::performRm3100Test: File descriptor could not be opened!"
<< std::endl; << std::endl;
return; return;
@ -92,14 +85,14 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
setSpiSpeedAndMode(fileDescriptor, rm3100mode, rm3100speed); setSpiSpeedAndMode(fileDescriptor, rm3100mode, rm3100speed);
uint8_t revId = readRegister(fileDescriptor, currentGpioId, rm3100revidReg); uint8_t revId = readRegister(fileDescriptor, currentGpioId, rm3100revidReg);
sif::info << "SpiTestClass::performRm3100Test: Revision ID 0b" << std::bitset<8>(revId) << sif::info << "SpiTestClass::performRm3100Test: Revision ID 0b" << std::bitset<8>(revId)
std::endl; << std::endl;
/* Write configuration to CMM register */ /* Write configuration to CMM register */
writeRegister(fileDescriptor, currentGpioId, 0x01, 0x75); writeRegister(fileDescriptor, currentGpioId, 0x01, 0x75);
uint8_t cmmRegister = readRm3100Register(fileDescriptor , currentGpioId, 0x01); uint8_t cmmRegister = readRm3100Register(fileDescriptor, currentGpioId, 0x01);
sif::info << "SpiTestClass::performRm3100Test: CMM register value: " << sif::info << "SpiTestClass::performRm3100Test: CMM register value: " << std::hex << "0x"
std::hex << "0x" << static_cast<int>(cmmRegister) << std::dec << std::endl; << static_cast<int>(cmmRegister) << std::dec << std::endl;
/* Read the cycle count registers */ /* Read the cycle count registers */
uint8_t cycleCountsRaw[6]; uint8_t cycleCountsRaw[6];
@ -115,19 +108,19 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
writeRegister(fileDescriptor, currentGpioId, 0x0B, 0x96); writeRegister(fileDescriptor, currentGpioId, 0x0B, 0x96);
uint8_t tmrcReg = readRm3100Register(fileDescriptor, currentGpioId, 0x0B); uint8_t tmrcReg = readRm3100Register(fileDescriptor, currentGpioId, 0x0B);
sif::info << "SpiTestClass::performRm3100Test: TMRC register value: " << sif::info << "SpiTestClass::performRm3100Test: TMRC register value: " << std::hex << "0x"
std::hex << "0x" << static_cast<int>(tmrcReg) << std::dec << std::endl; << static_cast<int>(tmrcReg) << std::dec << std::endl;
TaskFactory::delayTask(10); TaskFactory::delayTask(10);
uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34); uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
sif::info << "SpiTestClass::performRm3100Test: Status Register 0b" << sif::info << "SpiTestClass::performRm3100Test: Status Register 0b" << std::bitset<8>(statusReg)
std::bitset<8>(statusReg) << std::endl; << std::endl;
/* This means that data is not ready */ /* This means that data is not ready */
if((statusReg & 0b1000'0000) == 0) { if ((statusReg & 0b1000'0000) == 0) {
sif::warning << "SpiTestClass::performRm3100Test: Data not ready!" << std::endl; sif::warning << "SpiTestClass::performRm3100Test: Data not ready!" << std::endl;
TaskFactory::delayTask(10); TaskFactory::delayTask(10);
uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34); uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
if((statusReg & 0b1000'0000) == 0) { if ((statusReg & 0b1000'0000) == 0) {
return; return;
} }
} }
@ -159,17 +152,16 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
acsInit(); acsInit();
/* Adapt accordingly */ /* Adapt accordingly */
if(lis3Id != mgm0Lis3mdlChipSelect and lis3Id != mgm2Lis3mdlChipSelect) { if (lis3Id != mgm0Lis3mdlChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl; sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
} }
gpioId_t currentGpioId = 0; gpioId_t currentGpioId = 0;
uint8_t chipSelectPin = lis3Id; uint8_t chipSelectPin = lis3Id;
uint8_t whoAmIReg = 0b0000'1111; uint8_t whoAmIReg = 0b0000'1111;
uint8_t whoAmIRegExpectedVal = 0b0011'1101; uint8_t whoAmIRegExpectedVal = 0b0011'1101;
if(chipSelectPin == mgm0Lis3mdlChipSelect) { if (chipSelectPin == mgm0Lis3mdlChipSelect) {
currentGpioId = gpioIds::MGM_0_LIS3_CS; currentGpioId = gpioIds::MGM_0_LIS3_CS;
} } else {
else {
currentGpioId = gpioIds::MGM_2_LIS3_CS; currentGpioId = gpioIds::MGM_2_LIS3_CS;
} }
uint32_t spiSpeed = 10'000'000; uint32_t spiSpeed = 10'000'000;
@ -181,9 +173,8 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
#endif #endif
int fileDescriptor = 0; int fileDescriptor = 0;
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
"SpiComIF::initializeInterface"); if (fileHelper.getOpenResult()) {
if(fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!" sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
<< std::endl; << std::endl;
return; return;
@ -192,16 +183,13 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
spiTransferStruct.delay_usecs = 0; spiTransferStruct.delay_usecs = 0;
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false); uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" << sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b"
std::bitset<8>(whoAmIRegVal) << std::endl; << std::bitset<8>(whoAmIRegVal) << std::endl;
if(whoAmIRegVal != whoAmIRegExpectedVal) { if (whoAmIRegVal != whoAmIRegExpectedVal) {
sif::warning << "SpiTestClass::performLis3MdlTest: WHO AM I register invalid!" sif::warning << "SpiTestClass::performLis3MdlTest: WHO AM I register invalid!" << std::endl;
<< std::endl;
} }
} }
void SpiTestClass::performL3gTest(uint8_t l3gId) { void SpiTestClass::performL3gTest(uint8_t l3gId) {
/* Configure all SPI chip selects and pull them high */ /* Configure all SPI chip selects and pull them high */
acsInit(); acsInit();
@ -211,10 +199,9 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
uint8_t whoAmIReg = 0b0000'1111; uint8_t whoAmIReg = 0b0000'1111;
uint8_t whoAmIRegExpectedVal = 0b1101'0111; uint8_t whoAmIRegExpectedVal = 0b1101'0111;
if(chipSelectPin == gyro1L3gd20ChipSelect) { if (chipSelectPin == gyro1L3gd20ChipSelect) {
currentGpioId = gpioIds::GYRO_1_L3G_CS; currentGpioId = gpioIds::GYRO_1_L3G_CS;
} } else {
else {
currentGpioId = gpioIds::GYRO_3_L3G_CS; currentGpioId = gpioIds::GYRO_3_L3G_CS;
} }
uint32_t spiSpeed = 3'900'000; uint32_t spiSpeed = 3'900'000;
@ -226,20 +213,18 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
#endif #endif
int fileDescriptor = 0; int fileDescriptor = 0;
UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
"SpiComIF::initializeInterface"); if (fileHelper.getOpenResult()) {
if(fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!" sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
<< std::endl; << std::endl;
return; return;
} }
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed); setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false); uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" << sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b"
std::bitset<8>(whoAmIRegVal) << std::endl; << std::bitset<8>(whoAmIRegVal) << std::endl;
if(whoAmIRegVal != whoAmIRegExpectedVal) { if (whoAmIRegVal != whoAmIRegExpectedVal) {
sif::warning << "SpiTestClass::performL3gTest: Read WHO AM I register invalid!" << sif::warning << "SpiTestClass::performL3gTest: Read WHO AM I register invalid!" << std::endl;
std::endl;
} }
uint8_t ctrlReg1Addr = 0b0010'0000; uint8_t ctrlReg1Addr = 0b0010'0000;
@ -254,12 +239,11 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
writeMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, commandRegs, writeMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, commandRegs,
sizeof(commandRegs)); sizeof(commandRegs));
uint8_t readRegs[5]; uint8_t readRegs[5];
readMultipleRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readRegs, readMultipleRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readRegs, sizeof(readRegs));
sizeof(readRegs)); for (uint8_t idx = 0; idx < sizeof(readRegs); idx++) {
for(uint8_t idx = 0; idx < sizeof(readRegs); idx++) { if (readRegs[idx] != commandRegs[0]) {
if(readRegs[idx] != commandRegs[0]) { sif::warning << "SpiTestClass::performL3gTest: Read control register "
sif::warning << "SpiTestClass::performL3gTest: Read control register " << << static_cast<int>(idx + 1) << " not equal to configured value" << std::endl;
static_cast<int>(idx + 1) << " not equal to configured value" << std::endl;
} }
} }
} }
@ -269,8 +253,8 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
sizeof(readOutBuffer)); sizeof(readOutBuffer));
uint8_t statusReg = readOutBuffer[7]; uint8_t statusReg = readOutBuffer[7];
sif::info << "SpiTestClass::performL3gTest: Status Register 0b" << sif::info << "SpiTestClass::performL3gTest: Status Register 0b" << std::bitset<8>(statusReg)
std::bitset<8>(statusReg) << std::endl; << std::endl;
uint16_t l3gRange = 245; uint16_t l3gRange = 245;
float scaleFactor = static_cast<float>(l3gRange) / INT16_MAX; float scaleFactor = static_cast<float>(l3gRange) / INT16_MAX;
@ -287,65 +271,64 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
sif::info << "X: " << angVelocX << std::endl; sif::info << "X: " << angVelocX << std::endl;
sif::info << "Y: " << angVelocY << std::endl; sif::info << "Y: " << angVelocY << std::endl;
sif::info << "Z: " << angVelocZ << std::endl; sif::info << "Z: " << angVelocZ << std::endl;
} }
void SpiTestClass::acsInit() { void SpiTestClass::acsInit() {
GpioCookie* gpioCookie = new GpioCookie(); GpioCookie *gpioCookie = new GpioCookie();
#ifdef RASPBERRY_PI #ifdef RASPBERRY_PI
GpiodRegularByChip* gpio = nullptr; GpiodRegularByChip *gpio = nullptr;
std::string rpiGpioName = "gpiochip0"; std::string rpiGpioName = "gpiochip0";
gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3", gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3", gpio::DIR_OUT,
gpio::DIR_OUT, gpio::HIGH); gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100", gpio = new GpiodRegularByChip(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100", gpio::DIR_OUT,
gpio::DIR_OUT, gpio::HIGH); gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS", gpio = new GpiodRegularByChip(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS", gpio::DIR_OUT,
gpio::DIR_OUT, gpio::HIGH); gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G", gpio = new GpiodRegularByChip(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G", gpio::DIR_OUT,
gpio::DIR_OUT, gpio::HIGH); gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, gyro3L3gd20ChipSelect, "GYRO_2_L3G", gpio = new GpiodRegularByChip(rpiGpioName, gyro3L3gd20ChipSelect, "GYRO_2_L3G", gpio::DIR_OUT,
gpio::DIR_OUT, gpio::HIGH); gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3", gpio = new GpiodRegularByChip(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3", gpio::DIR_OUT,
gpio::DIR_OUT, gpio::HIGH); gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegularByChip(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100", gpio = new GpiodRegularByChip(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100", gpio::DIR_OUT,
gpio::DIR_OUT, gpio::HIGH); gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
#elif defined(XIPHOS_Q7S) #elif defined(XIPHOS_Q7S)
GpiodRegularByLineName* gpio = nullptr; GpiodRegularByLineName *gpio = nullptr;
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, "MGM_0_LIS3", gpio::DIR_OUT, gpio =
gpio::HIGH); new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, "MGM_0_LIS3", gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_1_RM3100", gpio::DIR_OUT, gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_1_RM3100", gpio::DIR_OUT,
gpio::HIGH); gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, "MGM_2_LIS3", gpio::DIR_OUT, gpio =
gpio::HIGH); new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, "MGM_2_LIS3", gpio::DIR_OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_3_RM3100", gpio::DIR_OUT, gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_3_RM3100", gpio::DIR_OUT,
gpio::HIGH); gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, "GYRO_0_ADIS", gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, "GYRO_0_ADIS", gpio::DIR_OUT,
gpio::DIR_OUT, gpio::HIGH); gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, "GYRO_1_L3G", gpio::DIR_OUT, gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, "GYRO_1_L3G", gpio::DIR_OUT,
gpio::HIGH); gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, "GYRO_2_ADIS", gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, "GYRO_2_ADIS", gpio::DIR_OUT,
gpio::DIR_OUT, gpio::HIGH); gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, "GYRO_3_L3G", gpio::DIR_OUT, gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, "GYRO_3_L3G", gpio::DIR_OUT,
gpio::HIGH); gpio::HIGH);
@ -366,13 +349,13 @@ void SpiTestClass::acsInit() {
void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) { void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
int mode_test = SPI_MODE_3; int mode_test = SPI_MODE_3;
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, &mode_test);//reinterpret_cast<uint8_t*>(&mode)); int retval = ioctl(spiFd, SPI_IOC_WR_MODE, &mode_test); // reinterpret_cast<uint8_t*>(&mode));
if(retval != 0) { if (retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!"); utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
} }
retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed); retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
if(retval != 0) { if (retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!"); utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
} }
} }
@ -382,21 +365,21 @@ void SpiTestClass::writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8
sendBuffer[0] = reg; sendBuffer[0] = reg;
sendBuffer[1] = value; sendBuffer[1] = value;
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect); gpioIF->pullLow(chipSelect);
} }
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct); int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) { if (retval < 0) {
utility::handleIoctlError("SpiTestClass::writeRegister: Write failed"); utility::handleIoctlError("SpiTestClass::writeRegister: Write failed");
} }
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect); gpioIF->pullHigh(chipSelect);
} }
} }
void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value, void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
bool autoIncrement) { bool autoIncrement) {
if(autoIncrement) { if (autoIncrement) {
reg |= STM_AUTO_INCR_MASK; reg |= STM_AUTO_INCR_MASK;
} }
writeRegister(fd, chipSelect, reg, value); writeRegister(fd, chipSelect, reg, value);
@ -404,7 +387,7 @@ void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, ui
void SpiTestClass::writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, void SpiTestClass::writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
uint8_t *values, size_t len) { uint8_t *values, size_t len) {
if(values == nullptr) { if (values == nullptr) {
return; return;
} }
@ -412,12 +395,11 @@ void SpiTestClass::writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_
/* Clear read mask */ /* Clear read mask */
reg &= ~STM_READ_MASK; reg &= ~STM_READ_MASK;
writeMultipleRegisters(fd, chipSelect, reg, values, len); writeMultipleRegisters(fd, chipSelect, reg, values, len);
} }
void SpiTestClass::writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, void SpiTestClass::writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *values,
uint8_t *values, size_t len) { size_t len) {
if(values == nullptr) { if (values == nullptr) {
return; return;
} }
@ -425,14 +407,14 @@ void SpiTestClass::writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t r
std::memcpy(sendBuffer.data() + 1, values, len); std::memcpy(sendBuffer.data() + 1, values, len);
spiTransferStruct.len = len + 1; spiTransferStruct.len = len + 1;
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect); gpioIF->pullLow(chipSelect);
} }
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct); int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) { if (retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed"); utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
} }
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect); gpioIF->pullHigh(chipSelect);
} }
} }
@ -441,34 +423,33 @@ uint8_t SpiTestClass::readRm3100Register(int fd, gpioId_t chipSelect, uint8_t re
return readStmRegister(fd, chipSelect, reg, false); return readStmRegister(fd, chipSelect, reg, false);
} }
void SpiTestClass::readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
void SpiTestClass::readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply, uint8_t *reply, size_t len) {
size_t len) {
reg |= STM_AUTO_INCR_MASK; reg |= STM_AUTO_INCR_MASK;
readMultipleRegisters(fd, chipSelect, reg, reply, len); readMultipleRegisters(fd, chipSelect, reg, reply, len);
} }
void SpiTestClass::readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply, void SpiTestClass::readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
size_t len) { size_t len) {
if(reply == nullptr) { if (reply == nullptr) {
return; return;
} }
spiTransferStruct.len = len + 1; spiTransferStruct.len = len + 1;
sendBuffer[0] = reg | STM_READ_MASK; sendBuffer[0] = reg | STM_READ_MASK;
for(uint8_t idx = 0; idx < len ; idx ++) { for (uint8_t idx = 0; idx < len; idx++) {
sendBuffer[idx + 1] = 0; sendBuffer[idx + 1] = 0;
} }
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect); gpioIF->pullLow(chipSelect);
} }
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct); int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) { if (retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed"); utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
} }
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect); gpioIF->pullHigh(chipSelect);
} }
std::memcpy(reply, recvBuffer.data() + 1, len); std::memcpy(reply, recvBuffer.data() + 1, len);
@ -477,26 +458,25 @@ void SpiTestClass::readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t re
uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg,
bool autoIncrement) { bool autoIncrement) {
reg |= STM_READ_MASK; reg |= STM_READ_MASK;
if(autoIncrement) { if (autoIncrement) {
reg |= STM_AUTO_INCR_MASK; reg |= STM_AUTO_INCR_MASK;
} }
return readRegister(fd, chipSelect, reg); return readRegister(fd, chipSelect, reg);
} }
uint8_t SpiTestClass::readRegister(int fd, gpioId_t chipSelect, uint8_t reg) { uint8_t SpiTestClass::readRegister(int fd, gpioId_t chipSelect, uint8_t reg) {
spiTransferStruct.len = 2; spiTransferStruct.len = 2;
sendBuffer[0] = reg; sendBuffer[0] = reg;
sendBuffer[1] = 0; sendBuffer[1] = 0;
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect); gpioIF->pullLow(chipSelect);
} }
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct); int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) { if (retval < 0) {
utility::handleIoctlError("SpiTestClass::readRegister: Read failed"); utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
} }
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect); gpioIF->pullHigh(chipSelect);
} }
return recvBuffer[1]; return recvBuffer[1];

17
linux/boardtest/SpiTestClass.h
View File

@ -13,8 +13,8 @@
#include <vector> #include <vector>
class SpiTestClass: public TestTask { class SpiTestClass : public TestTask {
public: public:
enum TestModes { enum TestModes {
NONE, NONE,
MGM_LIS3MDL, MGM_LIS3MDL,
@ -28,8 +28,8 @@ public:
ReturnValue_t performOneShotAction() override; ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override; ReturnValue_t performPeriodicAction() override;
private:
private:
GpioIF* gpioIF; GpioIF* gpioIF;
std::array<uint8_t, 128> recvBuffer; std::array<uint8_t, 128> recvBuffer;
@ -75,21 +75,16 @@ private:
bool autoIncrement); bool autoIncrement);
void writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values, void writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
size_t len); size_t len);
void writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *values, void writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
size_t len); size_t len);
void writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value); void writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value);
uint8_t readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg); uint8_t readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg);
uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement); uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
uint8_t readRegister(int fd, gpioId_t chipSelect, uint8_t reg); uint8_t readRegister(int fd, gpioId_t chipSelect, uint8_t reg);
void readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply, void readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* reply,
size_t len); size_t len);
void readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, void readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* reply, size_t len);
uint8_t* reply, size_t len);
}; };
#endif /* LINUX_BOARDTEST_SPITESTCLASS_H_ */ #endif /* LINUX_BOARDTEST_SPITESTCLASS_H_ */

51
linux/boardtest/UartTestClass.cpp
View File

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

16
linux/boardtest/UartTestClass.h
View File

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

117
linux/csp/CspComIF.cpp
View File

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

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