Compare commits
No commits in common. "v1.2.0" and "main" have entirely different histories.
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@ -0,0 +1,8 @@
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---
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||||
BasedOnStyle: Google
|
||||
IndentWidth: 2
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||||
---
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||||
Language: Cpp
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||||
ColumnLimit: 100
|
||||
ReflowComments: true
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||||
---
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||||
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@ -1,19 +1,28 @@
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|||
/build*
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||||
/cmake-build*
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||||
|
||||
Debug
|
||||
Debug*
|
||||
Release
|
||||
Release*
|
||||
|
||||
# Eclipse
|
||||
.settings
|
||||
.metadata
|
||||
.project
|
||||
.cproject
|
||||
__pycache__
|
||||
|
||||
.idea
|
||||
|
||||
!misc/eclipse/**/.cproject
|
||||
!misc/eclipse/**/.project
|
||||
|
||||
#vscode
|
||||
/.vscode
|
||||
|
||||
# IntelliJ
|
||||
/.idea/*
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||||
|
||||
# Python
|
||||
__pycache__
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||||
|
||||
# CLion
|
||||
!/.idea/cmake.xml
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||||
|
||||
generators/*.db
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||||
|
||||
# Clangd LSP
|
||||
/compile_commands.json
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||||
/.cache
|
||||
|
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|||
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@ -1,6 +1,3 @@
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[submodule "etl"]
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path = thirdparty/etl
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||||
url = https://github.com/ETLCPP/etl.git
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||||
[submodule "arduino"]
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||||
path = arduino
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||||
url = https://egit.irs.uni-stuttgart.de/eive/eive_arduino_interface.git
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||||
|
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@ -9,13 +6,19 @@
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|||
url = https://egit.irs.uni-stuttgart.de/eive/fsfw.git
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||||
[submodule "tmtc"]
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||||
path = tmtc
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||||
url = https://egit.irs.uni-stuttgart.de/eive/eive_tmtc.git
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||||
url = https://egit.irs.uni-stuttgart.de/eive/eive-tmtc.git
|
||||
[submodule "thirdparty/lwgps"]
|
||||
path = thirdparty/lwgps
|
||||
url = https://github.com/rmspacefish/lwgps.git
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||||
[submodule "fsfw_hal"]
|
||||
path = fsfw_hal
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||||
url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-hal.git
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||||
[submodule "generators/fsfwgen"]
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||||
path = generators/fsfwgen
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||||
url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-generators.git
|
||||
[submodule "thirdparty/json"]
|
||||
path = thirdparty/json
|
||||
url = https://github.com/nlohmann/json.git
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||||
[submodule "thirdparty/rapidcsv"]
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||||
path = thirdparty/rapidcsv
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||||
url = https://github.com/d99kris/rapidcsv.git
|
||||
[submodule "thirdparty/gomspace-sw"]
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||||
path = thirdparty/gomspace-sw
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||||
url = https://egit.irs.uni-stuttgart.de/eive/gomspace-sw.git
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||||
[submodule "thirdparty/sagittactl"]
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||||
path = thirdparty/sagittactl
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||||
url = https://egit.irs.uni-stuttgart.de/eive/sagittactl.git
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||||
|
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|||
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@ -0,0 +1,16 @@
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|||
<?xml version="1.0" encoding="UTF-8"?>
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||||
<project version="4">
|
||||
<component name="CMakeSharedSettings">
|
||||
<configurations>
|
||||
<configuration PROFILE_NAME="Debug Q7S" ENABLED="true" CONFIG_NAME="Debug" TOOLCHAIN_NAME="Default" GENERATION_OPTIONS="-DTGT_BSP="arm/q7s"" NO_GENERATOR="true">
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||||
<ADDITIONAL_GENERATION_ENVIRONMENT>
|
||||
<envs>
|
||||
<env name="ZYNQ_7020_ROOTFS" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi" />
|
||||
<env name="CROSS_COMPILE" value="/opt/q7s-gcc/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin/arm-linux-gnueabihf" />
|
||||
</envs>
|
||||
</ADDITIONAL_GENERATION_ENVIRONMENT>
|
||||
</configuration>
|
||||
<configuration PROFILE_NAME="Debug" ENABLED="true" CONFIG_NAME="Debug" NO_GENERATOR="true" />
|
||||
</configurations>
|
||||
</component>
|
||||
</project>
|
||||
|
|
@ -0,0 +1,10 @@
|
|||
<component name="ProjectRunConfigurationManager">
|
||||
<configuration default="false" name="Q7S FM" type="com.jetbrains.cidr.remote.gdbserver.type" factoryName="com.jetbrains.cidr.remote.gdbserver.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="eive-obsw" TARGET_NAME="eive-obsw" CONFIG_NAME="Debug" version="1" RUN_TARGET_PROJECT_NAME="eive-obsw" RUN_TARGET_NAME="eive-obsw">
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||||
<custom-gdb-server version="1" gdb-connect="localhost:1234" executable="" warmup-ms="0" download-type="NONE" sshConfigName="Q7S FM" uploadFile="/tmp/eive-obsw" defaultGdbServerArgs=":1234 /tmp/eive-obsw">
|
||||
<debugger kind="GDB" isBundled="true" />
|
||||
</custom-gdb-server>
|
||||
<method v="2">
|
||||
<option name="CLION.COMPOUND.BUILD" enabled="true" />
|
||||
</method>
|
||||
</configuration>
|
||||
</component>
|
||||
File diff suppressed because it is too large
Load Diff
675
CMakeLists.txt
675
CMakeLists.txt
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|
@ -1,250 +1,581 @@
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|||
################################################################################
|
||||
# ##############################################################################
|
||||
# CMake support for the EIVE OBSW
|
||||
#
|
||||
# Developed in an effort to replace Make with a modern build system.
|
||||
#
|
||||
#
|
||||
# Author: R. Mueller
|
||||
################################################################################
|
||||
# ##############################################################################
|
||||
|
||||
################################################################################
|
||||
# ##############################################################################
|
||||
# Pre-Project preparation
|
||||
################################################################################
|
||||
# ##############################################################################
|
||||
cmake_minimum_required(VERSION 3.13)
|
||||
|
||||
set(OBSW_VERSION_MAJOR 8)
|
||||
set(OBSW_VERSION_MINOR 0)
|
||||
set(OBSW_VERSION_REVISION 0)
|
||||
|
||||
# set(CMAKE_VERBOSE TRUE)
|
||||
|
||||
set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
|
||||
option(
|
||||
EIVE_HARDCODED_TOOLCHAIN_FILE
|
||||
"\
|
||||
For Linux Board Target BSPs, a default toolchain file will be set. Should be set to OFF \
|
||||
if a different toolchain file is set externally"
|
||||
ON)
|
||||
|
||||
option(ADD_ETL_LIB "Add ETL library" ON)
|
||||
if(NOT OS_FSFW)
|
||||
set(OS_FSFW host CACHE STRING "OS for the FSFW.")
|
||||
if(NOT FSFW_OSAL)
|
||||
set(FSFW_OSAL
|
||||
linux
|
||||
CACHE STRING "OS for the FSFW.")
|
||||
endif()
|
||||
|
||||
if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
|
||||
if(TGT_BSP)
|
||||
if(TGT_BSP MATCHES "arm/q7s"
|
||||
OR TGT_BSP MATCHES "arm/raspberrypi"
|
||||
OR TGT_BSP MATCHES "arm/beagleboneblack")
|
||||
option(LINUX_CROSS_COMPILE ON)
|
||||
endif()
|
||||
if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
|
||||
option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF)
|
||||
elseif(TGT_BSP MATCHES "arm/q7s")
|
||||
option(EIVE_Q7S_EM "Build configuration for the EM" OFF)
|
||||
option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
|
||||
endif()
|
||||
option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name"
|
||||
ON)
|
||||
else()
|
||||
option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name"
|
||||
OFF)
|
||||
endif()
|
||||
|
||||
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
|
||||
# Perform steps like loading toolchain files where applicable.
|
||||
include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
|
||||
include(PreProjectConfig)
|
||||
pre_project_config()
|
||||
|
||||
# Project Name
|
||||
project(eive_obsw ASM C CXX)
|
||||
|
||||
################################################################################
|
||||
# Pre-Sources preparation
|
||||
################################################################################
|
||||
project(eive-obsw)
|
||||
|
||||
# Specify the C++ standard
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED True)
|
||||
|
||||
include(EiveHelpers)
|
||||
|
||||
option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
|
||||
option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
|
||||
|
||||
set(OBSW_MAX_SCHEDULED_TCS 4000)
|
||||
|
||||
if(EIVE_Q7S_EM)
|
||||
set(OBSW_Q7S_EM
|
||||
1
|
||||
CACHE STRING "Q7S EM configuration")
|
||||
set(INIT_VAL 0)
|
||||
set(OBSW_STAR_TRACKER_GROUND_CONFIG 1)
|
||||
else()
|
||||
set(OBSW_Q7S_EM
|
||||
0
|
||||
CACHE STRING "Q7S EM configuration")
|
||||
set(INIT_VAL 1)
|
||||
set(OBSW_STAR_TRACKER_GROUND_CONFIG 0)
|
||||
endif()
|
||||
|
||||
set(OBSW_ADD_TMTC_TCP_SERVER
|
||||
${OBSW_Q7S_EM}
|
||||
CACHE STRING "Add TCP TMTC Server")
|
||||
set(OBSW_ADD_TMTC_UDP_SERVER
|
||||
0
|
||||
CACHE STRING "Add UDP TMTC Server")
|
||||
set(OBSW_ADD_MGT
|
||||
${INIT_VAL}
|
||||
CACHE STRING "Add MGT module")
|
||||
set(OBSW_ADD_BPX_BATTERY_HANDLER
|
||||
1
|
||||
CACHE STRING "Add BPX battery module")
|
||||
set(OBSW_ADD_STAR_TRACKER
|
||||
1
|
||||
CACHE STRING "Add Startracker module")
|
||||
set(OBSW_ADD_SUN_SENSORS
|
||||
${INIT_VAL}
|
||||
CACHE STRING "Add sun sensor module")
|
||||
set(OBSW_ADD_SUS_BOARD_ASS
|
||||
${INIT_VAL}
|
||||
CACHE STRING "Add sun sensor board assembly")
|
||||
set(OBSW_ADD_THERMAL_TEMP_INSERTER
|
||||
${OBSW_Q7S_EM}
|
||||
CACHE STRING "Add thermal sensor temperature inserter")
|
||||
set(OBSW_ADD_ACS_BOARD
|
||||
1
|
||||
CACHE STRING "Add ACS board module")
|
||||
set(OBSW_ADD_GPS_CTRL
|
||||
${INIT_VAL}
|
||||
CACHE STRING "Add GPS controllers")
|
||||
set(OBSW_ADD_CCSDS_IP_CORES
|
||||
1
|
||||
CACHE STRING "Add CCSDS IP cores")
|
||||
set(OBSW_TM_TO_PTME
|
||||
1
|
||||
CACHE STRING "Send telemetry to PTME IP core")
|
||||
set(OBSW_TC_FROM_PDEC
|
||||
1
|
||||
CACHE STRING "Poll telecommand from PDEC IP core")
|
||||
set(OBSW_ADD_TCS_CTRL
|
||||
1
|
||||
CACHE STRING "Add TCS controllers")
|
||||
set(OBSW_ADD_HEATERS
|
||||
1
|
||||
CACHE STRING "Add TCS heaters")
|
||||
set(OBSW_ADD_PLOC_SUPERVISOR
|
||||
1
|
||||
CACHE STRING "Add PLOC supervisor handler")
|
||||
set(OBSW_ADD_SA_DEPL
|
||||
${INIT_VAL}
|
||||
CACHE STRING "Add SA deployment handler")
|
||||
set(OBSW_ADD_PLOC_MPSOC
|
||||
1
|
||||
CACHE STRING "Add MPSoC handler")
|
||||
set(OBSW_ADD_ACS_CTRL
|
||||
${INIT_VAL}
|
||||
CACHE STRING "Add ACS controller")
|
||||
set(OBSW_ADD_RTD_DEVICES
|
||||
${INIT_VAL}
|
||||
CACHE STRING "Add RTD devices")
|
||||
set(OBSW_ADD_RAD_SENSORS
|
||||
${INIT_VAL}
|
||||
CACHE STRING "Add Rad Sensor module")
|
||||
set(OBSW_ADD_PL_PCDU
|
||||
1
|
||||
CACHE STRING "Add Payload PCDU modukle")
|
||||
set(OBSW_ADD_SYRLINKS
|
||||
1
|
||||
CACHE STRING "Add Syrlinks module")
|
||||
set(OBSW_ADD_TMP_DEVICES
|
||||
1
|
||||
CACHE STRING "Add TMP devices")
|
||||
set(OBSW_ADD_GOMSPACE_PCDU
|
||||
1
|
||||
CACHE STRING "Add GomSpace PCDU modules")
|
||||
set(OBSW_ADD_GOMSPACE_ACU
|
||||
${INIT_VAL}
|
||||
CACHE STRING "Add GomSpace ACU submodule")
|
||||
set(OBSW_ADD_RW
|
||||
${INIT_VAL}
|
||||
CACHE STRING "Add RW modules")
|
||||
set(OBSW_ADD_SCEX_DEVICE
|
||||
1
|
||||
CACHE STRING "Add Solar Cell Experiment module")
|
||||
set(OBSW_SYRLINKS_SIMULATED
|
||||
0
|
||||
CACHE STRING "Syrlinks is simulated")
|
||||
|
||||
# ##############################################################################
|
||||
# Pre-Sources preparation
|
||||
# ##############################################################################
|
||||
|
||||
# Version handling
|
||||
set(GIT_VER_HANDLING_OK FALSE)
|
||||
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
|
||||
determine_version_with_git("--exclude" "docker_*")
|
||||
set(GIT_INFO
|
||||
${GIT_INFO}
|
||||
CACHE STRING "Version information retrieved with git describe")
|
||||
if(GIT_INFO)
|
||||
set(GIT_INFO
|
||||
${GIT_INFO}
|
||||
CACHE STRING "Version information retrieved with git describe")
|
||||
# CMakeLists.txt is now single source of information. list(GET GIT_INFO 1
|
||||
# OBSW_VERSION_MAJOR) list(GET GIT_INFO 2 OBSW_VERSION_MINOR) list(GET
|
||||
# GIT_INFO 3 OBSW_VERSION_REVISION)
|
||||
list(LENGTH GIT_INFO LIST_LEN)
|
||||
if(LIST_LEN GREATER 4)
|
||||
list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
|
||||
endif()
|
||||
set(GIT_VER_HANDLING_OK TRUE)
|
||||
else()
|
||||
set(GIT_VER_HANDLING_OK FALSE)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# Set names and variables
|
||||
set(TARGET_NAME ${CMAKE_PROJECT_NAME})
|
||||
set(OBSW_NAME ${CMAKE_PROJECT_NAME})
|
||||
set(WATCHDOG_NAME eive-watchdog)
|
||||
set(SIMPLE_OBSW_NAME eive-simple)
|
||||
set(UNITTEST_NAME eive-unittest)
|
||||
set(LIB_FSFW_NAME fsfw)
|
||||
set(LIB_ETL_NAME etl)
|
||||
set(LIB_EIVE_MISSION eive-mission)
|
||||
set(LIB_ETL_TARGET etl::etl)
|
||||
set(LIB_CSP_NAME libcsp)
|
||||
set(LIB_FSFW_HAL_NAME fsfw_hal)
|
||||
set(LIB_LWGPS_NAME lwgps)
|
||||
set(LIB_ARCSEC wire)
|
||||
set(LIB_GOMSPACE_CLIENTS gs_clients)
|
||||
set(LIB_GOMSPACE_CSP gs_csp)
|
||||
|
||||
set(THIRD_PARTY_FOLDER thirdparty)
|
||||
set(LIB_CXX_FS -lstdc++fs)
|
||||
set(LIB_CATCH2 Catch2)
|
||||
set(LIB_GPS gps)
|
||||
set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
|
||||
set(LIB_DUMMIES dummies)
|
||||
|
||||
# Set path names
|
||||
set(FSFW_PATH fsfw)
|
||||
set(MISSION_PATH mission)
|
||||
set(TEST_PATH test/testtasks)
|
||||
set(TEST_PATH test)
|
||||
set(UNITTEST_PATH unittest)
|
||||
set(LINUX_PATH linux)
|
||||
set(LIB_GOMSPACE_PATH ${THIRD_PARTY_FOLDER}/gomspace-sw)
|
||||
set(COMMON_PATH common)
|
||||
set(DUMMY_PATH dummies)
|
||||
set(WATCHDOG_PATH watchdog)
|
||||
set(COMMON_CONFIG_PATH ${COMMON_PATH}/config)
|
||||
set(UNITTEST_CFG_PATH ${UNITTEST_PATH}/testcfg)
|
||||
|
||||
set(FSFW_HAL_LIB_PATH fsfw_hal)
|
||||
set(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp)
|
||||
set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl)
|
||||
set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps)
|
||||
set(LIB_EIVE_MISSION_PATH mission)
|
||||
set(LIB_ETL_PATH ${THIRD_PARTY_FOLDER}/etl)
|
||||
set(LIB_CATCH2_PATH ${THIRD_PARTY_FOLDER}/Catch2)
|
||||
set(LIB_LWGPS_PATH ${THIRD_PARTY_FOLDER}/lwgps)
|
||||
set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/sagittactl)
|
||||
set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)
|
||||
|
||||
set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
|
||||
set(ADD_LINUX_FILES False)
|
||||
set(EIVE_ADD_LINUX_FILES OFF)
|
||||
set(FSFW_ADD_TMSTORAGE ON)
|
||||
|
||||
set(FSFW_ADD_COORDINATES ON)
|
||||
set(FSFW_ADD_SGP4_PROPAGATOR ON)
|
||||
|
||||
# Analyse different OS and architecture/target options, determine BSP_PATH,
|
||||
# display information about compiler etc.
|
||||
include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
|
||||
pre_source_hw_os_config()
|
||||
|
||||
if(TGT_BSP)
|
||||
if(${TGT_BSP} MATCHES "arm/q7s" OR ${TGT_BSP} MATCHES "arm/raspberrypi"
|
||||
OR ${TGT_BSP} MATCHES "arm/beagleboneblack"
|
||||
)
|
||||
set(FSFW_CONFIG_PATH "linux/fsfwconfig")
|
||||
set(ADD_LINUX_FILES TRUE)
|
||||
set(ADD_CSP_LIB TRUE)
|
||||
set(FSFW_HAL_ADD_LINUX ON)
|
||||
endif()
|
||||
|
||||
if(${TGT_BSP} MATCHES "arm/raspberrypi")
|
||||
add_definitions(-DRASPBERRY_PI)
|
||||
set(FSFW_HAL_ADD_RASPBERRY_PI ON)
|
||||
endif()
|
||||
|
||||
if(${TGT_BSP} MATCHES "arm/beagleboneblack")
|
||||
add_definitions(-DBEAGLEBONEBLACK)
|
||||
endif()
|
||||
|
||||
if(${TGT_BSP} MATCHES "arm/q7s")
|
||||
add_definitions(-DXIPHOS_Q7S)
|
||||
set(LIBGPS_VERSION_MAJOR 3)
|
||||
# I assume a newer version than 3.17 will be installed on other Linux board
|
||||
# than the Q7S
|
||||
set(LIBGPS_VERSION_MINOR 20)
|
||||
if(TGT_BSP MATCHES "arm/q7s"
|
||||
OR TGT_BSP MATCHES "arm/raspberrypi"
|
||||
OR TGT_BSP MATCHES "arm/beagleboneblack"
|
||||
OR TGT_BSP MATCHES "arm/egse"
|
||||
OR TGT_BSP MATCHES "arm/te0720-1cfa")
|
||||
find_library(${LIB_GPS} gps)
|
||||
set(FSFW_CONFIG_PATH "linux/fsfwconfig")
|
||||
if(NOT BUILD_Q7S_SIMPLE_MODE)
|
||||
set(EIVE_ADD_LINUX_FILES TRUE)
|
||||
set(EIVE_ADD_LINUX_FSFWCONFIG TRUE)
|
||||
set(ADD_GOMSPACE_CSP TRUE)
|
||||
set(ADD_GOMSPACE_CLIENTS TRUE)
|
||||
set(FSFW_HAL_ADD_LINUX ON)
|
||||
set(FSFW_HAL_LINUX_ADD_LIBGPIOD ON)
|
||||
set(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS ON)
|
||||
endif()
|
||||
elseif(UNIX)
|
||||
set(EIVE_ADD_LINUX_FILES ON)
|
||||
endif()
|
||||
|
||||
if(TGT_BSP MATCHES "arm/raspberrypi")
|
||||
# Used by configure file
|
||||
set(RASPBERRY_PI ON)
|
||||
set(FSFW_HAL_ADD_RASPBERRY_PI ON)
|
||||
endif()
|
||||
|
||||
if(TGT_BSP MATCHES "arm/egse")
|
||||
# Used by configure file
|
||||
set(EGSE ON)
|
||||
set(FSFW_HAL_LINUX_ADD_LIBGPIOD OFF)
|
||||
set(OBSW_ADD_STAR_TRACKER 1)
|
||||
set(OBSW_DEBUG_STARTRACKER 1)
|
||||
endif()
|
||||
|
||||
if(TGT_BSP MATCHES "arm/beagleboneblack")
|
||||
# Used by configure file
|
||||
set(BEAGLEBONEBLACK ON)
|
||||
endif()
|
||||
|
||||
if(TGT_BSP MATCHES "arm/q7s")
|
||||
# Used by configure file
|
||||
set(XIPHOS_Q7S ON)
|
||||
set(LIBGPS_VERSION_MAJOR 3)
|
||||
set(LIBGPS_VERSION_MINOR 17)
|
||||
endif()
|
||||
|
||||
if(TGT_BSP MATCHES "arm/te0720-1cfa")
|
||||
set(TE0720_1CFA ON)
|
||||
endif()
|
||||
else()
|
||||
# Required by FSFW library
|
||||
set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
|
||||
# Required by FSFW library
|
||||
set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
|
||||
if(UNIX)
|
||||
set(EIVE_ADD_LINUX_FILES ON)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
include(BuildType)
|
||||
set_build_type()
|
||||
|
||||
set(FSFW_DEBUG_INFO 0)
|
||||
set(OBSW_ENABLE_PERIODIC_HK 1)
|
||||
set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 0)
|
||||
if(RELEASE_BUILD MATCHES 0)
|
||||
set(FSFW_DEBUG_INFO 1)
|
||||
set(OBSW_ENABLE_PERIODIC_HK 0)
|
||||
set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1)
|
||||
endif()
|
||||
|
||||
# Configuration files
|
||||
configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
|
||||
configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
|
||||
configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
|
||||
if(${TGT_BSP} MATCHES "arm/q7s")
|
||||
configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
|
||||
elseif(${TGT_BSP} MATCHES "arm/raspberrypi")
|
||||
configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
|
||||
configure_file(${BSP_PATH}/OBSWConfig.h.in OBSWConfig.h)
|
||||
if(TGT_BSP MATCHES "arm/q7s")
|
||||
configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
|
||||
elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
|
||||
configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
|
||||
endif()
|
||||
|
||||
configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)
|
||||
|
||||
# Set common config path for FSFW
|
||||
set(FSFW_ADDITIONAL_INC_PATHS
|
||||
"${COMMON_PATH}/config"
|
||||
${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
# Set for lwgps library
|
||||
set(LWGPS_CONFIG_PATH "${COMMON_PATH}/config")
|
||||
set(FSFW_ADDITIONAL_INC_PATHS "${COMMON_PATH}/config"
|
||||
${CMAKE_CURRENT_BINARY_DIR})
|
||||
|
||||
################################################################################
|
||||
# ##############################################################################
|
||||
# Executable and Sources
|
||||
################################################################################
|
||||
# ##############################################################################
|
||||
|
||||
# Add executable
|
||||
add_executable(${TARGET_NAME})
|
||||
# global compiler options need to be set before adding executables
|
||||
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
|
||||
# Remove unused sections.
|
||||
add_compile_options("-ffunction-sections" "-fdata-sections")
|
||||
|
||||
if(ADD_CSP_LIB)
|
||||
add_subdirectory(${CSP_LIB_PATH})
|
||||
# Removed unused sections.
|
||||
add_link_options("-Wl,--gc-sections")
|
||||
|
||||
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
|
||||
set(COMPILER_FLAGS "/permissive-")
|
||||
endif()
|
||||
|
||||
if(ADD_ETL_LIB)
|
||||
add_subdirectory(${ETL_LIB_PATH})
|
||||
endif()
|
||||
|
||||
if(ADD_LINUX_FILES)
|
||||
add_subdirectory(${LINUX_PATH})
|
||||
endif()
|
||||
|
||||
add_subdirectory(${LWGPS_LIB_PATH})
|
||||
add_subdirectory(${BSP_PATH})
|
||||
add_subdirectory(${FSFW_PATH})
|
||||
add_subdirectory(${MISSION_PATH})
|
||||
add_subdirectory(${TEST_PATH})
|
||||
add_subdirectory(${FSFW_HAL_LIB_PATH})
|
||||
add_subdirectory(${COMMON_PATH})
|
||||
|
||||
################################################################################
|
||||
# Post-Sources preparation
|
||||
################################################################################
|
||||
|
||||
set_property(CACHE OS_FSFW PROPERTY STRINGS host linux)
|
||||
|
||||
# Add libraries for all sources.
|
||||
target_link_libraries(${TARGET_NAME} PRIVATE
|
||||
${LIB_FSFW_NAME}
|
||||
${LIB_OS_NAME}
|
||||
${LIB_LWGPS_NAME}
|
||||
${LIB_FSFW_HAL_NAME}
|
||||
)
|
||||
|
||||
if(ADD_ETL_LIB)
|
||||
target_link_libraries(${TARGET_NAME} PRIVATE
|
||||
${LIB_ETL_NAME}
|
||||
)
|
||||
endif()
|
||||
|
||||
if(ADD_CSP_LIB)
|
||||
target_link_libraries(${TARGET_NAME} PRIVATE
|
||||
${LIB_CSP_NAME}
|
||||
)
|
||||
endif()
|
||||
|
||||
# Add include paths for all sources.
|
||||
target_include_directories(${TARGET_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
${FSFW_CONFIG_PATH}
|
||||
${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
add_library(${LIB_EIVE_MISSION})
|
||||
add_library(${LIB_DUMMIES})
|
||||
|
||||
# Add main executable
|
||||
add_executable(${OBSW_NAME})
|
||||
set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})
|
||||
|
||||
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
|
||||
set(WARNING_FLAGS
|
||||
-Wall
|
||||
-Wextra
|
||||
-Wimplicit-fallthrough=1
|
||||
-Wno-unused-parameter
|
||||
-Wno-psabi
|
||||
)
|
||||
|
||||
# Remove unused sections.
|
||||
target_compile_options(${TARGET_NAME} PRIVATE
|
||||
"-ffunction-sections"
|
||||
"-fdata-sections"
|
||||
)
|
||||
set(WARNING_FLAGS
|
||||
"-Wall"
|
||||
"-Wextra"
|
||||
"-Wimplicit-fallthrough=1"
|
||||
"-Wno-unused-parameter"
|
||||
"-Wno-psabi"
|
||||
"-Wshadow=local"
|
||||
"-Wduplicated-cond" # check for duplicate conditions
|
||||
"-Wduplicated-branches" # check for duplicate branches
|
||||
"-Wlogical-op" # Search for bitwise operations instead of logical
|
||||
"-Wnull-dereference" # Search for NULL dereference
|
||||
"-Wundef" # Warn if undefind marcos are used
|
||||
"-Wformat=2" # Format string problem detection
|
||||
"-Wformat-overflow=2" # Formatting issues in printf
|
||||
"-Wformat-truncation=2" # Formatting issues in printf
|
||||
"-Wformat-security" # Search for dangerous printf operations
|
||||
"-Wstrict-overflow=3" # Warn if integer overflows might happen
|
||||
"-Warray-bounds=2" # Some array bounds violations will be found
|
||||
"-Wshift-overflow=2" # Search for bit left shift overflows (<c++14)
|
||||
"-Wcast-qual" # Warn if the constness is cast away
|
||||
"-Wstringop-overflow=4"
|
||||
# -Wstack-protector # Emits a few false positives for low level access
|
||||
# -Wconversion # Creates many false positives -Warith-conversion # Use
|
||||
# with Wconversion to find more implicit conversions -fanalyzer # Should
|
||||
# be used to look through problems
|
||||
)
|
||||
target_compile_options(${OBSW_NAME} PRIVATE ${WARNING_FLAGS})
|
||||
target_compile_options(${LIB_EIVE_MISSION} PRIVATE ${WARNING_FLAGS})
|
||||
target_compile_options(${LIB_DUMMIES} PRIVATE ${WARNING_FLAGS})
|
||||
endif()
|
||||
|
||||
# Removed unused sections.
|
||||
target_link_options(${TARGET_NAME} PRIVATE
|
||||
"-Wl,--gc-sections"
|
||||
)
|
||||
|
||||
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
|
||||
set(COMPILER_FLAGS "/permissive-")
|
||||
set_target_properties(${OBSW_NAME} PROPERTIES OUTPUT_NAME ${OBSW_BIN_NAME})
|
||||
|
||||
# Watchdog
|
||||
if(TGT_BSP MATCHES "arm/q7s")
|
||||
add_executable(${WATCHDOG_NAME})
|
||||
else()
|
||||
add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
|
||||
endif()
|
||||
|
||||
add_subdirectory(${WATCHDOG_PATH})
|
||||
target_link_libraries(${WATCHDOG_NAME} PUBLIC ${LIB_CXX_FS})
|
||||
target_include_directories(${WATCHDOG_NAME} PUBLIC ${CMAKE_BINARY_DIR})
|
||||
|
||||
# unittests
|
||||
if(NOT TGT_BSP)
|
||||
add_executable(${UNITTEST_NAME})
|
||||
else()
|
||||
add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
|
||||
endif()
|
||||
|
||||
if(EIVE_ADD_ETL_LIB)
|
||||
|
||||
endif()
|
||||
|
||||
if(EIVE_ADD_JSON_LIB)
|
||||
add_subdirectory(${LIB_JSON_PATH})
|
||||
endif()
|
||||
|
||||
add_subdirectory(thirdparty)
|
||||
|
||||
if(EIVE_ADD_LINUX_FILES)
|
||||
if(TGT_BSP MATCHES "arm/q7s")
|
||||
add_subdirectory(${LIB_GOMSPACE_PATH})
|
||||
endif()
|
||||
add_subdirectory(${LINUX_PATH})
|
||||
endif()
|
||||
add_subdirectory(${BSP_PATH})
|
||||
|
||||
add_subdirectory(${COMMON_PATH})
|
||||
add_subdirectory(${DUMMY_PATH})
|
||||
|
||||
add_subdirectory(${FSFW_PATH})
|
||||
add_subdirectory(${LIB_EIVE_MISSION_PATH})
|
||||
add_subdirectory(${TEST_PATH})
|
||||
|
||||
add_subdirectory(${UNITTEST_PATH})
|
||||
|
||||
# This should have already been downloaded by the FSFW Still include it to be
|
||||
# safe find_package(etl ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET) Not
|
||||
# installed, so use FetchContent to download and provide etl if(NOT etl_FOUND)
|
||||
message(
|
||||
STATUS
|
||||
"No ETL installation was found with find_package. Installing and providing "
|
||||
"etl with FindPackage")
|
||||
include(FetchContent)
|
||||
FetchContent_Declare(
|
||||
etl
|
||||
GIT_REPOSITORY https://github.com/ETLCPP/etl
|
||||
GIT_TAG ${FSFW_ETL_LIB_VERSION})
|
||||
list(APPEND FSFW_FETCH_CONTENT_TARGETS etl)
|
||||
# endif()
|
||||
|
||||
# Use same Catch2 version as framework
|
||||
if(NOT (TGT_BSP MATCHES "arm/te0720-1cfa")
|
||||
AND NOT (TGT_BSP MATCHES "arm/q7s")
|
||||
AND NOT (TGT_BSP MATCHES "arm/raspberrypi"))
|
||||
# Check whether the user has already installed Catch2 first
|
||||
find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
|
||||
# Not installed, so use FetchContent to download and provide Catch2
|
||||
if(NOT Catch2_FOUND)
|
||||
message(
|
||||
STATUS
|
||||
"${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
|
||||
)
|
||||
include(FetchContent)
|
||||
|
||||
FetchContent_Declare(
|
||||
Catch2
|
||||
GIT_REPOSITORY https://github.com/catchorg/Catch2.git
|
||||
GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
|
||||
|
||||
list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# The documentation for FetchContent recommends declaring all the dependencies
|
||||
# before making them available. We make all declared dependency available here
|
||||
# after their declaration
|
||||
if(FSFW_FETCH_CONTENT_TARGETS)
|
||||
FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
|
||||
if(TARGET etl)
|
||||
add_library(${LIB_ETL_TARGET} ALIAS etl)
|
||||
endif()
|
||||
if(TARGET Catch2)
|
||||
# Fixes regression -preview4, to be confirmed in later releases Related
|
||||
# GitHub issue: https://github.com/catchorg/Catch2/issues/2417
|
||||
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
|
||||
set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
|
||||
set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# ##############################################################################
|
||||
# Post-Sources preparation
|
||||
# ##############################################################################
|
||||
|
||||
# Add libraries
|
||||
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_FSFW_NAME}
|
||||
${LIB_OS_NAME})
|
||||
|
||||
target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_EIVE_MISSION}
|
||||
${LIB_FSFW_NAME} ${LIB_JSON_NAME})
|
||||
|
||||
target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_EIVE_MISSION} ${LIB_DUMMIES})
|
||||
|
||||
if(TGT_BSP MATCHES "arm/q7s")
|
||||
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_GPS} ${LIB_ARCSEC}
|
||||
${LIB_GOMSPACE_CLIENTS})
|
||||
endif()
|
||||
|
||||
target_link_libraries(${UNITTEST_NAME} PRIVATE Catch2 ${LIB_EIVE_MISSION}
|
||||
rapidcsv ${LIB_DUMMIES})
|
||||
|
||||
if(TGT_BSP MATCHES "arm/egse")
|
||||
target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_ARCSEC})
|
||||
endif()
|
||||
|
||||
if(EIVE_ADD_ETL_LIB)
|
||||
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_ETL_TARGET})
|
||||
endif()
|
||||
|
||||
if(EIVE_ADD_JSON_LIB)
|
||||
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_JSON_NAME})
|
||||
endif()
|
||||
|
||||
target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_CXX_FS})
|
||||
|
||||
# Add include paths for all sources.
|
||||
target_include_directories(
|
||||
${LIB_EIVE_MISSION} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${FSFW_CONFIG_PATH}
|
||||
${CMAKE_CURRENT_BINARY_DIR} ${LIB_ARCSEC_PATH})
|
||||
|
||||
target_include_directories(
|
||||
${LIB_DUMMIES} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${FSFW_CONFIG_PATH}
|
||||
${CMAKE_CURRENT_BINARY_DIR})
|
||||
|
||||
if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/egse")
|
||||
target_include_directories(${LIB_EIVE_MISSION} PUBLIC ${ARCSEC_LIB_PATH})
|
||||
endif()
|
||||
|
||||
if(CMAKE_VERBOSE)
|
||||
message(STATUS "Warning flags: ${WARNING_FLAGS}")
|
||||
message(STATUS "Warning flags: ${WARNING_FLAGS}")
|
||||
endif()
|
||||
|
||||
|
||||
# Compile options for all sources.
|
||||
target_compile_options(${TARGET_NAME} PRIVATE
|
||||
${WARNING_FLAGS}
|
||||
)
|
||||
|
||||
if(${CMAKE_CROSSCOMPILING})
|
||||
include (${CMAKE_SCRIPT_PATH}/HardwareOsPostConfig.cmake)
|
||||
post_source_hw_os_config()
|
||||
if(CMAKE_CROSSCOMPILING)
|
||||
include(HardwareOsPostConfig)
|
||||
post_source_hw_os_config()
|
||||
endif()
|
||||
|
||||
if(NOT CMAKE_SIZE)
|
||||
set(CMAKE_SIZE size)
|
||||
if(WIN32)
|
||||
set(FILE_SUFFIX ".exe")
|
||||
endif()
|
||||
set(CMAKE_SIZE size)
|
||||
if(WIN32)
|
||||
set(FILE_SUFFIX ".exe")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(TGT_BSP)
|
||||
set(TARGET_STRING "Target BSP: ${TGT_BSP}")
|
||||
if(EIVE_BUILD_WATCHDOG)
|
||||
set(TARGET_STRING "OBSW Watchdog")
|
||||
else()
|
||||
set(TARGET_STRING "Target BSP: Hosted")
|
||||
if(TGT_BSP)
|
||||
set(TARGET_STRING "Target BSP: ${TGT_BSP}")
|
||||
else()
|
||||
set(TARGET_STRING "Target BSP: Hosted")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
string(CONCAT POST_BUILD_COMMENT
|
||||
"Build directory: ${CMAKE_BINARY_DIR}\n"
|
||||
"Target OSAL: ${OS_FSFW}\n"
|
||||
"Target Build Type: ${CMAKE_BUILD_TYPE}\n"
|
||||
"${TARGET_STRING}"
|
||||
)
|
||||
install(TARGETS ${OBSW_NAME} RUNTIME DESTINATION bin)
|
||||
|
||||
string(CONCAT POST_BUILD_COMMENT "Build directory: ${CMAKE_BINARY_DIR}\n"
|
||||
"Target OSAL: ${FSFW_OSAL}\n"
|
||||
"Target Build Type: ${CMAKE_BUILD_TYPE}\n" "${TARGET_STRING}")
|
||||
|
||||
add_custom_command(
|
||||
TARGET ${TARGET_NAME}
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_SIZE} ${TARGET_NAME}${FILE_SUFFIX}
|
||||
COMMENT ${POST_BUILD_COMMENT}
|
||||
)
|
||||
|
||||
include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
|
||||
set_build_type()
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
TARGET ${OBSW_NAME}
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
|
||||
COMMENT ${POST_BUILD_COMMENT})
|
||||
|
|
|
|||
|
|
@ -0,0 +1,12 @@
|
|||
python_script := './cmake/scripts/cmake-build-cfg.py'
|
||||
|
||||
default: q7s-debug-make
|
||||
|
||||
q7s-debug-make:
|
||||
{{python_script}} -o linux -g make -b debug -t "arm/q7s" -l build-Debug-Q7S
|
||||
|
||||
q7s-release-make:
|
||||
{{python_script}} -o linux -g make -b release -t "arm/q7s" -l build-Release-Q7S
|
||||
|
||||
q7s-debug-ninja:
|
||||
{{python_script}} -o linux -g ninja -b debug -t "arm/q7s" -l build-Debug-Q7S
|
||||
|
|
@ -0,0 +1,202 @@
|
|||
|
||||
Apache License
|
||||
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|
||||
http://www.apache.org/licenses/
|
||||
|
||||
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Copyright 2021 Institute of Space Systems (IRS), University of Stuttgart
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||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,322 @@
|
|||
#ifndef BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
|
||||
#define BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
|
||||
|
||||
#include <linux/payload/PlocMpsocSpecialComHelperLegacy.h>
|
||||
#include <linux/payload/plocMpsocHelpers.h>
|
||||
#include <linux/payload/plocSupvDefs.h>
|
||||
#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
|
||||
|
||||
#include "fsfw/action/CommandActionHelper.h"
|
||||
#include "fsfw/action/CommandsActionsIF.h"
|
||||
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
|
||||
#include "fsfw/tmtcservices/SourceSequenceCounter.h"
|
||||
#include "fsfw_hal/linux/gpio/Gpio.h"
|
||||
#include "fsfw_hal/linux/serial/SerialComIF.h"
|
||||
|
||||
static constexpr bool DEBUG_MPSOC_COMMUNICATION = true;
|
||||
|
||||
/**
|
||||
* @brief This is the device handler for the MPSoC of the payload computer.
|
||||
*
|
||||
* @details The PLOC uses the space packet protocol for communication. Each command will be
|
||||
* answered with at least one acknowledgment and one execution report.
|
||||
* Flight manual:
|
||||
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_MPSoC ICD:
|
||||
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_TAS-ILH-IRS/ICD-PLOC/ILH&fileid=1030263
|
||||
*
|
||||
* @note The sequence count in the space packets must be incremented with each received and sent
|
||||
* packet otherwise the MPSoC will reply with an acknowledgment failure report.
|
||||
*
|
||||
* NOTE: This is not an example for a good device handler, DO NOT USE THIS AS A REFERENCE HANDLER.
|
||||
* @author J. Meier, R. Mueller
|
||||
*/
|
||||
class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
|
||||
public:
|
||||
/**
|
||||
* @brief Constructor
|
||||
*
|
||||
* @param ojectId Object ID of the MPSoC handler
|
||||
* @param uartcomIFid Object ID of the UART communication interface
|
||||
* @param comCookie UART communication cookie
|
||||
* @param plocMPSoCHelper Pointer to MPSoC helper object
|
||||
* @param uartIsolatorSwitch Gpio object representing the GPIO connected to the UART isolator
|
||||
* module in the programmable logic
|
||||
* @param supervisorHandler Object ID of the supervisor handler
|
||||
*/
|
||||
PlocMpsocHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
|
||||
PlocMpsocSpecialComHelperLegacy* plocMPSoCHelper, Gpio uartIsolatorSwitch,
|
||||
object_id_t supervisorHandler);
|
||||
virtual ~PlocMpsocHandler();
|
||||
virtual ReturnValue_t initialize() override;
|
||||
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
|
||||
const uint8_t* data, size_t size) override;
|
||||
void performOperationHook() override;
|
||||
MessageQueueIF* getCommandQueuePtr() override;
|
||||
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
|
||||
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
|
||||
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
|
||||
void completionSuccessfulReceived(ActionId_t actionId) override;
|
||||
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
|
||||
|
||||
protected:
|
||||
void doStartUp() override;
|
||||
void doShutDown() override;
|
||||
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
|
||||
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
|
||||
void fillCommandAndReplyMap() override;
|
||||
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
|
||||
size_t commandDataLen) override;
|
||||
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
|
||||
size_t* foundLen) override;
|
||||
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
|
||||
void setNormalDatapoolEntriesInvalid() override;
|
||||
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) override;
|
||||
ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
|
||||
uint8_t expectedReplies = 1, bool useAlternateId = false,
|
||||
DeviceCommandId_t alternateReplyID = 0) override;
|
||||
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
|
||||
ReturnValue_t doSendReadHook() override;
|
||||
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
|
||||
bool dontCheckQueue() override;
|
||||
|
||||
private:
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
|
||||
|
||||
//! [EXPORT] : [COMMENT] PLOC crc failure in telemetry packet
|
||||
static const Event MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] PLOC receive acknowledgment failure report
|
||||
//! P1: Command Id which leads the acknowledgment failure report
|
||||
//! P2: The status field inserted by the MPSoC into the data field
|
||||
static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] PLOC receive execution failure report
|
||||
//! P1: Command Id which leads the execution failure report
|
||||
//! P2: The status field inserted by the MPSoC into the data field
|
||||
static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] PLOC reply has invalid crc
|
||||
static const Event MPSOC_HANDLER_CRC_FAILURE = MAKE_EVENT(4, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected
|
||||
//! count P1: Expected sequence count P2: Received sequence count
|
||||
static const Event MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and
|
||||
//! thus also to shutdown the supervisor.
|
||||
static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
|
||||
//! [EXPORT] : [COMMENT] SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for
|
||||
//! ON transition.
|
||||
static constexpr Event SUPV_NOT_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
|
||||
static constexpr Event SUPV_REPLY_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 8, severity::LOW);
|
||||
|
||||
static const uint16_t APID_MASK = 0x7FF;
|
||||
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
|
||||
|
||||
mpsoc::HkReport hkReport;
|
||||
Countdown mpsocBootTransitionCd = Countdown(6500);
|
||||
Countdown supvTransitionCd = Countdown(3000);
|
||||
|
||||
MessageQueueIF* eventQueue = nullptr;
|
||||
MessageQueueIF* commandActionHelperQueue = nullptr;
|
||||
|
||||
SourceSequenceCounter sequenceCount = SourceSequenceCounter(0);
|
||||
|
||||
uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
|
||||
SpacePacketCreator creator;
|
||||
ploc::SpTcParams spParams = ploc::SpTcParams(creator);
|
||||
|
||||
PoolEntry<uint32_t> peStatus = PoolEntry<uint32_t>();
|
||||
PoolEntry<uint8_t> peMode = PoolEntry<uint8_t>();
|
||||
PoolEntry<uint8_t> peDownlinkPwrOn = PoolEntry<uint8_t>();
|
||||
PoolEntry<uint8_t> peDownlinkReplyActive = PoolEntry<uint8_t>();
|
||||
PoolEntry<uint8_t> peDownlinkJesdSyncStatus = PoolEntry<uint8_t>();
|
||||
PoolEntry<uint8_t> peDownlinkDacStatus = PoolEntry<uint8_t>();
|
||||
PoolEntry<uint8_t> peCameraStatus = PoolEntry<uint8_t>();
|
||||
PoolEntry<uint8_t> peCameraSdiStatus = PoolEntry<uint8_t>();
|
||||
PoolEntry<float> peCameraFpgaTemp = PoolEntry<float>();
|
||||
PoolEntry<float> peCameraSocTemp = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonTemp = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVccInt = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVccAux = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVccBram = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVccPaux = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVccPint = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVccPdro = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonMb12V = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonMb3V3 = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonMb1V8 = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVcc12V = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVcc5V = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVcc3V3 = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVcc3V3VA = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVcc2V5DDR = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVcc1V2DDR = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVcc0V9 = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonVcc0V6VTT = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonSafeCotsCur = PoolEntry<float>();
|
||||
PoolEntry<float> peSysmonNvm4XoCur = PoolEntry<float>();
|
||||
PoolEntry<uint16_t> peSemUncorrectableErrs = PoolEntry<uint16_t>();
|
||||
PoolEntry<uint16_t> peSemCorrectableErrs = PoolEntry<uint16_t>();
|
||||
PoolEntry<uint8_t> peSemStatus = PoolEntry<uint8_t>();
|
||||
PoolEntry<uint8_t> peRebootMpsocRequired = PoolEntry<uint8_t>();
|
||||
|
||||
/**
|
||||
* This variable is used to store the id of the next reply to receive. This is necessary
|
||||
* because the PLOC sends as reply to each command at least one acknowledgment and execution
|
||||
* report.
|
||||
*/
|
||||
DeviceCommandId_t nextReplyId = mpsoc::NONE;
|
||||
|
||||
SerialComIF* uartComIf = nullptr;
|
||||
|
||||
PlocMpsocSpecialComHelperLegacy* specialComHelper = nullptr;
|
||||
Gpio uartIsolatorSwitch;
|
||||
object_id_t supervisorHandler = 0;
|
||||
CommandActionHelper commandActionHelper;
|
||||
|
||||
// Used to block incoming commands when MPSoC helper class is currently executing a command
|
||||
bool specialComHelperExecuting = false;
|
||||
bool commandIsPending = false;
|
||||
|
||||
struct TmMemReadReport {
|
||||
static const uint8_t FIX_SIZE = 14;
|
||||
size_t rememberRequestedSize = 0;
|
||||
};
|
||||
|
||||
TmMemReadReport tmMemReadReport;
|
||||
Countdown cmdCountdown = Countdown(15000);
|
||||
|
||||
struct TelemetryBuffer {
|
||||
uint16_t length = 0;
|
||||
uint8_t buffer[mpsoc::SP_MAX_SIZE];
|
||||
};
|
||||
|
||||
size_t foundPacketLen = 0;
|
||||
TelemetryBuffer tmBuffer;
|
||||
|
||||
enum class StartupState { IDLE, HW_INIT, DONE } startupState = StartupState::IDLE;
|
||||
enum class PowerState { IDLE, PENDING_STARTUP, PENDING_SHUTDOWN, SUPV_FAILED, DONE };
|
||||
|
||||
PowerState powerState = PowerState::IDLE;
|
||||
|
||||
uint8_t skipSupvCommandingToOn = false;
|
||||
|
||||
/**
|
||||
* @brief Handles events received from the PLOC MPSoC helper
|
||||
*/
|
||||
void handleEvent(EventMessage* eventMessage);
|
||||
|
||||
ReturnValue_t prepareTcMemWrite(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t prepareTcMemRead(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t prepareTcFlashDelete(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t prepareTcReplayStart(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t prepareTcReplayStop();
|
||||
ReturnValue_t prepareTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t prepareTcDownlinkPwrOff();
|
||||
ReturnValue_t prepareTcGetHkReport();
|
||||
ReturnValue_t prepareTcGetDirContent(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t prepareTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t prepareTcModeIdle();
|
||||
ReturnValue_t prepareTcCamTakePic(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t prepareTcSimplexSendFile(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t prepareTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t prepareTcModeSnapshot();
|
||||
ReturnValue_t finishTcPrep(mpsoc::TcBase& tcBase);
|
||||
|
||||
/**
|
||||
* @brief This function checks the crc of the received PLOC reply.
|
||||
*
|
||||
* @param start Pointer to the first byte of the reply.
|
||||
* @param foundLen Pointer to the length of the whole packet.
|
||||
*
|
||||
* @return returnvalue::OK if CRC is ok, otherwise CRC_FAILURE.
|
||||
*/
|
||||
ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
|
||||
|
||||
/**
|
||||
* @brief This function handles the acknowledgment report.
|
||||
*
|
||||
* @param data Pointer to the data holding the acknowledgment report.
|
||||
*
|
||||
* @return returnvalue::OK if successful, otherwise an error code.
|
||||
*/
|
||||
ReturnValue_t handleAckReport(const uint8_t* data);
|
||||
|
||||
/**
|
||||
* @brief This function handles the data of a execution report.
|
||||
*
|
||||
* @param data Pointer to the received data packet.
|
||||
*
|
||||
* @return returnvalue::OK if successful, otherwise an error code.
|
||||
*/
|
||||
ReturnValue_t handleExecutionReport(const uint8_t* data);
|
||||
|
||||
/**
|
||||
* @brief This function handles the memory read report.
|
||||
*
|
||||
* @param data Pointer to the data buffer holding the memory read report.
|
||||
*
|
||||
* @return returnvalue::OK if successful, otherwise an error code.
|
||||
*/
|
||||
ReturnValue_t handleMemoryReadReport(const uint8_t* data);
|
||||
|
||||
ReturnValue_t handleGetHkReport(const uint8_t* data);
|
||||
ReturnValue_t handleCamCmdRpt(const uint8_t* data);
|
||||
|
||||
/**
|
||||
* @brief Depending on the current active command, this function sets the reply id of the
|
||||
* next reply after a successful acknowledgment report has been received. This is
|
||||
* required by the function getNextReplyLength() to identify the length of the next
|
||||
* reply to read.
|
||||
*/
|
||||
void setNextReplyId();
|
||||
|
||||
/**
|
||||
* @brief This function handles action message replies in case the telemetry has been
|
||||
* requested by another object.
|
||||
*
|
||||
* @param data Pointer to the telemetry data.
|
||||
* @param dataSize Size of telemetry in bytes.
|
||||
* @param replyId Id of the reply. This will be added to the ActionMessage.
|
||||
*/
|
||||
void handleDeviceTm(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
|
||||
|
||||
/**
|
||||
* @brief In case an acknowledgment failure reply has been received this function disables
|
||||
* all previously enabled commands and resets the exepected replies variable of an
|
||||
* active command.
|
||||
*/
|
||||
void disableAllReplies();
|
||||
|
||||
/**
|
||||
* @brief This function sends a failure report if the active action was commanded by an other
|
||||
* object.
|
||||
*
|
||||
* @param replyId The id of the reply which signals a failure.
|
||||
* @param status A status byte which gives information about the failure type.
|
||||
*/
|
||||
void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
|
||||
|
||||
/**
|
||||
* @brief This function disables the execution report reply. Within this function also the
|
||||
* the variable expectedReplies of an active command will be set to 0.
|
||||
*/
|
||||
void disableExeReportReply();
|
||||
|
||||
ReturnValue_t prepareTcModeReplay();
|
||||
|
||||
void cmdDoneHandler(bool success, ReturnValue_t result);
|
||||
bool handleHwStartup();
|
||||
bool handleHwShutdown();
|
||||
void stopSpecialComHelper();
|
||||
|
||||
void handleActionCommandFailure(ActionId_t actionId);
|
||||
|
||||
pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
|
||||
ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
|
||||
uint32_t* msToReachTheMode) override;
|
||||
|
||||
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
|
||||
const ParameterWrapper* newValues, uint16_t startAtIndex) override;
|
||||
};
|
||||
|
||||
#endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */
|
||||
|
|
@ -0,0 +1,545 @@
|
|||
#include <fsfw/globalfunctions/arrayprinter.h>
|
||||
#include <fsfw/tasks/TaskFactory.h>
|
||||
#include <linux/payload/PlocMpsocSpecialComHelperLegacy.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <filesystem>
|
||||
#include <fstream>
|
||||
|
||||
#ifdef XIPHOS_Q7S
|
||||
#include "bsp_q7s/fs/FilesystemHelper.h"
|
||||
#endif
|
||||
|
||||
#include "mission/utility/Timestamp.h"
|
||||
|
||||
using namespace ploc;
|
||||
|
||||
PlocMpsocSpecialComHelperLegacy::PlocMpsocSpecialComHelperLegacy(object_id_t objectId)
|
||||
: SystemObject(objectId) {
|
||||
spParams.buf = commandBuffer;
|
||||
spParams.maxSize = sizeof(commandBuffer);
|
||||
}
|
||||
|
||||
PlocMpsocSpecialComHelperLegacy::~PlocMpsocSpecialComHelperLegacy() {}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::initialize() {
|
||||
#ifdef XIPHOS_Q7S
|
||||
sdcMan = SdCardManager::instance();
|
||||
if (sdcMan == nullptr) {
|
||||
sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
#endif
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::performOperation(uint8_t operationCode) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
semaphore.acquire();
|
||||
while (true) {
|
||||
#if OBSW_THREAD_TRACING == 1
|
||||
trace::threadTrace(opCounter, "PLOC MPSOC Helper");
|
||||
#endif
|
||||
switch (internalState) {
|
||||
case InternalState::IDLE: {
|
||||
semaphore.acquire();
|
||||
break;
|
||||
}
|
||||
case InternalState::FLASH_WRITE: {
|
||||
result = performFlashWrite();
|
||||
if (result == returnvalue::OK) {
|
||||
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
|
||||
} else {
|
||||
triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
|
||||
}
|
||||
internalState = InternalState::IDLE;
|
||||
break;
|
||||
}
|
||||
case InternalState::FLASH_READ: {
|
||||
result = performFlashRead();
|
||||
if (result == returnvalue::OK) {
|
||||
triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
|
||||
} else {
|
||||
triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
|
||||
}
|
||||
internalState = InternalState::IDLE;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::setComIF(
|
||||
DeviceCommunicationIF* communicationInterface_) {
|
||||
uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
|
||||
if (uartComIF == nullptr) {
|
||||
sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
void PlocMpsocSpecialComHelperLegacy::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
|
||||
|
||||
void PlocMpsocSpecialComHelperLegacy::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
|
||||
sequenceCount = sequenceCount_;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::startFlashWrite(std::string obcFile,
|
||||
std::string mpsocFile) {
|
||||
if (internalState != InternalState::IDLE) {
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
internalState = InternalState::FLASH_WRITE;
|
||||
return semaphore.release();
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::startFlashRead(std::string obcFile,
|
||||
std::string mpsocFile,
|
||||
size_t readFileSize) {
|
||||
if (internalState != InternalState::IDLE) {
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
flashReadAndWrite.totalReadSize = readFileSize;
|
||||
internalState = InternalState::FLASH_READ;
|
||||
return semaphore.release();
|
||||
}
|
||||
|
||||
void PlocMpsocSpecialComHelperLegacy::resetHelper() {
|
||||
spParams.buf = commandBuffer;
|
||||
terminate = false;
|
||||
uartComIF->flushUartRxBuffer(comCookie);
|
||||
}
|
||||
|
||||
void PlocMpsocSpecialComHelperLegacy::stopProcess() { terminate = true; }
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::performFlashWrite() {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
std::ifstream file(flashReadAndWrite.obcFile, std::ifstream::binary);
|
||||
if (file.bad()) {
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
result = flashfopen(mpsoc::FileAccessModes::WRITE | mpsoc::FileAccessModes::OPEN_ALWAYS);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
// Set position of next character to end of file input stream
|
||||
file.seekg(0, file.end);
|
||||
// tellg returns position of character in input stream
|
||||
size_t remainingSize = file.tellg();
|
||||
size_t dataLength = 0;
|
||||
size_t bytesRead = 0;
|
||||
while (remainingSize > 0) {
|
||||
if (terminate) {
|
||||
return returnvalue::OK;
|
||||
}
|
||||
// The minus 4 is necessary for unknown reasons. Maybe some bug in the ILH software?
|
||||
if (remainingSize > mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4) {
|
||||
dataLength = mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4;
|
||||
} else {
|
||||
dataLength = remainingSize;
|
||||
}
|
||||
if (file.bad() or not file.is_open()) {
|
||||
return FILE_WRITE_ERROR;
|
||||
}
|
||||
file.seekg(bytesRead, file.beg);
|
||||
file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
|
||||
bytesRead += dataLength;
|
||||
remainingSize -= dataLength;
|
||||
mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
|
||||
result = tc.setPayload(fileBuf.data(), dataLength);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = tc.finishPacket();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
(*sequenceCount)++;
|
||||
result = handlePacketTransmissionNoReply(tc);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
}
|
||||
result = flashfclose();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::performFlashRead() {
|
||||
std::error_code e;
|
||||
std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary);
|
||||
if (ofile.bad()) {
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
ReturnValue_t result = flashfopen(mpsoc::FileAccessModes::READ);
|
||||
if (result != returnvalue::OK) {
|
||||
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
||||
return result;
|
||||
}
|
||||
size_t readSoFar = 0;
|
||||
size_t nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
|
||||
while (readSoFar < flashReadAndWrite.totalReadSize) {
|
||||
if (terminate) {
|
||||
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
|
||||
if (flashReadAndWrite.totalReadSize - readSoFar < mpsoc::MAX_FLASH_READ_DATA_SIZE) {
|
||||
nextReadSize = flashReadAndWrite.totalReadSize - readSoFar;
|
||||
}
|
||||
if (ofile.bad() or not ofile.is_open()) {
|
||||
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
||||
return FILE_READ_ERROR;
|
||||
}
|
||||
mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
|
||||
result = flashReadRequest.setPayload(nextReadSize);
|
||||
if (result != returnvalue::OK) {
|
||||
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
||||
return result;
|
||||
}
|
||||
result = flashReadRequest.finishPacket();
|
||||
if (result != returnvalue::OK) {
|
||||
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
||||
return result;
|
||||
}
|
||||
(*sequenceCount)++;
|
||||
result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
|
||||
if (result != returnvalue::OK) {
|
||||
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
||||
return result;
|
||||
}
|
||||
readSoFar += nextReadSize;
|
||||
}
|
||||
result = flashfclose();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::flashfopen(uint8_t mode) {
|
||||
spParams.buf = commandBuffer;
|
||||
mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
|
||||
ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = flashFopen.finishPacket();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
(*sequenceCount)++;
|
||||
result = handlePacketTransmissionNoReply(flashFopen);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::flashfclose() {
|
||||
spParams.buf = commandBuffer;
|
||||
mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
|
||||
ReturnValue_t result = flashFclose.finishPacket();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
(*sequenceCount)++;
|
||||
result = handlePacketTransmissionNoReply(flashFclose);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::handlePacketTransmissionFlashRead(
|
||||
mpsoc::TcFlashRead& tc, std::ofstream& ofile, size_t expectedReadLen) {
|
||||
ReturnValue_t result = sendCommand(tc);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = handleAck();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = handleTmReception();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
// We have the nominal case where the flash read report appears first, or the case where we
|
||||
// get an EXE failure immediately.
|
||||
if (spReader.getApid() == mpsoc::apid::TM_FLASH_READ_REPORT) {
|
||||
result = handleFlashReadReply(ofile, expectedReadLen);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
return handleExe();
|
||||
} else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
|
||||
handleExeFailure();
|
||||
} else {
|
||||
triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
|
||||
sif::warning << "PLOC MPSoC: Expected execution report "
|
||||
<< "but received space packet with apid " << std::hex << spReader.getApid()
|
||||
<< std::endl;
|
||||
}
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::handlePacketTransmissionNoReply(ploc::SpTcBase& tc) {
|
||||
ReturnValue_t result = sendCommand(tc);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = handleAck();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
return handleExe();
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::sendCommand(ploc::SpTcBase& tc) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
|
||||
if (result != returnvalue::OK) {
|
||||
sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
|
||||
triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
|
||||
return result;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleAck() {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
result = handleTmReception();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = checkReceivedTm();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
uint16_t apid = spReader.getApid();
|
||||
if (apid != mpsoc::apid::ACK_SUCCESS) {
|
||||
handleAckApidFailure(spReader);
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
void PlocMpsocSpecialComHelperLegacy::handleAckApidFailure(const ploc::SpTmReader& reader) {
|
||||
uint16_t apid = reader.getApid();
|
||||
if (apid == mpsoc::apid::ACK_FAILURE) {
|
||||
uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
|
||||
sif::warning << "PLOC MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
|
||||
triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState), status);
|
||||
} else {
|
||||
triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
|
||||
sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
|
||||
<< "but received space packet with apid " << std::hex << apid << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleExe() {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
|
||||
result = handleTmReception();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
result = checkReceivedTm();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
uint16_t apid = spReader.getApid();
|
||||
if (apid == mpsoc::apid::EXE_FAILURE) {
|
||||
handleExeFailure();
|
||||
return returnvalue::FAILED;
|
||||
} else if (apid != mpsoc::apid::EXE_SUCCESS) {
|
||||
triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
|
||||
sif::warning << "PLOC MPSoC: Expected execution report "
|
||||
<< "but received space packet with apid " << std::hex << apid << std::endl;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
void PlocMpsocSpecialComHelperLegacy::handleExeFailure() {
|
||||
uint16_t status = mpsoc::getStatusFromRawData(spReader.getFullData());
|
||||
sif::warning << "PLOC MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
|
||||
triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleTmReception() {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
tmCountdown.resetTimer();
|
||||
size_t readBytes = 0;
|
||||
size_t currentBytes = 0;
|
||||
uint32_t usleepDelay = 5;
|
||||
size_t fullPacketLen = 0;
|
||||
while (true) {
|
||||
if (tmCountdown.hasTimedOut()) {
|
||||
triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
result = receive(tmBuf.data() + readBytes, 6, ¤tBytes);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
spReader.setReadOnlyData(tmBuf.data(), tmBuf.size());
|
||||
fullPacketLen = spReader.getFullPacketLen();
|
||||
readBytes += currentBytes;
|
||||
if (readBytes == 6) {
|
||||
break;
|
||||
}
|
||||
usleep(usleepDelay);
|
||||
if (usleepDelay < 200000) {
|
||||
usleepDelay *= 4;
|
||||
}
|
||||
}
|
||||
while (true) {
|
||||
if (tmCountdown.hasTimedOut()) {
|
||||
triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
result = receive(tmBuf.data() + readBytes, fullPacketLen - readBytes, ¤tBytes);
|
||||
readBytes += currentBytes;
|
||||
if (fullPacketLen == readBytes) {
|
||||
break;
|
||||
}
|
||||
usleep(usleepDelay);
|
||||
if (usleepDelay < 200000) {
|
||||
usleepDelay *= 4;
|
||||
}
|
||||
}
|
||||
// arrayprinter::print(tmBuf.data(), readBytes);
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleFlashReadReply(std::ofstream& ofile,
|
||||
size_t expectedReadLen) {
|
||||
ReturnValue_t result = checkReceivedTm();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
uint16_t apid = spReader.getApid();
|
||||
if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
|
||||
triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
|
||||
sif::warning << "PLOC MPSoC Flash Read: Unexpected APID" << std::endl;
|
||||
return result;
|
||||
}
|
||||
const uint8_t* packetData = spReader.getPacketData();
|
||||
size_t deserDummy = spReader.getPacketDataLen() - mpsoc::CRC_SIZE;
|
||||
uint32_t receivedReadLen = 0;
|
||||
// I think this is buggy, weird stuff in the short name field.
|
||||
// std::string receivedShortName = std::string(reinterpret_cast<const char*>(packetData), 12);
|
||||
// if (receivedShortName != flashReadAndWrite.mpsocFile.substr(0, 11)) {
|
||||
// sif::warning << "PLOC MPSoC Flash Read: Missmatch between request file name and "
|
||||
// "received file name"
|
||||
// << std::endl;
|
||||
// triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_FILENAME_ERROR);
|
||||
// return returnvalue::FAILED;
|
||||
// }
|
||||
packetData += 12;
|
||||
result = SerializeAdapter::deSerialize(&receivedReadLen, &packetData, &deserDummy,
|
||||
SerializeIF::Endianness::NETWORK);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
if (receivedReadLen != expectedReadLen) {
|
||||
sif::warning << "PLOC MPSoC Flash Read: Missmatch between request read length and "
|
||||
"received read length"
|
||||
<< std::endl;
|
||||
triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_READLEN_ERROR);
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
ofile.write(reinterpret_cast<const char*>(packetData), receivedReadLen);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::fileCheck(std::string obcFile) {
|
||||
#ifdef XIPHOS_Q7S
|
||||
ReturnValue_t result = FilesystemHelper::checkPath(obcFile);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
#elif defined(TE0720_1CFA)
|
||||
if (not std::filesystem::exists(obcFile)) {
|
||||
sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist"
|
||||
<< std::endl;
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
#endif
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::startFlashReadOrWriteBase(std::string obcFile,
|
||||
std::string mpsocFile) {
|
||||
ReturnValue_t result = fileCheck(obcFile);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
flashReadAndWrite.obcFile = std::move(obcFile);
|
||||
flashReadAndWrite.mpsocFile = std::move(mpsocFile);
|
||||
resetHelper();
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::checkReceivedTm() {
|
||||
ReturnValue_t result = spReader.checkSize();
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "PLOC MPSoC: Size check on received TM failed" << std::endl;
|
||||
triggerEvent(MPSOC_TM_SIZE_ERROR);
|
||||
return result;
|
||||
}
|
||||
result = spReader.checkCrc();
|
||||
if (result != returnvalue::OK) {
|
||||
sif::warning << "PLOC MPSoC: CRC check failed" << std::endl;
|
||||
triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
|
||||
return result;
|
||||
}
|
||||
uint16_t recvSeqCnt = spReader.getSequenceCount();
|
||||
if (recvSeqCnt != *sequenceCount) {
|
||||
triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
|
||||
*sequenceCount = recvSeqCnt;
|
||||
}
|
||||
// This sequence count ping pong does not make any sense but it is how the MPSoC expects it.
|
||||
(*sequenceCount)++;
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMpsocSpecialComHelperLegacy::receive(uint8_t* data, size_t requestBytes,
|
||||
size_t* readBytes) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
uint8_t* buffer = nullptr;
|
||||
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
|
||||
triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
|
||||
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
|
||||
triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
if (*readBytes > 0) {
|
||||
std::memcpy(data, buffer, *readBytes);
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
|
@ -0,0 +1,200 @@
|
|||
#ifndef BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
|
||||
#define BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
|
||||
|
||||
#include <linux/payload/plocMpsocHelpers.h>
|
||||
#include <mission/utility/trace.h>
|
||||
|
||||
#include <string>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "fsfw/devicehandlers/CookieIF.h"
|
||||
#include "fsfw/objectmanager/SystemObject.h"
|
||||
#include "fsfw/osal/linux/BinarySemaphore.h"
|
||||
#include "fsfw/returnvalues/returnvalue.h"
|
||||
#include "fsfw/tasks/ExecutableObjectIF.h"
|
||||
#include "fsfw/tmtcservices/SourceSequenceCounter.h"
|
||||
#include "fsfw_hal/linux/serial/SerialComIF.h"
|
||||
#ifdef XIPHOS_Q7S
|
||||
#include "bsp_q7s/fs/SdCardManager.h"
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Helper class for MPSoC of PLOC intended to accelerate large data transfers between
|
||||
* MPSoC and OBC.
|
||||
* @author J. Meier
|
||||
*/
|
||||
class PlocMpsocSpecialComHelperLegacy : public SystemObject, public ExecutableObjectIF {
|
||||
public:
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HELPER;
|
||||
|
||||
//! [EXPORT] : [COMMENT] Flash write fails
|
||||
static const Event MPSOC_FLASH_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Flash write successful
|
||||
static const Event MPSOC_FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(1, severity::INFO);
|
||||
//! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command
|
||||
//! to the MPSoC
|
||||
//! P1: Return value returned by the communication interface sendMessage function
|
||||
//! P2: Internal state of MPSoC helper
|
||||
static const Event MPSOC_SENDING_COMMAND_FAILED = MAKE_EVENT(2, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Request receive message of communication interface failed
|
||||
//! P1: Return value returned by the communication interface requestReceiveMessage function
|
||||
//! P2: Internal state of MPSoC helper
|
||||
static const Event MPSOC_HELPER_REQUESTING_REPLY_FAILED = MAKE_EVENT(3, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Reading receive message of communication interface failed
|
||||
//! P1: Return value returned by the communication interface readingReceivedMessage function
|
||||
//! P2: Internal state of MPSoC helper
|
||||
static const Event MPSOC_HELPER_READING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Did not receive acknowledgment report
|
||||
//! P1: Number of bytes missing
|
||||
//! P2: Internal state of MPSoC helper
|
||||
static const Event MPSOC_MISSING_ACK = MAKE_EVENT(5, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Did not receive execution report
|
||||
//! P1: Number of bytes missing
|
||||
//! P2: Internal state of MPSoC helper
|
||||
static const Event MPSOC_MISSING_EXE = MAKE_EVENT(6, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Received acknowledgment failure report
|
||||
//! P1: Internal state of MPSoC
|
||||
static const Event MPSOC_ACK_FAILURE_REPORT = MAKE_EVENT(7, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Received execution failure report
|
||||
//! P1: Internal state of MPSoC
|
||||
static const Event MPSOC_EXE_FAILURE_REPORT = MAKE_EVENT(8, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Expected acknowledgment report but received space packet with other apid
|
||||
//! P1: Apid of received space packet
|
||||
//! P2: Internal state of MPSoC
|
||||
static const Event MPSOC_ACK_INVALID_APID = MAKE_EVENT(9, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Expected execution report but received space packet with other apid
|
||||
//! P1: Apid of received space packet
|
||||
//! P2: Internal state of MPSoC
|
||||
static const Event MPSOC_EXE_INVALID_APID = MAKE_EVENT(10, severity::LOW);
|
||||
//! [EXPORT] : [COMMENT] Received sequence count does not match expected sequence count
|
||||
//! P1: Expected sequence count
|
||||
//! P2: Received sequence count
|
||||
static const Event MPSOC_HELPER_SEQ_CNT_MISMATCH = MAKE_EVENT(11, severity::LOW);
|
||||
static const Event MPSOC_TM_SIZE_ERROR = MAKE_EVENT(12, severity::LOW);
|
||||
static const Event MPSOC_TM_CRC_MISSMATCH = MAKE_EVENT(13, severity::LOW);
|
||||
static const Event MPSOC_FLASH_READ_PACKET_ERROR = MAKE_EVENT(14, severity::LOW);
|
||||
static const Event MPSOC_FLASH_READ_FAILED = MAKE_EVENT(15, severity::LOW);
|
||||
static const Event MPSOC_FLASH_READ_SUCCESSFUL = MAKE_EVENT(16, severity::INFO);
|
||||
static const Event MPSOC_READ_TIMEOUT = MAKE_EVENT(17, severity::LOW);
|
||||
|
||||
enum FlashReadErrorType : uint32_t {
|
||||
FLASH_READ_APID_ERROR = 0,
|
||||
FLASH_READ_FILENAME_ERROR = 1,
|
||||
FLASH_READ_READLEN_ERROR = 2
|
||||
};
|
||||
|
||||
PlocMpsocSpecialComHelperLegacy(object_id_t objectId);
|
||||
virtual ~PlocMpsocSpecialComHelperLegacy();
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
|
||||
|
||||
ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
|
||||
void setComCookie(CookieIF* comCookie_);
|
||||
|
||||
/**
|
||||
* @brief Starts flash write sequence
|
||||
*
|
||||
* @param obcFile File where to read from the data
|
||||
* @param mpsocFile The file of the MPSoC where should be written to
|
||||
*
|
||||
* @return returnvalue::OK if successful, otherwise error return value
|
||||
*/
|
||||
ReturnValue_t startFlashWrite(std::string obcFile, std::string mpsocFile);
|
||||
/**
|
||||
*
|
||||
* @param obcFile Full target file name on OBC
|
||||
* @param mpsocFile The file on the MPSoC which should be copied ot the OBC
|
||||
* @param readFileSize The size of the file on the MPSoC.
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t startFlashRead(std::string obcFile, std::string mpsocFile, size_t readFileSize);
|
||||
|
||||
/**
|
||||
* @brief Can be used to interrupt a running data transfer.
|
||||
*/
|
||||
void stopProcess();
|
||||
|
||||
/**
|
||||
* @brief Sets the sequence count object responsible for the sequence count handling
|
||||
*/
|
||||
void setSequenceCount(SourceSequenceCounter* sequenceCount_);
|
||||
|
||||
private:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
|
||||
|
||||
//! [EXPORT] : [COMMENT] File error occured for file transfers from OBC to the MPSoC.
|
||||
static const ReturnValue_t FILE_WRITE_ERROR = MAKE_RETURN_CODE(0xA0);
|
||||
//! [EXPORT] : [COMMENT] File error occured for file transfers from MPSoC to OBC.
|
||||
static const ReturnValue_t FILE_READ_ERROR = MAKE_RETURN_CODE(0xA1);
|
||||
|
||||
// Maximum number of times the communication interface retries polling data from the reply
|
||||
// buffer
|
||||
static const int RETRIES = 10000;
|
||||
|
||||
struct FlashInfo {
|
||||
std::string obcFile;
|
||||
std::string mpsocFile;
|
||||
};
|
||||
|
||||
struct FlashRead : public FlashInfo {
|
||||
size_t totalReadSize = 0;
|
||||
};
|
||||
|
||||
struct FlashRead flashReadAndWrite;
|
||||
#if OBSW_THREAD_TRACING == 1
|
||||
uint32_t opCounter = 0;
|
||||
#endif
|
||||
|
||||
enum class InternalState { IDLE, FLASH_WRITE, FLASH_READ };
|
||||
|
||||
InternalState internalState = InternalState::IDLE;
|
||||
|
||||
BinarySemaphore semaphore;
|
||||
#ifdef XIPHOS_Q7S
|
||||
SdCardManager* sdcMan = nullptr;
|
||||
#endif
|
||||
uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
|
||||
SpacePacketCreator creator;
|
||||
ploc::SpTcParams spParams = ploc::SpTcParams(creator);
|
||||
|
||||
Countdown tmCountdown = Countdown(5000);
|
||||
|
||||
std::array<uint8_t, mpsoc::SP_MAX_DATA_SIZE> fileBuf{};
|
||||
std::array<uint8_t, mpsoc::MAX_REPLY_SIZE> tmBuf{};
|
||||
|
||||
bool terminate = false;
|
||||
|
||||
/**
|
||||
* Communication interface of MPSoC responsible for low level access. Must be set by the
|
||||
* MPSoC Handler.
|
||||
*/
|
||||
SerialComIF* uartComIF = nullptr;
|
||||
// Communication cookie. Must be set by the MPSoC Handler
|
||||
CookieIF* comCookie = nullptr;
|
||||
// Sequence count, must be set by Ploc MPSoC Handler
|
||||
SourceSequenceCounter* sequenceCount = nullptr;
|
||||
ploc::SpTmReader spReader;
|
||||
|
||||
void resetHelper();
|
||||
ReturnValue_t performFlashWrite();
|
||||
ReturnValue_t performFlashRead();
|
||||
ReturnValue_t flashfopen(uint8_t accessMode);
|
||||
ReturnValue_t flashfclose();
|
||||
ReturnValue_t handlePacketTransmissionNoReply(ploc::SpTcBase& tc);
|
||||
ReturnValue_t handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc, std::ofstream& ofile,
|
||||
size_t expectedReadLen);
|
||||
ReturnValue_t handleFlashReadReply(std::ofstream& ofile, size_t expectedReadLen);
|
||||
ReturnValue_t sendCommand(ploc::SpTcBase& tc);
|
||||
ReturnValue_t receive(uint8_t* data, size_t requestBytes, size_t* readBytes);
|
||||
ReturnValue_t handleAck();
|
||||
ReturnValue_t handleExe();
|
||||
ReturnValue_t startFlashReadOrWriteBase(std::string obcFile, std::string mpsocFile);
|
||||
ReturnValue_t fileCheck(std::string obcFile);
|
||||
void handleAckApidFailure(const ploc::SpTmReader& reader);
|
||||
void handleExeFailure();
|
||||
ReturnValue_t handleTmReception();
|
||||
ReturnValue_t checkReceivedTm();
|
||||
};
|
||||
|
||||
#endif /* BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_ */
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,389 @@
|
|||
#ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
|
||||
#define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
|
||||
|
||||
#include <linux/payload/PlocSupvUartMan.h>
|
||||
#include <linux/payload/plocSupvDefs.h>
|
||||
#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "devices/powerSwitcherList.h"
|
||||
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
|
||||
#include "fsfw/timemanager/Countdown.h"
|
||||
#include "fsfw_hal/linux/gpio/Gpio.h"
|
||||
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
|
||||
#include "fsfw_hal/linux/serial/SerialComIF.h"
|
||||
|
||||
#ifdef XIPHOS_Q7S
|
||||
#include "bsp_q7s/fs/SdCardManager.h"
|
||||
#endif
|
||||
|
||||
using supv::ExecutionReport;
|
||||
using supv::TcBase;
|
||||
|
||||
static constexpr bool DEBUG_PLOC_SUPV = true;
|
||||
static constexpr bool REDUCE_NORMAL_MODE_PRINTOUT = true;
|
||||
|
||||
/**
|
||||
* @brief This is the device handler for the supervisor of the PLOC which is programmed by
|
||||
* Thales.
|
||||
*
|
||||
* @details The PLOC uses the space packet protocol for communication. On each command the PLOC
|
||||
* answers with at least one acknowledgment and one execution report.
|
||||
* Flight manual:
|
||||
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_Commands
|
||||
* ILH ICD: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
|
||||
* Arbeitsdaten/08_Used%20Components/PLOC&fileid=940960
|
||||
* @author J. Meier
|
||||
*/
|
||||
class PlocSupervisorHandler : public DeviceHandlerBase {
|
||||
public:
|
||||
PlocSupervisorHandler(object_id_t objectId, CookieIF* comCookie, Gpio uartIsolatorSwitch,
|
||||
power::Switch_t powerSwitch, PlocSupvUartManager& supvHelper);
|
||||
virtual ~PlocSupervisorHandler();
|
||||
|
||||
virtual ReturnValue_t initialize() override;
|
||||
void performOperationHook() override;
|
||||
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
|
||||
const uint8_t* data, size_t size) override;
|
||||
|
||||
protected:
|
||||
void doStartUp() override;
|
||||
void doShutDown() override;
|
||||
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
|
||||
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
|
||||
void fillCommandAndReplyMap() override;
|
||||
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
|
||||
size_t commandDataLen) override;
|
||||
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
|
||||
size_t* foundLen) override;
|
||||
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
|
||||
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) override;
|
||||
ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
|
||||
uint8_t expectedReplies = 1, bool useAlternateId = false,
|
||||
DeviceCommandId_t alternateReplyID = 0) override;
|
||||
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
|
||||
// ReturnValue_t doSendReadHook() override;
|
||||
void doOffActivity() override;
|
||||
|
||||
private:
|
||||
static const uint16_t APID_MASK = 0x7FF;
|
||||
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
|
||||
static const uint8_t EXE_STATUS_OFFSET = 10;
|
||||
static const uint8_t SIZE_NULL_TERMINATOR = 1;
|
||||
// 5 s
|
||||
static const uint32_t EXECUTION_DEFAULT_TIMEOUT = 5000;
|
||||
// 70 S
|
||||
static const uint32_t ACKNOWLEDGE_DEFAULT_TIMEOUT = 5000;
|
||||
// 60 s
|
||||
static const uint32_t MRAM_DUMP_EXECUTION_TIMEOUT = 60000;
|
||||
// 70 s
|
||||
static const uint32_t COPY_ADC_TO_MRAM_TIMEOUT = 70000;
|
||||
// 60 s
|
||||
static const uint32_t MRAM_DUMP_TIMEOUT = 60000;
|
||||
|
||||
enum class StartupState : uint8_t {
|
||||
OFF,
|
||||
BOOTING,
|
||||
SET_TIME,
|
||||
WAIT_FOR_TIME_REPLY,
|
||||
TIME_WAS_SET,
|
||||
ON
|
||||
};
|
||||
|
||||
static constexpr bool SET_TIME_DURING_BOOT = true;
|
||||
|
||||
StartupState startupState = StartupState::OFF;
|
||||
|
||||
uint8_t commandBuffer[supv::MAX_COMMAND_SIZE];
|
||||
SpacePacketCreator creator;
|
||||
supv::TcParams spParams = supv::TcParams(creator);
|
||||
|
||||
/**
|
||||
* This variable is used to store the id of the next reply to receive. This is necessary
|
||||
* because the PLOC sends as reply to each command at least one acknowledgment and execution
|
||||
* report.
|
||||
*/
|
||||
DeviceCommandId_t nextReplyId = supv::NONE;
|
||||
|
||||
SerialComIF* uartComIf = nullptr;
|
||||
LinuxLibgpioIF* gpioComIF = nullptr;
|
||||
Gpio uartIsolatorSwitch;
|
||||
bool shutdownCmdSent = false;
|
||||
// Yeah, I am using an extra variable because I once again don't know
|
||||
// what the hell the base class is doing and I don't care anymore.
|
||||
bool normalCommandIsPending = false;
|
||||
// True men implement their reply timeout handling themselves!
|
||||
Countdown normalCmdCd = Countdown(2000);
|
||||
bool commandIsPending = false;
|
||||
Countdown cmdCd = Countdown(2000);
|
||||
|
||||
supv::HkSet hkset;
|
||||
supv::BootStatusReport bootStatusReport;
|
||||
supv::LatchupStatusReport latchupStatusReport;
|
||||
supv::CountersReport countersReport;
|
||||
supv::AdcReport adcReport;
|
||||
|
||||
const power::Switch_t powerSwitch = power::NO_SWITCH;
|
||||
supv::TmBase tmReader;
|
||||
|
||||
PlocSupvUartManager& uartManager;
|
||||
MessageQueueIF* eventQueue = nullptr;
|
||||
|
||||
/** Number of expected replies following the MRAM dump command */
|
||||
uint32_t expectedMramDumpPackets = 0;
|
||||
uint32_t receivedMramDumpPackets = 0;
|
||||
/** Set to true as soon as a complete space packet is present in the spacePacketBuffer */
|
||||
bool packetInBuffer = false;
|
||||
|
||||
/** This buffer is used to concatenate space packets received in two different read steps */
|
||||
uint8_t spacePacketBuffer[supv::MAX_PACKET_SIZE];
|
||||
|
||||
#ifdef XIPHOS_Q7S
|
||||
SdCardManager* sdcMan = nullptr;
|
||||
#endif
|
||||
|
||||
// Path to supervisor specific files on SD card
|
||||
std::string supervisorFilePath = "ploc/supervisor";
|
||||
std::string activeMramFile;
|
||||
|
||||
Countdown executionReportTimeout = Countdown(EXECUTION_DEFAULT_TIMEOUT, false);
|
||||
Countdown acknowledgementReportTimeout = Countdown(ACKNOWLEDGE_DEFAULT_TIMEOUT, false);
|
||||
// Vorago nees some time to boot properly
|
||||
Countdown bootTimeout = Countdown(supv::BOOT_TIMEOUT_MS);
|
||||
Countdown mramDumpTimeout = Countdown(MRAM_DUMP_TIMEOUT);
|
||||
|
||||
PoolEntry<uint16_t> adcRawEntry = PoolEntry<uint16_t>(16);
|
||||
PoolEntry<uint16_t> adcEngEntry = PoolEntry<uint16_t>(16);
|
||||
PoolEntry<uint32_t> latchupCounters = PoolEntry<uint32_t>(7);
|
||||
PoolEntry<uint8_t> fmcStateEntry = PoolEntry<uint8_t>(1);
|
||||
PoolEntry<uint8_t> bootStateEntry = PoolEntry<uint8_t>(1);
|
||||
PoolEntry<uint8_t> bootCyclesEntry = PoolEntry<uint8_t>(1);
|
||||
PoolEntry<uint32_t> tempSupEntry = PoolEntry<uint32_t>(1);
|
||||
|
||||
/**
|
||||
* @brief Adjusts the timeout of the execution report dependent on command
|
||||
*/
|
||||
void setExecutionTimeout(DeviceCommandId_t command);
|
||||
|
||||
void handlePacketPrint();
|
||||
|
||||
/**
|
||||
* @brief Handles event messages received from the supervisor helper
|
||||
*/
|
||||
void handleEvent(EventMessage* eventMessage);
|
||||
|
||||
ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches);
|
||||
|
||||
/**
|
||||
* @brief This function checks the crc of the received PLOC reply.
|
||||
*
|
||||
* @param start Pointer to the first byte of the reply.
|
||||
* @param foundLen Pointer to the length of the whole packet.
|
||||
*
|
||||
* @return returnvalue::OK if CRC is ok, otherwise CRC_FAILURE.
|
||||
*/
|
||||
ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
|
||||
|
||||
/**
|
||||
* @brief This function handles the acknowledgment report.
|
||||
*
|
||||
* @param data Pointer to the data holding the acknowledgment report.
|
||||
*
|
||||
* @return returnvalue::OK if successful, otherwise an error code.
|
||||
*/
|
||||
ReturnValue_t handleAckReport(const uint8_t* data);
|
||||
|
||||
/**
|
||||
* @brief This function handles the data of a execution report.
|
||||
*
|
||||
* @param data Pointer to the received data packet.
|
||||
*
|
||||
* @return returnvalue::OK if successful, otherwise an error code.
|
||||
*/
|
||||
ReturnValue_t handleExecutionReport(const uint8_t* data);
|
||||
|
||||
/**
|
||||
* @brief This function handles the housekeeping report. This means verifying the CRC of the
|
||||
* reply and filling the appropriate dataset.
|
||||
*
|
||||
* @param data Pointer to the data buffer holding the housekeeping read report.
|
||||
*
|
||||
* @return returnvalue::OK if successful, otherwise an error code.
|
||||
*/
|
||||
ReturnValue_t handleHkReport(const uint8_t* data);
|
||||
|
||||
/**
|
||||
* @brief This function calls the function to check the CRC of the received boot status report
|
||||
* and fills the associated dataset with the boot status information.
|
||||
*/
|
||||
ReturnValue_t handleBootStatusReport(const uint8_t* data);
|
||||
|
||||
ReturnValue_t handleLatchupStatusReport(const uint8_t* data);
|
||||
ReturnValue_t handleCounterReport(const uint8_t* data);
|
||||
void handleBadApidServiceCombination(Event result, unsigned int apid, unsigned int serviceId);
|
||||
ReturnValue_t handleAdcReport(const uint8_t* data);
|
||||
ReturnValue_t genericHandleTm(const char* contextString, const uint8_t* data,
|
||||
LocalPoolDataSetBase& set);
|
||||
|
||||
void disableCommand(DeviceCommandId_t cmd);
|
||||
|
||||
/**
|
||||
* @brief Depending on the current active command, this function sets the reply id of the
|
||||
* next reply after a successful acknowledgment report has been received. This is
|
||||
* required by the function getNextReplyLength() to identify the length of the next
|
||||
* reply to read.
|
||||
*/
|
||||
void setNextReplyId();
|
||||
|
||||
/**
|
||||
* @brief This function handles action message replies in case the telemetry has been
|
||||
* requested by another object.
|
||||
*
|
||||
* @param data Pointer to the telemetry data.
|
||||
* @param dataSize Size of telemetry in bytes.
|
||||
* @param replyId Id of the reply. This will be added to the ActionMessage.
|
||||
*/
|
||||
void handleDeviceTm(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
|
||||
|
||||
/**
|
||||
* @brief This function prepares a space packet which does not transport any data in the
|
||||
* packet data field apart from the crc.
|
||||
*/
|
||||
ReturnValue_t prepareEmptyCmd(uint16_t apid, uint8_t serviceId);
|
||||
|
||||
/**
|
||||
* @brief This function initializes the space packet to select the boot image of the MPSoC.
|
||||
*/
|
||||
ReturnValue_t prepareSelBootImageCmd(const uint8_t* commandData);
|
||||
|
||||
ReturnValue_t prepareDisableHk();
|
||||
|
||||
/**
|
||||
* @brief This function fills the commandBuffer with the data to update the time of the
|
||||
* PLOC supervisor.
|
||||
*/
|
||||
ReturnValue_t prepareSetTimeRefCmd();
|
||||
|
||||
/**
|
||||
* @brief This function fills the commandBuffer with the data to change the boot timeout
|
||||
* value in the PLOC supervisor.
|
||||
*/
|
||||
ReturnValue_t prepareSetBootTimeoutCmd(const uint8_t* commandData);
|
||||
|
||||
ReturnValue_t prepareRestartTriesCmd(const uint8_t* commandData);
|
||||
|
||||
ReturnValue_t prepareFactoryResetCmd(const uint8_t* commandData, size_t len);
|
||||
|
||||
/**
|
||||
* @brief This function fills the command buffer with the packet to enable or disable the
|
||||
* watchdogs on the PLOC.
|
||||
*/
|
||||
void prepareWatchdogsEnableCmd(const uint8_t* commandData);
|
||||
|
||||
/**
|
||||
* @brief This function fills the command buffer with the packet to set the watchdog timer
|
||||
* of one of the three watchdogs (PS, PL, INT).
|
||||
*/
|
||||
ReturnValue_t prepareWatchdogsConfigTimeoutCmd(const uint8_t* commandData);
|
||||
|
||||
ReturnValue_t prepareLatchupConfigCmd(const uint8_t* commandData,
|
||||
DeviceCommandId_t deviceCommand);
|
||||
ReturnValue_t prepareSetAlertLimitCmd(const uint8_t* commandData);
|
||||
ReturnValue_t prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData);
|
||||
ReturnValue_t prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData);
|
||||
ReturnValue_t prepareSetAdcThresholdCmd(const uint8_t* commandData);
|
||||
ReturnValue_t prepareRunAutoEmTest(const uint8_t* commandData);
|
||||
ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData);
|
||||
ReturnValue_t prepareSetGpioCmd(const uint8_t* commandData, size_t commandDataLen);
|
||||
ReturnValue_t prepareReadGpioCmd(const uint8_t* commandData, size_t commandDataLen);
|
||||
|
||||
/**
|
||||
* @brief Copies the content of a space packet to the command buffer.
|
||||
*/
|
||||
void finishTcPrep(TcBase& tc);
|
||||
|
||||
/**
|
||||
* @brief In case an acknowledgment failure reply has been received this function disables
|
||||
* all previously enabled commands and resets the exepected replies variable of an
|
||||
* active command.
|
||||
*/
|
||||
void disableAllReplies();
|
||||
|
||||
void disableReply(DeviceCommandId_t replyId);
|
||||
|
||||
/**
|
||||
* @brief This function sends a failure report if the active action was commanded by an other
|
||||
* object.
|
||||
*
|
||||
* @param replyId The id of the reply which signals a failure.
|
||||
* @param status A status byte which gives information about the failure type.
|
||||
*/
|
||||
void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
|
||||
|
||||
/**
|
||||
* @brief This function disables the execution report reply. Within this function also the
|
||||
* the variable expectedReplies of an active command will be set to 0.
|
||||
*/
|
||||
void disableExeReportReply();
|
||||
|
||||
/**
|
||||
* @brief This function generates the Service 8 packets for the MRAM dump data.
|
||||
*/
|
||||
ReturnValue_t handleMramDumpPacket(DeviceCommandId_t id);
|
||||
|
||||
/**
|
||||
* @brief With this function the number of expected replies following an MRAM dump command
|
||||
* will be increased. This is necessary to release the command in case not all replies
|
||||
* have been received.
|
||||
*/
|
||||
void increaseExpectedMramReplies(DeviceCommandId_t id);
|
||||
|
||||
/**
|
||||
* @brief Writes the data of the MRAM dump to a file. The file will be created when receiving
|
||||
* the first packet.
|
||||
*/
|
||||
ReturnValue_t handleMramDumpFile(DeviceCommandId_t id);
|
||||
|
||||
/**
|
||||
* @brief Extracts the length field of a spacePacket referenced by the spacePacket pointer.
|
||||
*
|
||||
* @param spacePacket Pointer to the buffer holding the space packet.
|
||||
*
|
||||
* @return The value stored in the length field of the data field.
|
||||
*/
|
||||
uint16_t readSpacePacketLength(uint8_t* spacePacket);
|
||||
|
||||
/**
|
||||
* @brief Extracts the sequence flags from a space packet referenced by the spacePacket
|
||||
* pointer.
|
||||
*
|
||||
* @param spacePacket Pointer to the buffer holding the space packet.
|
||||
*
|
||||
* @return uint8_t where the two least significant bits hold the sequence flags.
|
||||
*/
|
||||
uint8_t readSequenceFlags(uint8_t* spacePacket);
|
||||
|
||||
ReturnValue_t createMramDumpFile();
|
||||
ReturnValue_t getTimeStampString(std::string& timeStamp);
|
||||
|
||||
ReturnValue_t prepareSetShutdownTimeoutCmd(const uint8_t* commandData);
|
||||
|
||||
ReturnValue_t extractUpdateCommand(const uint8_t* commandData, size_t size,
|
||||
supv::UpdateParams& params);
|
||||
ReturnValue_t extractBaseParams(const uint8_t** commandData, size_t& remSize,
|
||||
supv::UpdateParams& params);
|
||||
ReturnValue_t eventSubscription();
|
||||
|
||||
ReturnValue_t handleExecutionSuccessReport(ExecutionReport& report);
|
||||
void handleExecutionFailureReport(ExecutionReport& report);
|
||||
|
||||
void printAckFailureInfo(uint16_t statusCode, DeviceCommandId_t commandId);
|
||||
|
||||
pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
|
||||
ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
|
||||
uint32_t* msToReachTheMode) override;
|
||||
};
|
||||
|
||||
#endif /* MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_ */
|
||||
|
|
@ -0,0 +1,32 @@
|
|||
#include "GpioCookie.h"
|
||||
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
|
||||
GpioCookie::GpioCookie() {}
|
||||
|
||||
ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
|
||||
if (gpioConfig == nullptr) {
|
||||
sif::debug << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
auto gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()) {
|
||||
auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
|
||||
if (statusPair.second == false) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
sif::error << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
|
||||
<< std::endl;
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
sif::error << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
|
||||
|
||||
GpioCookie::~GpioCookie() {}
|
||||
|
|
@ -1,11 +1,12 @@
|
|||
#ifndef LINUX_GPIO_GPIOCOOKIE_H_
|
||||
#define LINUX_GPIO_GPIOCOOKIE_H_
|
||||
|
||||
#include "GpioIF.h"
|
||||
#include "gpioDefinitions.h"
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
|
||||
#include "GpioIF.h"
|
||||
#include "gpioDefinitions.h"
|
||||
|
||||
/**
|
||||
* @brief Cookie for the GpioIF. Allows the GpioIF to determine which
|
||||
* GPIOs to initialize and whether they should be configured as in- or
|
||||
|
|
@ -16,24 +17,23 @@
|
|||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class GpioCookie: public CookieIF {
|
||||
public:
|
||||
class GpioCookie : public CookieIF {
|
||||
public:
|
||||
GpioCookie();
|
||||
|
||||
GpioCookie();
|
||||
virtual ~GpioCookie();
|
||||
|
||||
virtual ~GpioCookie();
|
||||
ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
|
||||
/**
|
||||
* @brief Get map with registered GPIOs.
|
||||
*/
|
||||
GpioMap getGpioMap() const;
|
||||
|
||||
ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
|
||||
/**
|
||||
* @brief Get map with registered GPIOs.
|
||||
*/
|
||||
GpioMap getGpioMap() const;
|
||||
|
||||
private:
|
||||
/**
|
||||
* Returns a copy of the internal GPIO map.
|
||||
*/
|
||||
GpioMap gpioMap;
|
||||
private:
|
||||
/**
|
||||
* Returns a copy of the internal GPIO map.
|
||||
*/
|
||||
GpioMap gpioMap;
|
||||
};
|
||||
|
||||
#endif /* LINUX_GPIO_GPIOCOOKIE_H_ */
|
||||
|
|
@ -0,0 +1,54 @@
|
|||
#ifndef LINUX_GPIO_GPIOIF_H_
|
||||
#define LINUX_GPIO_GPIOIF_H_
|
||||
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
|
||||
#include "gpioDefinitions.h"
|
||||
|
||||
class GpioCookie;
|
||||
|
||||
/**
|
||||
* @brief This class defines the interface for objects requiring the control
|
||||
* over GPIOs.
|
||||
* @author J. Meier
|
||||
*/
|
||||
class GpioIF : public HasReturnvaluesIF {
|
||||
public:
|
||||
virtual ~GpioIF(){};
|
||||
|
||||
/**
|
||||
* @brief Called by the GPIO using object.
|
||||
* @param cookie Cookie specifying informations of the GPIOs required
|
||||
* by a object.
|
||||
*/
|
||||
virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
|
||||
|
||||
/**
|
||||
* @brief By implementing this function a child must provide the
|
||||
* functionality to pull a certain GPIO to high logic level.
|
||||
*
|
||||
* @param gpioId A unique number which specifies the GPIO to drive.
|
||||
* @return Returns RETURN_OK for success. This should never return RETURN_FAILED.
|
||||
*/
|
||||
virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
|
||||
|
||||
/**
|
||||
* @brief By implementing this function a child must provide the
|
||||
* functionality to pull a certain GPIO to low logic level.
|
||||
*
|
||||
* @param gpioId A unique number which specifies the GPIO to drive.
|
||||
*/
|
||||
virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
|
||||
|
||||
/**
|
||||
* @brief This function requires a child to implement the functionality to read the state of
|
||||
* an ouput or input gpio.
|
||||
*
|
||||
* @param gpioId A unique number which specifies the GPIO to read.
|
||||
* @param gpioState State of GPIO will be written to this pointer.
|
||||
*/
|
||||
virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
|
||||
};
|
||||
|
||||
#endif /* LINUX_GPIO_GPIOIF_H_ */
|
||||
|
|
@ -0,0 +1,295 @@
|
|||
#include "LinuxLibgpioIF.h"
|
||||
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
#include <gpiod.h>
|
||||
#include <linux/gpio/gpioDefinitions.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <utility>
|
||||
|
||||
#include "GpioCookie.h"
|
||||
|
||||
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
|
||||
struct gpiod_chip* chip = gpiod_chip_open_by_label("/amba_pl/gpio@42030000");
|
||||
|
||||
sif::debug << chip->name << std::endl;
|
||||
}
|
||||
|
||||
LinuxLibgpioIF::~LinuxLibgpioIF() {}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
|
||||
ReturnValue_t result;
|
||||
if (gpioCookie == nullptr) {
|
||||
sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
GpioMap mapToAdd = gpioCookie->getGpioMap();
|
||||
|
||||
/* Check whether this ID already exists in the map and remove duplicates */
|
||||
result = checkForConflicts(mapToAdd);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
result = configureGpios(mapToAdd);
|
||||
if (result != RETURN_OK) {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
/* Register new GPIOs in gpioMap */
|
||||
gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
|
||||
for (auto& gpioConfig : mapToAdd) {
|
||||
switch (gpioConfig.second->gpioType) {
|
||||
case (gpio::GpioTypes::NONE): {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
case (gpio::GpioTypes::GPIOD_REGULAR): {
|
||||
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
|
||||
if (regularGpio == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
configureRegularGpio(gpioConfig.first, regularGpio);
|
||||
break;
|
||||
}
|
||||
case (gpio::GpioTypes::CALLBACK): {
|
||||
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
|
||||
if (gpioCallback->callback == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
|
||||
gpioCallback->initValue, gpioCallback->callbackArgs);
|
||||
}
|
||||
}
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio) {
|
||||
std::string chipname;
|
||||
unsigned int lineNum;
|
||||
struct gpiod_chip* chip;
|
||||
gpio::Direction direction;
|
||||
std::string consumer;
|
||||
struct gpiod_line* lineHandle;
|
||||
int result = 0;
|
||||
|
||||
chipname = regularGpio->chipname;
|
||||
chip = gpiod_chip_open_by_name(chipname.c_str());
|
||||
if (!chip) {
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open chip " << chipname
|
||||
<< ". Gpio ID: " << gpioId << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
lineNum = regularGpio->lineNum;
|
||||
lineHandle = gpiod_chip_get_line(chip, lineNum);
|
||||
if (!lineHandle) {
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line for GPIO with id " << gpioId
|
||||
<< std::endl;
|
||||
gpiod_chip_close(chip);
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
direction = regularGpio->direction;
|
||||
consumer = regularGpio->consumer;
|
||||
/* Configure direction and add a description to the GPIO */
|
||||
switch (direction) {
|
||||
case (gpio::OUT): {
|
||||
result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio->initValue);
|
||||
if (result < 0) {
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum
|
||||
<< " from GPIO instance with ID: " << gpioId << std::endl;
|
||||
gpiod_line_release(lineHandle);
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case (gpio::IN): {
|
||||
result = gpiod_line_request_input(lineHandle, consumer.c_str());
|
||||
if (result < 0) {
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum
|
||||
<< " from GPIO instance with ID: " << gpioId << std::endl;
|
||||
gpiod_line_release(lineHandle);
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
}
|
||||
/**
|
||||
* Write line handle to GPIO configuration instance so it can later be used to set or
|
||||
* read states of GPIOs.
|
||||
*/
|
||||
regularGpio->lineHandle = lineHandle;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
|
||||
gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()) {
|
||||
sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl;
|
||||
return UNKNOWN_GPIO_ID;
|
||||
}
|
||||
|
||||
if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
|
||||
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
|
||||
} else {
|
||||
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
|
||||
if (gpioCallback->callback == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, 1,
|
||||
gpioCallback->callbackArgs);
|
||||
}
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
|
||||
gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()) {
|
||||
sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl;
|
||||
return UNKNOWN_GPIO_ID;
|
||||
}
|
||||
|
||||
if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
|
||||
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
|
||||
} else {
|
||||
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
|
||||
if (gpioCallback->callback == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, 0,
|
||||
gpioCallback->callbackArgs);
|
||||
}
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio,
|
||||
unsigned int logicLevel) {
|
||||
if (regularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
|
||||
int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
|
||||
if (result < 0) {
|
||||
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
|
||||
<< " to logic level " << logicLevel << std::endl;
|
||||
return DRIVE_GPIO_FAILURE;
|
||||
}
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
|
||||
gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()) {
|
||||
sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
|
||||
return UNKNOWN_GPIO_ID;
|
||||
}
|
||||
|
||||
if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
|
||||
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
|
||||
if (regularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
*gpioState = gpiod_line_get_value(regularGpio->lineHandle);
|
||||
} else {
|
||||
}
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
|
||||
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
for (auto& gpioConfig : mapToAdd) {
|
||||
switch (gpioConfig.second->gpioType) {
|
||||
case (gpio::GpioTypes::GPIOD_REGULAR): {
|
||||
auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
|
||||
if (regularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
/* Check for conflicts and remove duplicates if necessary */
|
||||
result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
status = result;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case (gpio::GpioTypes::CALLBACK): {
|
||||
auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
|
||||
if (callbackGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
/* Check for conflicts and remove duplicates if necessary */
|
||||
result = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
status = result;
|
||||
}
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
}
|
||||
}
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
|
||||
GpiodRegular* gpioToCheck,
|
||||
GpioMap& mapToAdd) {
|
||||
/* Cross check with private map */
|
||||
gpioMapIter = gpioMap.find(gpioIdToCheck);
|
||||
if (gpioMapIter != gpioMap.end()) {
|
||||
if (gpioMapIter->second->gpioType != gpio::GpioTypes::GPIOD_REGULAR) {
|
||||
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
|
||||
"GPIO type"
|
||||
<< gpioIdToCheck << ". Removing duplicate." << std::endl;
|
||||
mapToAdd.erase(gpioIdToCheck);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
|
||||
if (ownRegularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
|
||||
/* Remove element from map to add because a entry for this GPIO
|
||||
already exists */
|
||||
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
|
||||
<< " detected. Duplicate will be removed from map to add." << std::endl;
|
||||
mapToAdd.erase(gpioIdToCheck);
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck,
|
||||
GpioCallback* callbackGpio,
|
||||
GpioMap& mapToAdd) {
|
||||
/* Cross check with private map */
|
||||
gpioMapIter = gpioMap.find(gpioIdToCheck);
|
||||
if (gpioMapIter != gpioMap.end()) {
|
||||
if (gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) {
|
||||
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
|
||||
"GPIO type"
|
||||
<< gpioIdToCheck << ". Removing duplicate." << std::endl;
|
||||
mapToAdd.erase(gpioIdToCheck);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
/* Remove element from map to add because a entry for this GPIO
|
||||
already exists */
|
||||
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
|
||||
<< " detected. Duplicate will be removed from map to add." << std::endl;
|
||||
mapToAdd.erase(gpioIdToCheck);
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
|
@ -0,0 +1,75 @@
|
|||
#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
|
||||
#define LINUX_GPIO_LINUXLIBGPIOIF_H_
|
||||
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
#include <fsfwconfig/returnvalues/classIds.h>
|
||||
#include <linux/gpio/GpioIF.h>
|
||||
|
||||
class GpioCookie;
|
||||
|
||||
/**
|
||||
* @brief This class implements the GpioIF for a linux based system. The
|
||||
* implementation is based on the libgpiod lib which requires linux 4.8
|
||||
* or higher.
|
||||
* @note The Petalinux SDK from Xilinx supports libgpiod since Petalinux
|
||||
* 2019.1.
|
||||
*/
|
||||
class LinuxLibgpioIF : public GpioIF, public SystemObject {
|
||||
public:
|
||||
static const uint8_t gpioRetvalId = CLASS_ID::LINUX_LIBGPIO_IF;
|
||||
|
||||
static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
|
||||
static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
|
||||
static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
|
||||
static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
|
||||
|
||||
LinuxLibgpioIF(object_id_t objectId);
|
||||
virtual ~LinuxLibgpioIF();
|
||||
|
||||
ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
|
||||
ReturnValue_t pullHigh(gpioId_t gpioId) override;
|
||||
ReturnValue_t pullLow(gpioId_t gpioId) override;
|
||||
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
|
||||
|
||||
private:
|
||||
/* Holds the information and configuration of all used GPIOs */
|
||||
GpioMap gpioMap;
|
||||
GpioMapIter gpioMapIter;
|
||||
|
||||
/**
|
||||
* @brief This functions drives line of a GPIO specified by the GPIO ID.
|
||||
*
|
||||
* @param gpioId The GPIO ID of the GPIO to drive.
|
||||
* @param logiclevel The logic level to set. O or 1.
|
||||
*/
|
||||
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, unsigned int logiclevel);
|
||||
|
||||
ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio);
|
||||
|
||||
/**
|
||||
* @brief This function checks if GPIOs are already registered and whether
|
||||
* there exists a conflict in the GPIO configuration. E.g. the
|
||||
* direction.
|
||||
*
|
||||
* @param mapToAdd The GPIOs which shall be added to the gpioMap.
|
||||
*
|
||||
* @return RETURN_OK if successful, otherwise RETURN_FAILED
|
||||
*/
|
||||
ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
|
||||
|
||||
ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
|
||||
GpioMap& mapToAdd);
|
||||
ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
|
||||
GpioMap& mapToAdd);
|
||||
|
||||
/**
|
||||
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
|
||||
*/
|
||||
ReturnValue_t configureGpios(GpioMap& mapToAdd);
|
||||
};
|
||||
|
||||
#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */
|
||||
|
|
@ -0,0 +1,83 @@
|
|||
#ifndef LINUX_GPIO_GPIODEFINITIONS_H_
|
||||
#define LINUX_GPIO_GPIODEFINITIONS_H_
|
||||
|
||||
#include <string>
|
||||
#include <unordered_map>
|
||||
|
||||
using gpioId_t = uint16_t;
|
||||
|
||||
namespace gpio {
|
||||
|
||||
enum class Levels : uint8_t { LOW = 0, HIGH = 1 };
|
||||
|
||||
enum class Direction : uint8_t { IN = 0, OUT = 1 };
|
||||
|
||||
enum class GpioOperation { READ, WRITE };
|
||||
|
||||
enum class GpioTypes { NONE, GPIOD_REGULAR, CALLBACK };
|
||||
|
||||
static constexpr gpioId_t NO_GPIO = -1;
|
||||
} // namespace gpio
|
||||
|
||||
/**
|
||||
* @brief Struct containing information about the GPIO to use. This is
|
||||
* required by the libgpiod to access and drive a GPIO.
|
||||
* @param chipname String of the chipname specifying the group which contains the GPIO to
|
||||
* access. E.g. gpiochip0. To detect names of GPIO groups run gpiodetect on
|
||||
* the linux command line.
|
||||
* @param lineNum The offset of the GPIO within the GPIO group.
|
||||
* @param consumer Name of the consumer. Simply a description of the GPIO configuration.
|
||||
* @param direction Specifies whether the GPIO should be used as in- or output.
|
||||
* @param initValue Defines the initial state of the GPIO when configured as output.
|
||||
* Only required for output GPIOs.
|
||||
* @param lineHandle The handle returned by gpiod_chip_get_line will be later written to this
|
||||
* pointer.
|
||||
*/
|
||||
class GpioBase {
|
||||
public:
|
||||
GpioBase() = default;
|
||||
|
||||
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, int initValue)
|
||||
: gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
|
||||
|
||||
virtual ~GpioBase(){};
|
||||
|
||||
/* Can be used to cast GpioBase to a concrete child implementation */
|
||||
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
|
||||
std::string consumer;
|
||||
gpio::Direction direction = gpio::Direction::IN;
|
||||
int initValue = 0;
|
||||
};
|
||||
|
||||
class GpiodRegular : public GpioBase {
|
||||
public:
|
||||
GpiodRegular()
|
||||
: GpioBase(gpio::GpioTypes::GPIOD_REGULAR, std::string(), gpio::Direction::IN, 0){};
|
||||
|
||||
GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
|
||||
gpio::Direction direction_, int initValue_)
|
||||
: GpioBase(gpio::GpioTypes::GPIOD_REGULAR, consumer_, direction_, initValue_),
|
||||
chipname(chipname_),
|
||||
lineNum(lineNum_) {}
|
||||
std::string chipname;
|
||||
int lineNum = 0;
|
||||
struct gpiod_line* lineHandle = nullptr;
|
||||
};
|
||||
|
||||
class GpioCallback : public GpioBase {
|
||||
public:
|
||||
GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
|
||||
void (*callback)(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args),
|
||||
void* callbackArgs)
|
||||
: GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
|
||||
callback(callback),
|
||||
callbackArgs(callbackArgs) {}
|
||||
|
||||
void (*callback)(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args) = nullptr;
|
||||
void* callbackArgs = nullptr;
|
||||
};
|
||||
|
||||
using GpioMap = std::unordered_map<gpioId_t, GpioBase*>;
|
||||
using GpioMapIter = GpioMap::iterator;
|
||||
|
||||
#endif /* LINUX_GPIO_GPIODEFINITIONS_H_ */
|
||||
|
|
@ -0,0 +1,128 @@
|
|||
#include <fcntl.h>
|
||||
#include <linux/obc/Ptme.h>
|
||||
#include <sys/mman.h>
|
||||
|
||||
CCSDSIPCoreBridge::CCSDSIPCoreBridge(object_id_t objectId, object_id_t tcDestination,
|
||||
object_id_t tmStoreId, object_id_t tcStoreId,
|
||||
LinuxLibgpioIF* gpioComIF, std::string uioPtme,
|
||||
gpioId_t papbBusyId, gpioId_t papbEmptyId)
|
||||
: TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId),
|
||||
gpioComIF(gpioComIF),
|
||||
uioPtme(uioPtme),
|
||||
papbBusyId(papbBusyId),
|
||||
papbEmptyId(papbEmptyId) {}
|
||||
|
||||
CCSDSIPCoreBridge::~CCSDSIPCoreBridge() {}
|
||||
|
||||
ReturnValue_t CCSDSIPCoreBridge::initialize() {
|
||||
ReturnValue_t result = TmTcBridge::initialize();
|
||||
|
||||
fd = open("/dev/uio0", O_RDWR);
|
||||
if (fd < 1) {
|
||||
sif::debug << "CCSDSIPCoreBridge::initialize: Invalid UIO device file" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
/**
|
||||
* Map uio device in virtual address space
|
||||
* PROT_WRITE: Map uio device in writable only mode
|
||||
*/
|
||||
ptmeBaseAddress =
|
||||
static_cast<uint32_t*>(mmap(NULL, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
|
||||
|
||||
if (ptmeBaseAddress == MAP_FAILED) {
|
||||
sif::error << "CCSDSIPCoreBridge::initialize: Failed to map uio address" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t CCSDSIPCoreBridge::handleTm() {
|
||||
#if OBSW_TEST_CCSDS_PTME == 1
|
||||
return sendTestFrame();
|
||||
#else
|
||||
return TmTcBridge::handleTm();
|
||||
#endif
|
||||
}
|
||||
|
||||
ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t* data, size_t dataLen) {
|
||||
if (pollPapbBusySignal() == RETURN_OK) {
|
||||
startPacketTransfer();
|
||||
}
|
||||
|
||||
for (size_t idx = 0; idx < dataLen; idx++) {
|
||||
if (pollPapbBusySignal() == RETURN_OK) {
|
||||
*(ptmeBaseAddress + PTME_DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx));
|
||||
} else {
|
||||
sif::debug << "CCSDSIPCoreBridge::sendTm: Only written " << idx - 1 << " of " << dataLen
|
||||
<< " data" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
if (pollPapbBusySignal() == RETURN_OK) {
|
||||
endPacketTransfer();
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void CCSDSIPCoreBridge::startPacketTransfer() { *ptmeBaseAddress = PTME_CONFIG_START; }
|
||||
|
||||
void CCSDSIPCoreBridge::endPacketTransfer() { *ptmeBaseAddress = PTME_CONFIG_END; }
|
||||
|
||||
ReturnValue_t CCSDSIPCoreBridge::pollPapbBusySignal() {
|
||||
int papbBusyState = 0;
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
|
||||
/** Check if PAPB interface is ready to receive data */
|
||||
result = gpioComIF->readGpio(papbBusyId, &papbBusyState);
|
||||
if (result != RETURN_OK) {
|
||||
sif::debug << "CCSDSIPCoreBridge::pollPapbBusySignal: Failed to read papb busy signal"
|
||||
<< std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
if (!papbBusyState) {
|
||||
sif::debug << "CCSDSIPCoreBridge::pollPapbBusySignal: PAPB busy" << std::endl;
|
||||
return PAPB_BUSY;
|
||||
}
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void CCSDSIPCoreBridge::isPtmeBufferEmpty() {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
int papbEmptyState = 1;
|
||||
|
||||
result = gpioComIF->readGpio(papbEmptyId, &papbEmptyState);
|
||||
|
||||
if (result != RETURN_OK) {
|
||||
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Failed to read papb empty signal"
|
||||
<< std::endl;
|
||||
return;
|
||||
}
|
||||
|
||||
if (papbEmptyState == 1) {
|
||||
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is empty" << std::endl;
|
||||
} else {
|
||||
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is not empty" << std::endl;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
ReturnValue_t CCSDSIPCoreBridge::sendTestFrame() {
|
||||
/** Size of one complete transfer frame data field amounts to 1105 bytes */
|
||||
uint8_t testPacket[1105];
|
||||
|
||||
/** Fill one test packet */
|
||||
for (int idx = 0; idx < 1105; idx++) {
|
||||
testPacket[idx] = static_cast<uint8_t>(idx & 0xFF);
|
||||
}
|
||||
|
||||
ReturnValue_t result = sendTm(testPacket, 1105);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
|
@ -0,0 +1,129 @@
|
|||
#ifndef MISSION_OBC_CCSDSIPCOREBRIDGE_H_
|
||||
#define MISSION_OBC_CCSDSIPCOREBRIDGE_H_
|
||||
|
||||
#include <fsfw/tmtcservices/TmTcBridge.h>
|
||||
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
|
||||
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
|
||||
|
||||
#include <cstring>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
|
||||
/**
|
||||
* @brief This class handles the interfacing to the telemetry (PTME) and telecommand (PDEC) IP
|
||||
* cores responsible for the CCSDS encoding and decoding. The IP cores are implemented
|
||||
* on the programmable logic and are accessible through the linux UIO driver.
|
||||
*/
|
||||
class CCSDSIPCoreBridge : public TmTcBridge {
|
||||
public:
|
||||
/**
|
||||
* @brief Constructor
|
||||
*
|
||||
* @param objectId
|
||||
* @param tcDestination
|
||||
* @param tmStoreId
|
||||
* @param tcStoreId
|
||||
* @param uioPtme Name of the uio device file which provides access to the PTME IP Core.
|
||||
* @param papbBusyId The ID of the GPIO which is connected to the PAPBBusy_N signal of the
|
||||
* PTME IP Core. A low logic level indicates the PTME is not ready to
|
||||
* receive more data.
|
||||
* @param papbEmptyId The ID of the GPIO which is connected to the PAPBEmpty signal of the
|
||||
* PTME IP Core. The signal is high when there are no packets in the
|
||||
* external buffer memory (BRAM).
|
||||
*/
|
||||
CCSDSIPCoreBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
|
||||
object_id_t tcStoreId, LinuxLibgpioIF* gpioComIF, std::string uioPtme,
|
||||
gpioId_t papbBusyId, gpioId_t papbEmptyId);
|
||||
virtual ~CCSDSIPCoreBridge();
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
|
||||
protected:
|
||||
/**
|
||||
* Overwriting this function to provide the capability of testing the PTME IP Core
|
||||
* implementation.
|
||||
*/
|
||||
virtual ReturnValue_t handleTm() override;
|
||||
|
||||
virtual ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override;
|
||||
|
||||
private:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_IP_CORE_BRIDGE;
|
||||
|
||||
static const ReturnValue_t PAPB_BUSY = MAKE_RETURN_CODE(0xA0);
|
||||
|
||||
/** Size of mapped address space. 4k (minimal size of pl device) */
|
||||
// static const int MAP_SIZE = 0xFA0;
|
||||
static const int MAP_SIZE = 0x1000;
|
||||
|
||||
/**
|
||||
* Configuration bits:
|
||||
* bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00
|
||||
* bit[2]: Set this bit to 1 to abort a transfered packet
|
||||
* bit[3]: Signals to PTME the start of a new telemetry packet
|
||||
*/
|
||||
static const uint32_t PTME_CONFIG_START = 0x8;
|
||||
|
||||
/**
|
||||
* Writing this word to the ptme base address signals to the PTME that a complete tm packet has
|
||||
* been transferred.
|
||||
*/
|
||||
static const uint32_t PTME_CONFIG_END = 0x0;
|
||||
|
||||
/**
|
||||
* Writing to this offset within the PTME memory space will insert data for encoding to the
|
||||
* PTME IP core.
|
||||
* The address offset is 0x400 (= 4 * 256)
|
||||
*/
|
||||
static const int PTME_DATA_REG_OFFSET = 256;
|
||||
|
||||
LinuxLibgpioIF* gpioComIF = nullptr;
|
||||
|
||||
/** The uio device file related to the PTME IP Core */
|
||||
std::string uioPtme;
|
||||
|
||||
/** Pulled to low when PTME not ready to receive data */
|
||||
gpioId_t papbBusyId = gpio::NO_GPIO;
|
||||
|
||||
/** High when externally buffer memory of PTME is empty */
|
||||
gpioId_t papbEmptyId = gpio::NO_GPIO;
|
||||
|
||||
/** The file descriptor of the UIO driver */
|
||||
int fd;
|
||||
|
||||
uint32_t* ptmeBaseAddress = nullptr;
|
||||
|
||||
/**
|
||||
* @brief This function sends the config byte to the PTME IP Core to initiate a packet
|
||||
* transfer.
|
||||
*/
|
||||
void startPacketTransfer();
|
||||
|
||||
/**
|
||||
* @brief This function sends the config byte to the PTME IP Core to signal the end of a
|
||||
* packet transfer.
|
||||
*/
|
||||
void endPacketTransfer();
|
||||
|
||||
/**
|
||||
* @brief This function reads the papb busy signal indicating whether the PAPB interface is
|
||||
* ready to receive more data or not. PAPB is ready when PAPB_Busy_N == '1'.
|
||||
*
|
||||
* @return RETURN_OK when ready to receive data else PAPB_BUSY.
|
||||
*/
|
||||
ReturnValue_t pollPapbBusySignal();
|
||||
|
||||
/**
|
||||
* @brief This function can be used for debugging to check wheter there are packets in
|
||||
* the packet buffer of the PTME or not.
|
||||
*/
|
||||
void isPtmeBufferEmpty();
|
||||
|
||||
/**
|
||||
* @brief This function sends a complete telemetry transfer frame data field (1105 bytes)
|
||||
* to the input of the PTME IP Core. Can be used to test the implementation.
|
||||
*/
|
||||
ReturnValue_t sendTestFrame();
|
||||
};
|
||||
|
||||
#endif /* MISSION_OBC_CCSDSIPCOREBRIDGE_H_ */
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
FROM ubuntu:focal
|
||||
|
||||
RUN apt-get update
|
||||
RUN apt-get --yes upgrade
|
||||
#tzdata is a dependency, won't install otherwise
|
||||
ARG DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl git gcc g++ lcov valgrind libgps-dev python3
|
||||
|
||||
ARG XIPHOS_SDK_NAME=sdk-xiphos-eive-v0.2.0
|
||||
# Install Xiphos ARK SDK, which also installs Q7S root filesystem, required for cross-compilation.
|
||||
RUN curl https://buggy.irs.uni-stuttgart.de/eive/tools/${XIPHOS_SDK_NAME}.tar | tar -x && \
|
||||
cd ${XIPHOS_SDK_NAME} && \
|
||||
./ark-glibc-x86_64-eive-image-cortexa9hf-neon-toolchain-nodistro.0.sh -y
|
||||
|
||||
# Cross compiler
|
||||
RUN mkdir -p /usr/tools; \
|
||||
curl https://buggy.irs.uni-stuttgart.de/eive/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.gz \
|
||||
| tar -xz -C /usr/tools
|
||||
|
||||
RUN git clone https://github.com/catchorg/Catch2.git && \
|
||||
cd Catch2 && \
|
||||
git checkout v3.0.0-preview5 && \
|
||||
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
|
||||
cmake --build build/ --target install
|
||||
|
||||
ENV ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
|
||||
ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
|
||||
|
|
@ -0,0 +1,47 @@
|
|||
pipeline {
|
||||
environment {
|
||||
BUILDDIR_Q7S = 'build_q7s_fm'
|
||||
BUILDDIR_Q7S_EM = 'build_q7s_em'
|
||||
BUILDDIR_LINUX = 'build_linux'
|
||||
}
|
||||
agent {
|
||||
docker {
|
||||
image 'eive-obsw-ci:d5'
|
||||
args '--sysctl fs.mqueue.msg_max=100'
|
||||
}
|
||||
}
|
||||
stages {
|
||||
stage('Clean') {
|
||||
steps {
|
||||
sh 'rm -rf $BUILDDIR_Q7S'
|
||||
sh 'rm -rf $BUILDDIR_Q7S_EM'
|
||||
sh 'rm -rf $BUILDDIR_LINUX'
|
||||
}
|
||||
}
|
||||
stage('Build Q7S') {
|
||||
steps {
|
||||
dir(BUILDDIR_Q7S) {
|
||||
sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..'
|
||||
sh 'cmake --build . -j8'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Build Q7S EM') {
|
||||
steps {
|
||||
dir(BUILDDIR_Q7S_EM) {
|
||||
sh 'cmake -DTGT_BSP="arm/q7s" -DEIVE_Q7S_EM=ON -DCMAKE_BUILD_TYPE=Debug ..'
|
||||
sh 'cmake --build . -j8'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Build Host and Tests') {
|
||||
steps {
|
||||
dir(BUILDDIR_LINUX) {
|
||||
sh 'cmake ..'
|
||||
sh 'cmake --build . -j8'
|
||||
sh './eive-unittest'
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp ObjectFactory.cpp)
|
||||
|
||||
add_subdirectory(boardconfig)
|
||||
|
|
@ -0,0 +1,192 @@
|
|||
#include "InitMission.h"
|
||||
|
||||
#include <fsfw/objectmanager/ObjectManager.h>
|
||||
#include <fsfw/objectmanager/ObjectManagerIF.h>
|
||||
#include <fsfw/returnvalues/returnvalue.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
|
||||
#include <fsfw/tasks/PeriodicTaskIF.h>
|
||||
#include <fsfw/tasks/TaskFactory.h>
|
||||
#include <mission/utility/InitMission.h>
|
||||
|
||||
#include <iostream>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "ObjectFactory.h"
|
||||
#include "objects/systemObjectList.h"
|
||||
#include "pollingsequence/pollingSequenceFactory.h"
|
||||
|
||||
ServiceInterfaceStream sif::debug("DEBUG");
|
||||
ServiceInterfaceStream sif::info("INFO");
|
||||
ServiceInterfaceStream sif::warning("WARNING");
|
||||
ServiceInterfaceStream sif::error("ERROR");
|
||||
|
||||
ObjectManagerIF* objectManager = nullptr;
|
||||
|
||||
void initmission::initMission() {
|
||||
sif::info << "Make sure the systemd service ser2net on the egse has been stopped "
|
||||
<< "(alias stop-ser2net)" << std::endl;
|
||||
sif::info << "Make sure the power lines of the star tracker have been enabled "
|
||||
<< "(alias enable-startracker)" << std::endl;
|
||||
sif::info << "Building global objects.." << std::endl;
|
||||
/* Instantiate global object manager and also create all objects */
|
||||
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
|
||||
sif::info << "Initializing all objects.." << std::endl;
|
||||
ObjectManager::instance()->initialize();
|
||||
|
||||
/* This function creates and starts all tasks */
|
||||
initTasks();
|
||||
}
|
||||
|
||||
void initmission::initTasks() {
|
||||
TaskFactory* factory = TaskFactory::instance();
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
if (factory == nullptr) {
|
||||
/* Should never happen ! */
|
||||
return;
|
||||
}
|
||||
#if OBSW_PRINT_MISSED_DEADLINES == 1
|
||||
void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
|
||||
#else
|
||||
void (*missedDeadlineFunc)(void) = nullptr;
|
||||
#endif
|
||||
|
||||
/* TMTC Distribution */
|
||||
PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
|
||||
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
||||
result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
|
||||
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
|
||||
"TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
||||
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Add component TMTC Bridge failed" << std::endl;
|
||||
}
|
||||
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
|
||||
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
|
||||
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Add component TMTC Polling failed" << std::endl;
|
||||
}
|
||||
|
||||
/* PUS Services */
|
||||
std::vector<PeriodicTaskIF*> pusTasks;
|
||||
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
|
||||
|
||||
std::vector<PeriodicTaskIF*> pstTasks;
|
||||
FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
|
||||
"STAR_TRACKER_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
|
||||
result = pst::pstUart(pst);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
pstTasks.push_back(pst);
|
||||
|
||||
PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
|
||||
"STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
||||
result = strHelperTask->addComponent(objects::STR_HELPER);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
|
||||
}
|
||||
pstTasks.push_back(strHelperTask);
|
||||
|
||||
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
|
||||
for (const auto& task : taskVector) {
|
||||
if (task != nullptr) {
|
||||
task->startTask();
|
||||
} else {
|
||||
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
sif::info << "Starting tasks.." << std::endl;
|
||||
tmtcDistributor->startTask();
|
||||
tmtcBridgeTask->startTask();
|
||||
tmtcPollingTask->startTask();
|
||||
|
||||
taskStarter(pstTasks, "PST Tasks");
|
||||
taskStarter(pusTasks, "PUS Tasks");
|
||||
|
||||
sif::info << "Tasks started.." << std::endl;
|
||||
}
|
||||
|
||||
void initmission::createPusTasks(TaskFactory& factory,
|
||||
TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
|
||||
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
taskVec.push_back(pusVerification);
|
||||
|
||||
PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
|
||||
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
|
||||
}
|
||||
result = pusEvents->addComponent(objects::EVENT_MANAGER);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
|
||||
}
|
||||
taskVec.push_back(pusEvents);
|
||||
|
||||
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
|
||||
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
||||
}
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
}
|
||||
taskVec.push_back(pusHighPrio);
|
||||
|
||||
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
|
||||
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
|
||||
}
|
||||
taskVec.push_back(pusMedPrio);
|
||||
|
||||
PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
|
||||
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
|
||||
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
|
||||
}
|
||||
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
|
||||
}
|
||||
taskVec.push_back(pusLowPrio);
|
||||
}
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
#ifndef BSP_LINUX_INITMISSION_H_
|
||||
#define BSP_LINUX_INITMISSION_H_
|
||||
|
||||
#include <vector>
|
||||
|
||||
#include "fsfw/tasks/Typedef.h"
|
||||
|
||||
class PeriodicTaskIF;
|
||||
class TaskFactory;
|
||||
|
||||
namespace initmission {
|
||||
void initMission();
|
||||
void initTasks();
|
||||
|
||||
void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec);
|
||||
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec);
|
||||
}; // namespace initmission
|
||||
|
||||
#endif /* BSP_LINUX_INITMISSION_H_ */
|
||||
|
|
@ -0,0 +1,48 @@
|
|||
#include "ObjectFactory.h"
|
||||
|
||||
#include <devConf.h>
|
||||
#include <fsfw_hal/linux/serial/SerialComIF.h>
|
||||
#include <fsfw_hal/linux/serial/SerialCookie.h>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "busConf.h"
|
||||
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
|
||||
#include "fsfw/tmtcpacket/pus/tm.h"
|
||||
#include "fsfw/tmtcservices/CommandingServiceBase.h"
|
||||
#include "fsfw/tmtcservices/PusServiceBase.h"
|
||||
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
|
||||
#include "linux/devices/startracker/StarTrackerHandler.h"
|
||||
#include "mission/core/GenericFactory.h"
|
||||
#include "mission/utility/TmFunnel.h"
|
||||
#include "objects/systemObjectList.h"
|
||||
#include "tmtc/apid.h"
|
||||
#include "tmtc/pusIds.h"
|
||||
|
||||
void Factory::setStaticFrameworkObjectIds() {
|
||||
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
PusServiceBase::packetDestination = objects::TM_FUNNEL;
|
||||
|
||||
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
|
||||
|
||||
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
|
||||
TmFunnel::storageDestination = objects::NO_OBJECT;
|
||||
|
||||
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
|
||||
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
|
||||
}
|
||||
|
||||
void ObjectFactory::produce(void* args) {
|
||||
Factory::setStaticFrameworkObjectIds();
|
||||
ObjectFactory::produceGenericObjects();
|
||||
|
||||
UartCookie* starTrackerCookie =
|
||||
new UartCookie(objects::STAR_TRACKER, egse::STAR_TRACKER_UART, UartModes::NON_CANONICAL,
|
||||
uart::STAR_TRACKER_BAUD, startracker::MAX_FRAME_SIZE * 2 + 2);
|
||||
newSerialComIF(objects::UART_COM_IF);
|
||||
starTrackerCookie->setNoFixedSizeReply();
|
||||
StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
|
||||
StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(
|
||||
objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, strHelper);
|
||||
starTrackerHandler->setStartUpImmediately();
|
||||
}
|
||||
|
|
@ -1,10 +1,8 @@
|
|||
#ifndef BSP_LINUX_OBJECTFACTORY_H_
|
||||
#define BSP_LINUX_OBJECTFACTORY_H_
|
||||
|
||||
|
||||
namespace ObjectFactory {
|
||||
void setStatics();
|
||||
void produce(void* args);
|
||||
};
|
||||
void produce(void* args);
|
||||
}; // namespace ObjectFactory
|
||||
|
||||
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
target_sources(${OBSW_NAME} PRIVATE print.c)
|
||||
|
||||
target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
#ifndef BSP_EGSE_BOARDCONFIG_BUSCONF_H_
|
||||
#define BSP_EGSE_BOARDCONFIG_BUSCONF_H_
|
||||
|
||||
namespace egse {
|
||||
static constexpr char STAR_TRACKER_UART[] = "/dev/serial0";
|
||||
}
|
||||
|
||||
#endif /* BSP_EGSE_BOARDCONFIG_BUSCONF_H_ */
|
||||
|
|
@ -0,0 +1,38 @@
|
|||
///\file
|
||||
|
||||
/******************************************************************************
|
||||
The MIT License(MIT)
|
||||
|
||||
Embedded Template Library.
|
||||
https://github.com/ETLCPP/etl
|
||||
https://www.etlcpp.com
|
||||
|
||||
Copyright(c) 2019 jwellbelove
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files(the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions :
|
||||
|
||||
The above copyright notice and this permission notice shall be included in all
|
||||
copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
SOFTWARE.
|
||||
******************************************************************************/
|
||||
#ifndef __ETL_PROFILE_H__
|
||||
#define __ETL_PROFILE_H__
|
||||
|
||||
#define ETL_CHECK_PUSH_POP
|
||||
|
||||
#define ETL_CPP11_SUPPORTED 1
|
||||
#define ETL_NO_NULLPTR_SUPPORT 0
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,15 @@
|
|||
#ifndef LINUX_GCOV_H_
|
||||
#define LINUX_GCOV_H_
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
|
||||
#ifdef GCOV
|
||||
extern "C" void __gcov_flush();
|
||||
#else
|
||||
void __gcov_flush() {
|
||||
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
|
||||
"coverage information is desired.\n"
|
||||
<< std::flush;
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* LINUX_GCOV_H_ */
|
||||
|
|
@ -0,0 +1,10 @@
|
|||
#include <bsp_egse/boardconfig/print.h>
|
||||
#include <stdio.h>
|
||||
|
||||
void printChar(const char* character, bool errStream) {
|
||||
if (errStream) {
|
||||
putc(*character, stderr);
|
||||
return;
|
||||
}
|
||||
putc(*character, stdout);
|
||||
}
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
#ifndef HOSTED_BOARDCONFIG_PRINT_H_
|
||||
#define HOSTED_BOARDCONFIG_PRINT_H_
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
void printChar(const char* character, bool errStream);
|
||||
|
||||
#endif /* HOSTED_BOARDCONFIG_PRINT_H_ */
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
#ifndef BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_
|
||||
#define BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
#endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
#include <iostream>
|
||||
|
||||
#include "InitMission.h"
|
||||
#include "OBSWConfig.h"
|
||||
#include "OBSWVersion.h"
|
||||
#include "fsfw/tasks/TaskFactory.h"
|
||||
#include "fsfw/version.h"
|
||||
|
||||
/**
|
||||
* @brief This is the main program entry point for the egse (raspberry pi 4)
|
||||
* @return
|
||||
*/
|
||||
int main(void) {
|
||||
std::cout << "-- EIVE OBSW --" << std::endl;
|
||||
std::cout << "-- Compiled for EGSE from Arcsec"
|
||||
<< " --" << std::endl;
|
||||
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
|
||||
<< SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << FSFW_REVISION
|
||||
<< "--" << std::endl;
|
||||
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
|
||||
|
||||
initmission::initMission();
|
||||
|
||||
for (;;) {
|
||||
/* Suspend main thread by sleeping it. */
|
||||
TaskFactory::delayTask(5000);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,10 +1,4 @@
|
|||
target_sources(${TARGET_NAME} PUBLIC
|
||||
InitMission.cpp
|
||||
main.cpp
|
||||
ObjectFactory.cpp
|
||||
)
|
||||
target_sources(${OBSW_NAME} PUBLIC scheduling.cpp main.cpp objectFactory.cpp)
|
||||
|
||||
add_subdirectory(fsfwconfig)
|
||||
add_subdirectory(boardconfig)
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -14,7 +14,7 @@ RUN set -ex; \
|
|||
rm -rf build-hosted; \
|
||||
mkdir build-hosted; \
|
||||
cd build-hosted; \
|
||||
cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=linux ..;
|
||||
cmake -DCMAKE_BUILD_TYPE=Release -DOSAL_FSFW=host ..;
|
||||
|
||||
ENTRYPOINT ["cmake", "--build", "build-hosted"]
|
||||
CMD ["-j"]
|
||||
|
|
|
|||
|
|
@ -1,159 +0,0 @@
|
|||
#include "InitMission.h"
|
||||
#include "ObjectFactory.h"
|
||||
|
||||
#include <OBSWConfig.h>
|
||||
|
||||
#include <fsfw/objectmanager/ObjectManagerIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <fsfw/objectmanager/ObjectManager.h>
|
||||
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
|
||||
#include <fsfw/tasks/PeriodicTaskIF.h>
|
||||
#include <fsfw/tasks/TaskFactory.h>
|
||||
|
||||
#include <mission/utility/InitMission.h>
|
||||
|
||||
#include <iostream>
|
||||
|
||||
#ifdef LINUX
|
||||
ServiceInterfaceStream sif::debug("DEBUG");
|
||||
ServiceInterfaceStream sif::info("INFO");
|
||||
ServiceInterfaceStream sif::warning("WARNING");
|
||||
ServiceInterfaceStream sif::error("ERROR", false, false, true);
|
||||
#else
|
||||
ServiceInterfaceStream sif::debug("DEBUG", true);
|
||||
ServiceInterfaceStream sif::info("INFO", true);
|
||||
ServiceInterfaceStream sif::warning("WARNING", true);
|
||||
ServiceInterfaceStream sif::error("ERROR", true, false, true);
|
||||
#endif
|
||||
|
||||
ObjectManagerIF *objectManager = nullptr;
|
||||
|
||||
void initmission::initMission() {
|
||||
sif::info << "Building global objects.." << std::endl;
|
||||
/* Instantiate global object manager and also create all objects */
|
||||
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
|
||||
sif::info << "Initializing all objects.." << std::endl;
|
||||
ObjectManager::instance()->initialize();
|
||||
|
||||
/* This function creates and starts all tasks */
|
||||
initTasks();
|
||||
}
|
||||
|
||||
void initmission::initTasks() {
|
||||
TaskFactory* factory = TaskFactory::instance();
|
||||
if(factory == nullptr) {
|
||||
/* Should never happen ! */
|
||||
return;
|
||||
}
|
||||
#if OBSW_PRINT_MISSED_DEADLINES == 1
|
||||
void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
|
||||
#else
|
||||
void (*missedDeadlineFunc) (void) = nullptr;
|
||||
#endif
|
||||
|
||||
/* TMTC Distribution */
|
||||
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
|
||||
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
||||
ReturnValue_t result = tmTcDistributor->addComponent(
|
||||
objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
|
||||
/* UDP bridge */
|
||||
PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
|
||||
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
||||
result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
|
||||
}
|
||||
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
|
||||
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
|
||||
result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "Add component UDP Polling failed" << std::endl;
|
||||
}
|
||||
|
||||
/* PUS Services */
|
||||
PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
|
||||
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
|
||||
PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
|
||||
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
|
||||
}
|
||||
|
||||
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
|
||||
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
||||
}
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
}
|
||||
|
||||
PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
|
||||
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
|
||||
}
|
||||
|
||||
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
|
||||
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
|
||||
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
|
||||
}
|
||||
|
||||
PeriodicTaskIF* testTask = factory->createPeriodicTask(
|
||||
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
result = testTask->addComponent(objects::TEST_TASK);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
|
||||
}
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
|
||||
sif::info << "Starting tasks.." << std::endl;
|
||||
tmTcDistributor->startTask();
|
||||
udpBridgeTask->startTask();
|
||||
udpPollingTask->startTask();
|
||||
|
||||
pusVerification->startTask();
|
||||
pusEvents->startTask();
|
||||
pusHighPrio->startTask();
|
||||
pusMedPrio->startTask();
|
||||
pusLowPrio->startTask();
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
testTask->startTask();
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
|
||||
sif::info << "Tasks started.." << std::endl;
|
||||
}
|
||||
|
|
@ -1,9 +0,0 @@
|
|||
#ifndef BSP_LINUX_INITMISSION_H_
|
||||
#define BSP_LINUX_INITMISSION_H_
|
||||
|
||||
namespace initmission {
|
||||
void initMission();
|
||||
void initTasks();
|
||||
};
|
||||
|
||||
#endif /* BSP_LINUX_INITMISSION_H_ */
|
||||
|
|
@ -0,0 +1,127 @@
|
|||
/**
|
||||
* @brief This file can be used to add preprocessor define for conditional
|
||||
* code inclusion exclusion or various other project constants and
|
||||
* properties in one place.
|
||||
*/
|
||||
#ifndef FSFWCONFIG_OBSWCONFIG_H_
|
||||
#define FSFWCONFIG_OBSWCONFIG_H_
|
||||
|
||||
#include "commonConfig.h"
|
||||
|
||||
/*******************************************************************/
|
||||
/** All of the following flags should be enabled for mission code */
|
||||
/*******************************************************************/
|
||||
|
||||
#define OBSW_ENABLE_TIMERS 1
|
||||
#define OBSW_ADD_STAR_TRACKER 0
|
||||
#define OBSW_ADD_PLOC_SUPERVISOR 0
|
||||
#define OBSW_ADD_PLOC_MPSOC 0
|
||||
#define OBSW_ADD_SUN_SENSORS 0
|
||||
#define OBSW_ADD_MGT 0
|
||||
#define OBSW_ADD_ACS_BOARD 0
|
||||
#define OBSW_ADD_ACS_HANDLERS 0
|
||||
#define OBSW_ADD_GPS_0 0
|
||||
#define OBSW_ADD_GPS_1 0
|
||||
#define OBSW_ADD_RW 0
|
||||
#define OBSW_DEBUG_TMP1075 0
|
||||
#define OBSW_ADD_BPX_BATTERY_HANDLER 0
|
||||
#define OBSW_ADD_RTD_DEVICES 0
|
||||
#define OBSW_ADD_PL_PCDU 0
|
||||
#define OBSW_ADD_TMP_DEVICES 0
|
||||
#define OBSW_ADD_RAD_SENSORS 0
|
||||
#define OBSW_ADD_SYRLINKS 0
|
||||
#define OBSW_STAR_TRACKER_GROUND_CONFIG 1
|
||||
|
||||
// This is a really tricky switch.. It initializes the PCDU switches to their default states
|
||||
// at powerup. I think it would be better
|
||||
// to leave it off for now. It makes testing a lot more difficult and it might mess with
|
||||
// something the operators might want to do by giving the software too much intelligence
|
||||
// at the wrong place. The system component might command all the Switches accordingly anyway
|
||||
#define OBSW_INITIALIZE_SWITCHES 0
|
||||
#define OBSW_ENABLE_PERIODIC_HK 0
|
||||
|
||||
/*******************************************************************/
|
||||
/** All of the following flags should be disabled for mission code */
|
||||
/*******************************************************************/
|
||||
|
||||
// Can be used to switch device to NORMAL mode immediately
|
||||
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
|
||||
#define OBSW_PRINT_MISSED_DEADLINES 1
|
||||
|
||||
#define OBSW_MPSOC_JTAG_BOOT 0
|
||||
#define OBSW_SYRLINKS_SIMULATED 1
|
||||
#define OBSW_ADD_TEST_CODE 0
|
||||
#define OBSW_ADD_TEST_TASK 0
|
||||
#define OBSW_ADD_TEST_PST 0
|
||||
// If this is enabled, all other SPI code should be disabled
|
||||
#define OBSW_ADD_SPI_TEST_CODE 0
|
||||
// If this is enabled, all other I2C code should be disabled
|
||||
#define OBSW_ADD_I2C_TEST_CODE 0
|
||||
#define OBSW_ADD_UART_TEST_CODE 0
|
||||
|
||||
#define OBSW_TEST_ACS 0
|
||||
#define OBSW_DEBUG_ACS 0
|
||||
#define OBSW_TEST_SUS 0
|
||||
#define OBSW_DEBUG_SUS 0
|
||||
#define OBSW_TEST_RTD 0
|
||||
#define OBSW_DEBUG_RTD 0
|
||||
#define OBSW_TEST_RAD_SENSOR 0
|
||||
#define OBSW_DEBUG_RAD_SENSOR 0
|
||||
#define OBSW_TEST_PL_PCDU 0
|
||||
#define OBSW_DEBUG_PL_PCDU 0
|
||||
#define OBSW_TEST_BPX_BATT 0
|
||||
#define OBSW_DEBUG_BPX_BATT 0
|
||||
#define OBSW_TEST_IMTQ 0
|
||||
#define OBSW_DEBUG_IMTQ 0
|
||||
#define OBSW_TEST_RW 0
|
||||
#define OBSW_DEBUG_RW 0
|
||||
|
||||
#define OBSW_TEST_LIBGPIOD 0
|
||||
#define OBSW_TEST_PLOC_HANDLER 0
|
||||
#define OBSW_TEST_CCSDS_BRIDGE 0
|
||||
#define OBSW_TEST_CCSDS_PTME 0
|
||||
#define OBSW_TEST_TE7020_HEATER 0
|
||||
#define OBSW_TEST_GPIO_OPEN_BY_LABEL 0
|
||||
#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME 0
|
||||
#define OBSW_DEBUG_P60DOCK 0
|
||||
|
||||
#define OBSW_PRINT_CORE_HK 0
|
||||
#define OBSW_DEBUG_PDU1 0
|
||||
#define OBSW_DEBUG_PDU2 0
|
||||
#define OBSW_DEBUG_GPS 0
|
||||
#define OBSW_DEBUG_ACU 0
|
||||
#define OBSW_DEBUG_SYRLINKS 0
|
||||
|
||||
#define OBSW_DEBUG_PDEC_HANDLER 0
|
||||
#define OBSW_DEBUG_PLOC_SUPERVISOR 0
|
||||
#define OBSW_DEBUG_PLOC_MPSOC 0
|
||||
#define OBSW_DEBUG_STARTRACKER 0
|
||||
#define OBSW_TCP_SERVER_WIRETAPPING 0
|
||||
|
||||
/*******************************************************************/
|
||||
/** CMake Defines */
|
||||
/*******************************************************************/
|
||||
|
||||
#define OBSW_ADD_TMTC_UDP_SERVER 0
|
||||
#define OBSW_ADD_TMTC_TCP_SERVER 1
|
||||
|
||||
#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
|
||||
|
||||
#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
|
||||
#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
|
||||
|
||||
#ifdef RASPBERRY_PI
|
||||
#include "rpiConfig.h"
|
||||
#elif defined(XIPHOS_Q7S)
|
||||
#include "q7sConfig.h"
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
#include "objects/systemObjectList.h"
|
||||
#include "events/subsystemIdRanges.h"
|
||||
#include "returnvalues/classIds.h"
|
||||
|
||||
#endif
|
||||
|
||||
#endif /* FSFWCONFIG_OBSWCONFIG_H_ */
|
||||
|
|
@ -1,46 +0,0 @@
|
|||
#include "ObjectFactory.h"
|
||||
|
||||
#include <OBSWConfig.h>
|
||||
#include <objects/systemObjectList.h>
|
||||
#include <tmtc/apid.h>
|
||||
#include <tmtc/pusIds.h>
|
||||
|
||||
#include <fsfw/tmtcservices/CommandingServiceBase.h>
|
||||
#include <fsfw/tmtcservices/PusServiceBase.h>
|
||||
|
||||
#include <mission/core/GenericFactory.h>
|
||||
#include <mission/utility/TmFunnel.h>
|
||||
|
||||
#include <fsfw/osal/common/UdpTcPollingTask.h>
|
||||
#include <fsfw/osal/common/UdpTmTcBridge.h>
|
||||
|
||||
#include <fsfw/tmtcpacket/pus/tm.h>
|
||||
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
#include <test/testtasks/TestTask.h>
|
||||
#endif
|
||||
|
||||
void Factory::setStaticFrameworkObjectIds(){
|
||||
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
PusServiceBase::packetDestination = objects::TM_FUNNEL;
|
||||
|
||||
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
|
||||
|
||||
TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
|
||||
// No storage object for now.
|
||||
TmFunnel::storageDestination = objects::NO_OBJECT;
|
||||
|
||||
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
|
||||
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
|
||||
}
|
||||
|
||||
void ObjectFactory::produce(void* args){
|
||||
Factory::setStaticFrameworkObjectIds();
|
||||
ObjectFactory::produceGenericObjects();
|
||||
|
||||
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
|
||||
|
||||
}
|
||||
|
|
@ -1,10 +1,3 @@
|
|||
target_sources(${TARGET_NAME} PRIVATE
|
||||
print.c
|
||||
)
|
||||
|
||||
target_include_directories(${TARGET_NAME} PUBLIC
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
|
||||
target_sources(${OBSW_NAME} PRIVATE print.c)
|
||||
|
||||
target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
|
||||
|
|
|
|||
|
|
@ -32,7 +32,7 @@ SOFTWARE.
|
|||
|
||||
#define ETL_CHECK_PUSH_POP
|
||||
|
||||
#define ETL_CPP11_SUPPORTED 1
|
||||
#define ETL_NO_NULLPTR_SUPPORT 0
|
||||
#define ETL_CPP11_SUPPORTED 1
|
||||
#define ETL_NO_NULLPTR_SUPPORT 0
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -6,8 +6,9 @@
|
|||
extern "C" void __gcov_flush();
|
||||
#else
|
||||
void __gcov_flush() {
|
||||
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
|
||||
"coverage information is desired.\n" << std::flush;
|
||||
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
|
||||
"coverage information is desired.\n"
|
||||
<< std::flush;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
|
|||
|
|
@ -3,13 +3,9 @@
|
|||
#include <stdio.h>
|
||||
|
||||
void printChar(const char* character, bool errStream) {
|
||||
if(errStream) {
|
||||
putc(*character, stderr);
|
||||
return;
|
||||
}
|
||||
putc(*character, stdout);
|
||||
if (errStream) {
|
||||
putc(*character, stderr);
|
||||
return;
|
||||
}
|
||||
putc(*character, stdout);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,11 +0,0 @@
|
|||
# add main and others
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
|
||||
CSRC += $(wildcard $(CURRENTPATH)/*.c)
|
||||
|
||||
CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c)
|
||||
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp)
|
||||
CSRC += $(wildcard $(CURRENTPATH)/comIF/*.c)
|
||||
|
||||
INCLUDES += $(CURRENTPATH)/boardconfig
|
||||
INCLUDES += $(CURRENTPATH)/fsfwconfig
|
||||
|
|
@ -1,376 +1,349 @@
|
|||
#include "ArduinoComIF.h"
|
||||
#include "ArduinoCookie.h"
|
||||
|
||||
#include <fsfw/globalfunctions/DleEncoder.h>
|
||||
#include <fsfw/globalfunctions/CRC.h>
|
||||
#include <fsfw/globalfunctions/DleEncoder.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
|
||||
#include "ArduinoCookie.h"
|
||||
|
||||
// This only works on Linux
|
||||
#ifdef LINUX
|
||||
#include <termios.h>
|
||||
#include <fcntl.h>
|
||||
#include <termios.h>
|
||||
#include <unistd.h>
|
||||
#elif WIN32
|
||||
#include <windows.h>
|
||||
#include <strsafe.h>
|
||||
#include <windows.h>
|
||||
#endif
|
||||
|
||||
#include <cstring>
|
||||
|
||||
ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF,
|
||||
const char *serialDevice):
|
||||
rxBuffer(MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true),
|
||||
SystemObject(setObjectId) {
|
||||
ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF, const char *serialDevice)
|
||||
: rxBuffer(MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES * 10, true), SystemObject(setObjectId) {
|
||||
#ifdef LINUX
|
||||
initialized = false;
|
||||
serialPort = ::open("/dev/ttyUSB0", O_RDWR);
|
||||
initialized = false;
|
||||
serialPort = ::open("/dev/ttyUSB0", O_RDWR);
|
||||
|
||||
if (serialPort < 0) {
|
||||
//configuration error
|
||||
printf("Error %i from open: %s\n", errno, strerror(errno));
|
||||
return;
|
||||
}
|
||||
if (serialPort < 0) {
|
||||
// configuration error
|
||||
printf("Error %i from open: %s\n", errno, strerror(errno));
|
||||
return;
|
||||
}
|
||||
|
||||
struct termios tty;
|
||||
memset(&tty, 0, sizeof tty);
|
||||
struct termios tty;
|
||||
memset(&tty, 0, sizeof tty);
|
||||
|
||||
// Read in existing settings, and handle any error
|
||||
if (tcgetattr(serialPort, &tty) != 0) {
|
||||
printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
|
||||
return;
|
||||
}
|
||||
// Read in existing settings, and handle any error
|
||||
if (tcgetattr(serialPort, &tty) != 0) {
|
||||
printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
|
||||
return;
|
||||
}
|
||||
|
||||
tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity
|
||||
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
|
||||
tty.c_cflag |= CS8; // 8 bits per byte
|
||||
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
|
||||
tty.c_lflag &= ~ICANON; //Disable Canonical Mode
|
||||
tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
|
||||
tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
|
||||
tty.c_cc[VTIME] = 0; // Non Blocking
|
||||
tty.c_cc[VMIN] = 0;
|
||||
tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity
|
||||
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
|
||||
tty.c_cflag |= CS8; // 8 bits per byte
|
||||
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
|
||||
tty.c_lflag &= ~ICANON; // Disable Canonical Mode
|
||||
tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
|
||||
tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
|
||||
tty.c_cc[VTIME] = 0; // Non Blocking
|
||||
tty.c_cc[VMIN] = 0;
|
||||
|
||||
cfsetispeed(&tty, B9600); //Baudrate
|
||||
cfsetispeed(&tty, B9600); // Baudrate
|
||||
|
||||
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
|
||||
//printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
|
||||
return;
|
||||
}
|
||||
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
|
||||
// printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
|
||||
return;
|
||||
}
|
||||
|
||||
initialized = true;
|
||||
initialized = true;
|
||||
#elif WIN32
|
||||
DCB serialParams = { 0 };
|
||||
DCB serialParams = {0};
|
||||
|
||||
// we need to ask the COM port from the user.
|
||||
if(promptComIF) {
|
||||
sif::info << "Please enter the COM port (c to cancel): " << std::flush;
|
||||
std::string comPort;
|
||||
while(hCom == INVALID_HANDLE_VALUE) {
|
||||
// we need to ask the COM port from the user.
|
||||
if (promptComIF) {
|
||||
sif::info << "Please enter the COM port (c to cancel): " << std::flush;
|
||||
std::string comPort;
|
||||
while (hCom == INVALID_HANDLE_VALUE) {
|
||||
std::getline(std::cin, comPort);
|
||||
if (comPort[0] == 'c') {
|
||||
break;
|
||||
}
|
||||
const TCHAR *pcCommPort = comPort.c_str();
|
||||
hCom = CreateFileA(pcCommPort, // port name
|
||||
GENERIC_READ | GENERIC_WRITE, // Read/Write
|
||||
0, // No Sharing
|
||||
NULL, // No Security
|
||||
OPEN_EXISTING, // Open existing port only
|
||||
0, // Non Overlapped I/O
|
||||
NULL); // Null for Comm Devices
|
||||
|
||||
std::getline(std::cin, comPort);
|
||||
if(comPort[0] == 'c') {
|
||||
break;
|
||||
}
|
||||
const TCHAR *pcCommPort = comPort.c_str();
|
||||
hCom = CreateFileA(pcCommPort, //port name
|
||||
GENERIC_READ | GENERIC_WRITE, //Read/Write
|
||||
0, // No Sharing
|
||||
NULL, // No Security
|
||||
OPEN_EXISTING,// Open existing port only
|
||||
0, // Non Overlapped I/O
|
||||
NULL); // Null for Comm Devices
|
||||
if (hCom == INVALID_HANDLE_VALUE) {
|
||||
if (GetLastError() == 2) {
|
||||
sif::error << "COM Port does not found!" << std::endl;
|
||||
} else {
|
||||
TCHAR err[128];
|
||||
FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, GetLastError(),
|
||||
MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), err, sizeof(err), NULL);
|
||||
// Handle the error.
|
||||
sif::info << "CreateFileA Error code: " << GetLastError() << std::endl;
|
||||
sif::error << err << std::flush;
|
||||
}
|
||||
sif::info << "Please enter a valid COM port: " << std::flush;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (hCom == INVALID_HANDLE_VALUE)
|
||||
{
|
||||
if(GetLastError() == 2) {
|
||||
sif::error << "COM Port does not found!" << std::endl;
|
||||
}
|
||||
else {
|
||||
TCHAR err[128];
|
||||
FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL,
|
||||
GetLastError(),
|
||||
MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
|
||||
err, sizeof(err), NULL);
|
||||
// Handle the error.
|
||||
sif::info << "CreateFileA Error code: " << GetLastError()
|
||||
<< std::endl;
|
||||
sif::error << err << std::flush;
|
||||
}
|
||||
sif::info << "Please enter a valid COM port: " << std::flush;
|
||||
}
|
||||
}
|
||||
serialParams.DCBlength = sizeof(serialParams);
|
||||
if (baudRate == 9600) {
|
||||
serialParams.BaudRate = CBR_9600;
|
||||
}
|
||||
if (baudRate == 115200) {
|
||||
serialParams.BaudRate = CBR_115200;
|
||||
} else {
|
||||
serialParams.BaudRate = baudRate;
|
||||
}
|
||||
|
||||
}
|
||||
serialParams.ByteSize = 8;
|
||||
serialParams.Parity = NOPARITY;
|
||||
serialParams.StopBits = ONESTOPBIT;
|
||||
SetCommState(hCom, &serialParams);
|
||||
|
||||
|
||||
serialParams.DCBlength = sizeof(serialParams);
|
||||
if(baudRate == 9600) {
|
||||
serialParams.BaudRate = CBR_9600;
|
||||
}
|
||||
if(baudRate == 115200) {
|
||||
serialParams.BaudRate = CBR_115200;
|
||||
}
|
||||
else {
|
||||
serialParams.BaudRate = baudRate;
|
||||
}
|
||||
|
||||
serialParams.ByteSize = 8;
|
||||
serialParams.Parity = NOPARITY;
|
||||
serialParams.StopBits = ONESTOPBIT;
|
||||
SetCommState(hCom, &serialParams);
|
||||
|
||||
COMMTIMEOUTS timeout = { 0 };
|
||||
// This will set the read operation to be blocking until data is received
|
||||
// and then read continuously until there is a gap of one millisecond.
|
||||
timeout.ReadIntervalTimeout = 1;
|
||||
timeout.ReadTotalTimeoutConstant = 0;
|
||||
timeout.ReadTotalTimeoutMultiplier = 0;
|
||||
timeout.WriteTotalTimeoutConstant = 0;
|
||||
timeout.WriteTotalTimeoutMultiplier = 0;
|
||||
SetCommTimeouts(hCom, &timeout);
|
||||
// Serial port should now be read for operations.
|
||||
COMMTIMEOUTS timeout = {0};
|
||||
// This will set the read operation to be blocking until data is received
|
||||
// and then read continuously until there is a gap of one millisecond.
|
||||
timeout.ReadIntervalTimeout = 1;
|
||||
timeout.ReadTotalTimeoutConstant = 0;
|
||||
timeout.ReadTotalTimeoutMultiplier = 0;
|
||||
timeout.WriteTotalTimeoutConstant = 0;
|
||||
timeout.WriteTotalTimeoutMultiplier = 0;
|
||||
SetCommTimeouts(hCom, &timeout);
|
||||
// Serial port should now be read for operations.
|
||||
#endif
|
||||
}
|
||||
|
||||
ArduinoComIF::~ArduinoComIF() {
|
||||
#ifdef LINUX
|
||||
::close(serialPort);
|
||||
::close(serialPort);
|
||||
#elif WIN32
|
||||
CloseHandle(hCom);
|
||||
CloseHandle(hCom);
|
||||
#endif
|
||||
}
|
||||
ReturnValue_t ArduinoComIF::initializeInterface(CookieIF * cookie) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) { return returnvalue::OK; }
|
||||
|
||||
ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, size_t len) {
|
||||
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
|
||||
if (arduinoCookie == nullptr) {
|
||||
return INVALID_COOKIE_TYPE;
|
||||
}
|
||||
|
||||
return sendMessage(arduinoCookie->command, arduinoCookie->address, data, len);
|
||||
}
|
||||
|
||||
ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data,
|
||||
size_t len) {
|
||||
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
|
||||
if (arduinoCookie == nullptr) {
|
||||
return INVALID_COOKIE_TYPE;
|
||||
}
|
||||
ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
|
||||
|
||||
return sendMessage(arduinoCookie->command, arduinoCookie->address, data,
|
||||
len);
|
||||
ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) {
|
||||
return RETURN_OK;
|
||||
ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
|
||||
handleSerialPortRx();
|
||||
|
||||
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
|
||||
if (arduinoCookie == nullptr) {
|
||||
return INVALID_COOKIE_TYPE;
|
||||
}
|
||||
|
||||
*buffer = arduinoCookie->replyBuffer.data();
|
||||
*size = arduinoCookie->receivedDataLen;
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie,
|
||||
size_t requestLen) {
|
||||
return RETURN_OK;
|
||||
}
|
||||
ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const uint8_t *data,
|
||||
size_t dataLen) {
|
||||
if (dataLen > UINT16_MAX) {
|
||||
return TOO_MUCH_DATA;
|
||||
}
|
||||
|
||||
ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
|
||||
uint8_t **buffer, size_t *size) {
|
||||
// being conservative here
|
||||
uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
|
||||
|
||||
handleSerialPortRx();
|
||||
sendBuffer[0] = DleEncoder::STX_CHAR;
|
||||
|
||||
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
|
||||
if (arduinoCookie == nullptr) {
|
||||
return INVALID_COOKIE_TYPE;
|
||||
}
|
||||
uint8_t *currentPosition = sendBuffer + 1;
|
||||
size_t remainingLen = sizeof(sendBuffer) - 1;
|
||||
size_t encodedLen = 0;
|
||||
|
||||
*buffer = arduinoCookie->replyBuffer.data();
|
||||
*size = arduinoCookie->receivedDataLen;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
ReturnValue_t result =
|
||||
DleEncoder::encode(&command, 1, currentPosition, remainingLen, &encodedLen, false);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
currentPosition += encodedLen;
|
||||
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
|
||||
|
||||
ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
|
||||
uint8_t address, const uint8_t *data, size_t dataLen) {
|
||||
if (dataLen > UINT16_MAX) {
|
||||
return TOO_MUCH_DATA;
|
||||
}
|
||||
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, &encodedLen, false);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
currentPosition += encodedLen;
|
||||
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
|
||||
|
||||
//being conservative here
|
||||
uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
|
||||
uint8_t temporaryBuffer[2];
|
||||
|
||||
sendBuffer[0] = DleEncoder::STX_CHAR;
|
||||
// note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
|
||||
temporaryBuffer[0] = dataLen >> 8; // we checked dataLen above
|
||||
temporaryBuffer[1] = dataLen;
|
||||
|
||||
uint8_t *currentPosition = sendBuffer + 1;
|
||||
size_t remainingLen = sizeof(sendBuffer) - 1;
|
||||
size_t encodedLen = 0;
|
||||
result =
|
||||
DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
currentPosition += encodedLen;
|
||||
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
|
||||
|
||||
ReturnValue_t result = DleEncoder::encode(&command, 1, currentPosition,
|
||||
remainingLen, &encodedLen, false);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
currentPosition += encodedLen;
|
||||
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
|
||||
// encoding the actual data
|
||||
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen, &encodedLen, false);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
currentPosition += encodedLen;
|
||||
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
|
||||
|
||||
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen,
|
||||
&encodedLen, false);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
currentPosition += encodedLen;
|
||||
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
|
||||
uint16_t crc = CRC::crc16ccitt(&command, 1);
|
||||
crc = CRC::crc16ccitt(&address, 1, crc);
|
||||
// fortunately the length is still there
|
||||
crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
|
||||
crc = CRC::crc16ccitt(data, dataLen, crc);
|
||||
|
||||
uint8_t temporaryBuffer[2];
|
||||
temporaryBuffer[0] = crc >> 8;
|
||||
temporaryBuffer[1] = crc;
|
||||
|
||||
//note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
|
||||
temporaryBuffer[0] = dataLen >> 8; //we checked dataLen above
|
||||
temporaryBuffer[1] = dataLen;
|
||||
result =
|
||||
DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
currentPosition += encodedLen;
|
||||
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
|
||||
|
||||
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
|
||||
remainingLen, &encodedLen, false);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
currentPosition += encodedLen;
|
||||
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
|
||||
if (remainingLen > 0) {
|
||||
*currentPosition = DleEncoder::ETX_CHAR;
|
||||
}
|
||||
remainingLen -= 1;
|
||||
|
||||
//encoding the actual data
|
||||
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen,
|
||||
&encodedLen, false);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
currentPosition += encodedLen;
|
||||
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
|
||||
|
||||
uint16_t crc = CRC::crc16ccitt(&command, 1);
|
||||
crc = CRC::crc16ccitt(&address, 1, crc);
|
||||
//fortunately the length is still there
|
||||
crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
|
||||
crc = CRC::crc16ccitt(data, dataLen, crc);
|
||||
|
||||
temporaryBuffer[0] = crc >> 8;
|
||||
temporaryBuffer[1] = crc;
|
||||
|
||||
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
|
||||
remainingLen, &encodedLen, false);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
currentPosition += encodedLen;
|
||||
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
|
||||
|
||||
if (remainingLen > 0) {
|
||||
*currentPosition = DleEncoder::ETX_CHAR;
|
||||
}
|
||||
remainingLen -= 1;
|
||||
|
||||
encodedLen = sizeof(sendBuffer) - remainingLen;
|
||||
encodedLen = sizeof(sendBuffer) - remainingLen;
|
||||
|
||||
#ifdef LINUX
|
||||
ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen);
|
||||
if (writtenlen < 0) {
|
||||
//we could try to find out what happened...
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
if (writtenlen != encodedLen) {
|
||||
//the OS failed us, we do not try to block until everything is written, as
|
||||
//we can not block the whole system here
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
return RETURN_OK;
|
||||
ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen);
|
||||
if (writtenlen < 0) {
|
||||
// we could try to find out what happened...
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
if (writtenlen != encodedLen) {
|
||||
// the OS failed us, we do not try to block until everything is written, as
|
||||
// we can not block the whole system here
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
return returnvalue::OK;
|
||||
#elif WIN32
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return returnvalue::OK;
|
||||
#endif
|
||||
}
|
||||
|
||||
void ArduinoComIF::handleSerialPortRx() {
|
||||
#ifdef LINUX
|
||||
uint32_t availableSpace = rxBuffer.availableWriteSpace();
|
||||
uint32_t availableSpace = rxBuffer.availableWriteSpace();
|
||||
|
||||
uint8_t dataFromSerial[availableSpace];
|
||||
uint8_t dataFromSerial[availableSpace];
|
||||
|
||||
ssize_t bytesRead = read(serialPort, dataFromSerial,
|
||||
sizeof(dataFromSerial));
|
||||
ssize_t bytesRead = read(serialPort, dataFromSerial, sizeof(dataFromSerial));
|
||||
|
||||
if (bytesRead < 0) {
|
||||
return;
|
||||
}
|
||||
if (bytesRead < 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
rxBuffer.writeData(dataFromSerial, bytesRead);
|
||||
rxBuffer.writeData(dataFromSerial, bytesRead);
|
||||
|
||||
uint8_t dataReceivedSoFar[rxBuffer.getMaxSize()];
|
||||
uint8_t dataReceivedSoFar[rxBuffer.getMaxSize()];
|
||||
|
||||
uint32_t dataLenReceivedSoFar = 0;
|
||||
uint32_t dataLenReceivedSoFar = 0;
|
||||
|
||||
rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true,
|
||||
&dataLenReceivedSoFar);
|
||||
rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true, &dataLenReceivedSoFar);
|
||||
|
||||
//look for STX
|
||||
size_t firstSTXinRawData = 0;
|
||||
while ((firstSTXinRawData < dataLenReceivedSoFar)
|
||||
&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) {
|
||||
firstSTXinRawData++;
|
||||
}
|
||||
// look for STX
|
||||
size_t firstSTXinRawData = 0;
|
||||
while ((firstSTXinRawData < dataLenReceivedSoFar) &&
|
||||
(dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) {
|
||||
firstSTXinRawData++;
|
||||
}
|
||||
|
||||
if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR) {
|
||||
//there is no STX in our data, throw it away...
|
||||
rxBuffer.deleteData(dataLenReceivedSoFar);
|
||||
return;
|
||||
}
|
||||
if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR) {
|
||||
// there is no STX in our data, throw it away...
|
||||
rxBuffer.deleteData(dataLenReceivedSoFar);
|
||||
return;
|
||||
}
|
||||
|
||||
uint8_t packet[MAX_PACKET_SIZE];
|
||||
size_t packetLen = 0;
|
||||
uint8_t packet[MAX_PACKET_SIZE];
|
||||
size_t packetLen = 0;
|
||||
|
||||
size_t readSize = 0;
|
||||
size_t readSize = 0;
|
||||
|
||||
ReturnValue_t result = DleEncoder::decode(
|
||||
dataReceivedSoFar + firstSTXinRawData,
|
||||
dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet,
|
||||
sizeof(packet), &packetLen);
|
||||
ReturnValue_t result = DleEncoder::decode(dataReceivedSoFar + firstSTXinRawData,
|
||||
dataLenReceivedSoFar - firstSTXinRawData, &readSize,
|
||||
packet, sizeof(packet), &packetLen);
|
||||
|
||||
size_t toDelete = firstSTXinRawData;
|
||||
if (result == HasReturnvaluesIF::RETURN_OK) {
|
||||
handlePacket(packet, packetLen);
|
||||
size_t toDelete = firstSTXinRawData;
|
||||
if (result == returnvalue::OK) {
|
||||
handlePacket(packet, packetLen);
|
||||
|
||||
// after handling the packet, we can delete it from the raw stream,
|
||||
// it has been copied to packet
|
||||
toDelete += readSize;
|
||||
}
|
||||
// after handling the packet, we can delete it from the raw stream,
|
||||
// it has been copied to packet
|
||||
toDelete += readSize;
|
||||
}
|
||||
|
||||
//remove Data which was processed
|
||||
rxBuffer.deleteData(toDelete);
|
||||
// remove Data which was processed
|
||||
rxBuffer.deleteData(toDelete);
|
||||
#elif WIN32
|
||||
#endif
|
||||
}
|
||||
|
||||
void ArduinoComIF::setBaudrate(uint32_t baudRate) {
|
||||
this->baudRate = baudRate;
|
||||
}
|
||||
void ArduinoComIF::setBaudrate(uint32_t baudRate) { this->baudRate = baudRate; }
|
||||
|
||||
void ArduinoComIF::handlePacket(uint8_t *packet, size_t packetLen) {
|
||||
uint16_t crc = CRC::crc16ccitt(packet, packetLen);
|
||||
if (crc != 0) {
|
||||
//CRC error
|
||||
return;
|
||||
}
|
||||
uint16_t crc = CRC::crc16ccitt(packet, packetLen);
|
||||
if (crc != 0) {
|
||||
// CRC error
|
||||
return;
|
||||
}
|
||||
|
||||
uint8_t command = packet[0];
|
||||
uint8_t address = packet[1];
|
||||
uint8_t command = packet[0];
|
||||
uint8_t address = packet[1];
|
||||
|
||||
uint16_t size = (packet[2] << 8) + packet[3];
|
||||
uint16_t size = (packet[2] << 8) + packet[3];
|
||||
|
||||
if (size != packetLen - 6) {
|
||||
//Invalid Length
|
||||
return;
|
||||
}
|
||||
if (size != packetLen - 6) {
|
||||
// Invalid Length
|
||||
return;
|
||||
}
|
||||
|
||||
switch (command) {
|
||||
case ArduinoCookie::SPI: {
|
||||
//ArduinoCookie **itsComplicated;
|
||||
auto findIter = spiMap.find(address);
|
||||
if (findIter == spiMap.end()) {
|
||||
//we do no know this address
|
||||
return;
|
||||
}
|
||||
ArduinoCookie& cookie = findIter->second;
|
||||
if (packetLen > cookie.maxReplySize + 6) {
|
||||
packetLen = cookie.maxReplySize + 6;
|
||||
}
|
||||
std::memcpy(cookie.replyBuffer.data(), packet + 4, packetLen - 6);
|
||||
cookie.receivedDataLen = packetLen - 6;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
return;
|
||||
}
|
||||
switch (command) {
|
||||
case ArduinoCookie::SPI: {
|
||||
// ArduinoCookie **itsComplicated;
|
||||
auto findIter = spiMap.find(address);
|
||||
if (findIter == spiMap.end()) {
|
||||
// we do no know this address
|
||||
return;
|
||||
}
|
||||
ArduinoCookie &cookie = findIter->second;
|
||||
if (packetLen > cookie.maxReplySize + 6) {
|
||||
packetLen = cookie.maxReplySize + 6;
|
||||
}
|
||||
std::memcpy(cookie.replyBuffer.data(), packet + 4, packetLen - 6);
|
||||
cookie.receivedDataLen = packetLen - 6;
|
||||
} break;
|
||||
default:
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -4,8 +4,8 @@
|
|||
#include <fsfw/container/FixedMap.h>
|
||||
#include <fsfw/container/SimpleRingBuffer.h>
|
||||
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
#include <fsfw/returnvalues/returnvalue.h>
|
||||
|
||||
#include <cstdint>
|
||||
#include <map>
|
||||
|
|
@ -14,56 +14,53 @@
|
|||
#include <windows.h>
|
||||
#endif
|
||||
|
||||
//Forward declaration, so users don't peek
|
||||
// Forward declaration, so users don't peek
|
||||
class ArduinoCookie;
|
||||
|
||||
class ArduinoComIF: public SystemObject,
|
||||
public DeviceCommunicationIF {
|
||||
public:
|
||||
static const uint8_t MAX_NUMBER_OF_SPI_DEVICES = 8;
|
||||
static const uint8_t MAX_PACKET_SIZE = 64;
|
||||
class ArduinoComIF : public SystemObject, public DeviceCommunicationIF {
|
||||
public:
|
||||
static const uint8_t MAX_NUMBER_OF_SPI_DEVICES = 8;
|
||||
static const uint8_t MAX_PACKET_SIZE = 64;
|
||||
|
||||
static const uint8_t COMMAND_INVALID = -1;
|
||||
static const uint8_t COMMAND_SPI = 1;
|
||||
static const uint8_t COMMAND_INVALID = -1;
|
||||
static const uint8_t COMMAND_SPI = 1;
|
||||
|
||||
ArduinoComIF(object_id_t setObjectId, bool promptComIF = false,
|
||||
const char *serialDevice = nullptr);
|
||||
void setBaudrate(uint32_t baudRate);
|
||||
ArduinoComIF(object_id_t setObjectId, bool promptComIF = false,
|
||||
const char *serialDevice = nullptr);
|
||||
void setBaudrate(uint32_t baudRate);
|
||||
|
||||
virtual ~ArduinoComIF();
|
||||
virtual ~ArduinoComIF();
|
||||
|
||||
/** DeviceCommunicationIF overrides */
|
||||
virtual ReturnValue_t initializeInterface(CookieIF * cookie) override;
|
||||
virtual ReturnValue_t sendMessage(CookieIF *cookie,
|
||||
const uint8_t * sendData, size_t sendLen) override;
|
||||
virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
|
||||
virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
|
||||
size_t requestLen) override;
|
||||
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
|
||||
uint8_t **buffer, size_t *size) override;
|
||||
/** DeviceCommunicationIF overrides */
|
||||
virtual ReturnValue_t initializeInterface(CookieIF *cookie) override;
|
||||
virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData,
|
||||
size_t sendLen) override;
|
||||
virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
|
||||
virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
|
||||
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
|
||||
size_t *size) override;
|
||||
|
||||
private:
|
||||
private:
|
||||
#ifdef LINUX
|
||||
#elif WIN32
|
||||
HANDLE hCom = INVALID_HANDLE_VALUE;
|
||||
HANDLE hCom = INVALID_HANDLE_VALUE;
|
||||
#endif
|
||||
// remembering if the initialization in the ctor worked
|
||||
// if not, all calls are disabled
|
||||
bool initialized = false;
|
||||
int serialPort = 0;
|
||||
// Default baud rate is 9600 for now.
|
||||
uint32_t baudRate = 9600;
|
||||
// remembering if the initialization in the ctor worked
|
||||
// if not, all calls are disabled
|
||||
bool initialized = false;
|
||||
int serialPort = 0;
|
||||
// Default baud rate is 9600 for now.
|
||||
uint32_t baudRate = 9600;
|
||||
|
||||
//used to know where to put the data if a reply is received
|
||||
std::map<uint8_t, ArduinoCookie> spiMap;
|
||||
// used to know where to put the data if a reply is received
|
||||
std::map<uint8_t, ArduinoCookie> spiMap;
|
||||
|
||||
SimpleRingBuffer rxBuffer;
|
||||
SimpleRingBuffer rxBuffer;
|
||||
|
||||
ReturnValue_t sendMessage(uint8_t command, uint8_t address,
|
||||
const uint8_t *data, size_t dataLen);
|
||||
void handleSerialPortRx();
|
||||
ReturnValue_t sendMessage(uint8_t command, uint8_t address, const uint8_t *data, size_t dataLen);
|
||||
void handleSerialPortRx();
|
||||
|
||||
void handlePacket(uint8_t *packet, size_t packetLen);
|
||||
void handlePacket(uint8_t *packet, size_t packetLen);
|
||||
};
|
||||
|
||||
#endif /* MISSION_ARDUINOCOMMINTERFACE_H_ */
|
||||
|
|
|
|||
|
|
@ -1,8 +1,8 @@
|
|||
#include <bsp_hosted/comIF/ArduinoCookie.h>
|
||||
|
||||
ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address,
|
||||
const size_t maxReplySize) :
|
||||
protocol(protocol), command(protocol), address(address),
|
||||
maxReplySize(maxReplySize), replyBuffer(maxReplySize) {
|
||||
}
|
||||
|
||||
ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address, const size_t maxReplySize)
|
||||
: protocol(protocol),
|
||||
command(protocol),
|
||||
address(address),
|
||||
maxReplySize(maxReplySize),
|
||||
replyBuffer(maxReplySize) {}
|
||||
|
|
|
|||
|
|
@ -2,26 +2,21 @@
|
|||
#define MISSION_ARDUINO_ARDUINOCOOKIE_H_
|
||||
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
|
||||
#include <vector>
|
||||
|
||||
class ArduinoCookie: public CookieIF {
|
||||
public:
|
||||
enum Protocol_t: uint8_t {
|
||||
INVALID,
|
||||
SPI,
|
||||
I2C
|
||||
};
|
||||
class ArduinoCookie : public CookieIF {
|
||||
public:
|
||||
enum Protocol_t : uint8_t { INVALID, SPI, I2C };
|
||||
|
||||
ArduinoCookie(Protocol_t protocol, uint8_t address,
|
||||
const size_t maxReplySize);
|
||||
|
||||
Protocol_t protocol;
|
||||
uint8_t command;
|
||||
uint8_t address;
|
||||
std::vector<uint8_t> replyBuffer;
|
||||
size_t receivedDataLen = 0;
|
||||
size_t maxReplySize;
|
||||
ArduinoCookie(Protocol_t protocol, uint8_t address, const size_t maxReplySize);
|
||||
|
||||
Protocol_t protocol;
|
||||
uint8_t command;
|
||||
uint8_t address;
|
||||
std::vector<uint8_t> replyBuffer;
|
||||
size_t receivedDataLen = 0;
|
||||
size_t maxReplySize;
|
||||
};
|
||||
|
||||
#endif /* MISSION_ARDUINO_ARDUINOCOOKIE_H_ */
|
||||
|
|
|
|||
|
|
@ -1,8 +1 @@
|
|||
target_sources(${TARGET_NAME} PUBLIC
|
||||
ArduinoComIF.cpp
|
||||
ArduinoCookie.cpp
|
||||
)
|
||||
|
||||
|
||||
|
||||
|
||||
target_sources(${OBSW_NAME} PUBLIC ArduinoComIF.cpp ArduinoCookie.cpp)
|
||||
|
|
|
|||
|
|
@ -1,21 +1,17 @@
|
|||
target_sources(${TARGET_NAME} PRIVATE
|
||||
ipc/MissionMessageTypes.cpp
|
||||
)
|
||||
target_sources(${OBSW_NAME} PRIVATE ipc/MissionMessageTypes.cpp)
|
||||
|
||||
target_include_directories(${TARGET_NAME} PUBLIC
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
|
||||
|
||||
# If a special translation file for object IDs exists, compile it.
|
||||
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
|
||||
target_sources(${TARGET_NAME} PRIVATE
|
||||
objects/translateObjects.cpp
|
||||
)
|
||||
target_sources(${OBSW_NAME} PRIVATE objects/translateObjects.cpp)
|
||||
target_sources(${UNITTEST_NAME} PRIVATE objects/translateObjects.cpp)
|
||||
endif()
|
||||
|
||||
# If a special translation file for events exists, compile it.
|
||||
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
|
||||
target_sources(${TARGET_NAME} PRIVATE
|
||||
events/translateEvents.cpp
|
||||
)
|
||||
target_sources(${OBSW_NAME} PRIVATE events/translateEvents.cpp)
|
||||
target_sources(${UNITTEST_NAME} PRIVATE events/translateEvents.cpp)
|
||||
endif()
|
||||
|
||||
add_subdirectory(pollingsequence)
|
||||
|
|
|
|||
|
|
@ -7,41 +7,41 @@
|
|||
//! Used to determine whether C++ ostreams are used which can increase
|
||||
//! the binary size significantly. If this is disabled,
|
||||
//! the C stdio functions can be used alternatively
|
||||
#define FSFW_CPP_OSTREAM_ENABLED 1
|
||||
#define FSFW_CPP_OSTREAM_ENABLED 1
|
||||
|
||||
//! More FSFW related printouts depending on level. Useful for development.
|
||||
#define FSFW_VERBOSE_LEVEL 1
|
||||
#define FSFW_VERBOSE_LEVEL 1
|
||||
|
||||
//! Can be used to completely disable printouts, even the C stdio ones.
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_VERBOSE_LEVEL == 0
|
||||
#define FSFW_DISABLE_PRINTOUT 0
|
||||
#define FSFW_DISABLE_PRINTOUT 0
|
||||
#endif
|
||||
|
||||
#define FSFW_USE_PUS_C_TELEMETRY 1
|
||||
#define FSFW_USE_PUS_C_TELEMETRY 1
|
||||
#define FSFW_USE_PUS_C_TELECOMMANDS 1
|
||||
|
||||
//! Can be used to disable the ANSI color sequences for C stdio.
|
||||
#define FSFW_COLORED_OUTPUT 1
|
||||
#define FSFW_COLORED_OUTPUT 1
|
||||
|
||||
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
|
||||
//! additional output which requires the translation files translateObjects
|
||||
//! and translateEvents (and their compiled source files)
|
||||
#define FSFW_OBJ_EVENT_TRANSLATION 1
|
||||
#define FSFW_OBJ_EVENT_TRANSLATION 1
|
||||
|
||||
#if FSFW_OBJ_EVENT_TRANSLATION == 1
|
||||
//! Specify whether info events are printed too.
|
||||
#define FSFW_DEBUG_INFO 1
|
||||
#include "objects/translateObjects.h"
|
||||
#define FSFW_DEBUG_INFO 1
|
||||
#include "events/translateEvents.h"
|
||||
#include "objects/translateObjects.h"
|
||||
#else
|
||||
#endif
|
||||
|
||||
//! When using the newlib nano library, C99 support for stdio facilities
|
||||
//! will not be provided. This define should be set to 1 if this is the case.
|
||||
#define FSFW_NO_C99_IO 1
|
||||
#define FSFW_NO_C99_IO 1
|
||||
|
||||
//! Specify whether a special mode store is used for Subsystem components.
|
||||
#define FSFW_USE_MODESTORE 0
|
||||
#define FSFW_USE_MODESTORE 0
|
||||
|
||||
//! Defines if the real time scheduler for linux should be used.
|
||||
//! If set to 0, this will also disable priority settings for linux
|
||||
|
|
@ -50,6 +50,8 @@
|
|||
//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
|
||||
#define FSFW_USE_REALTIME_FOR_LINUX 0
|
||||
|
||||
#define FSFW_UDP_SEND_WIRETAPPING_ENABLED 0
|
||||
|
||||
namespace fsfwconfig {
|
||||
|
||||
//! Default timestamp size. The default timestamp will be an seven byte CDC short timestamp.
|
||||
|
|
@ -58,7 +60,7 @@ static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 7;
|
|||
//! Configure the allocated pool sizes for the event manager.
|
||||
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
|
||||
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
|
||||
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
|
||||
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
|
||||
|
||||
//! Defines the FIFO depth of each commanding service base which
|
||||
//! also determines how many commands a CSB service can handle in one cycle
|
||||
|
|
@ -70,6 +72,6 @@ static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
|
|||
|
||||
static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
|
||||
|
||||
}
|
||||
} // namespace fsfwconfig
|
||||
|
||||
#endif /* CONFIG_FSFWCONFIG_H_ */
|
||||
|
|
|
|||
|
|
@ -8,11 +8,25 @@
|
|||
|
||||
#include "commonConfig.h"
|
||||
|
||||
#define OBSW_ADD_TEST_CODE 1
|
||||
#define OBSW_PRINT_MISSED_DEADLINES 1
|
||||
|
||||
#define OBSW_ADD_TEST_CODE 1
|
||||
|
||||
/* These defines should be disabled for mission code but are useful for
|
||||
debugging. */
|
||||
#define OBSW_VEBOSE_LEVEL 1
|
||||
#define OBSW_VEBOSE_LEVEL 1
|
||||
|
||||
#define OBSW_ADD_CCSDS_IP_CORES 0
|
||||
// Set to 1 if all telemetry should be sent to the PTME IP Core
|
||||
#define OBSW_TM_TO_PTME 0
|
||||
// Set to 1 if telecommands are received via the PDEC IP Core
|
||||
#define OBSW_TC_FROM_PDEC 0
|
||||
|
||||
#define OBSW_SYRLINKS_SIMULATED 0
|
||||
|
||||
#define OBSW_INITIALIZE_SWITCHES 0
|
||||
|
||||
#define OBSW_TCP_SERVER_WIRETAPPING 0
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
|
|
|
|||
|
|
@ -1,59 +0,0 @@
|
|||
#ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_
|
||||
#define FSFWCONFIG_DEVICES_GPIOIDS_H_
|
||||
|
||||
#include <linux/gpio/GpioIF.h>
|
||||
|
||||
namespace gpioIds {
|
||||
enum gpioId_t {
|
||||
HEATER_0,
|
||||
HEATER_1,
|
||||
HEATER_2,
|
||||
HEATER_3,
|
||||
HEATER_4,
|
||||
HEATER_5,
|
||||
HEATER_6,
|
||||
HEATER_7,
|
||||
DEPLSA1,
|
||||
DEPLSA2,
|
||||
|
||||
MGM_0_LIS3_CS,
|
||||
MGM_1_RM3100_CS,
|
||||
GYRO_0_ADIS_CS,
|
||||
GYRO_1_L3G_CS,
|
||||
GYRO_2_L3G_CS,
|
||||
MGM_2_LIS3_CS,
|
||||
MGM_3_RM3100_CS,
|
||||
|
||||
TEST_ID_0,
|
||||
TEST_ID_1,
|
||||
|
||||
RTD_IC3,
|
||||
RTD_IC4,
|
||||
RTD_IC5,
|
||||
RTD_IC6,
|
||||
RTD_IC7,
|
||||
RTD_IC8,
|
||||
RTD_IC9,
|
||||
RTD_IC10,
|
||||
RTD_IC11,
|
||||
RTD_IC12,
|
||||
RTD_IC13,
|
||||
RTD_IC14,
|
||||
RTD_IC15,
|
||||
RTD_IC16,
|
||||
RTD_IC17,
|
||||
RTD_IC18,
|
||||
|
||||
SPI_MUX_BIT_1,
|
||||
SPI_MUX_BIT_2,
|
||||
SPI_MUX_BIT_3,
|
||||
SPI_MUX_BIT_4,
|
||||
SPI_MUX_BIT_5,
|
||||
SPI_MUX_BIT_6
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
#endif /* FSFWCONFIG_DEVICES_GPIOIDS_H_ */
|
||||
|
|
@ -1,58 +0,0 @@
|
|||
#ifndef FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
|
||||
#define FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
|
||||
|
||||
#include <OBSWConfig.h>
|
||||
|
||||
namespace pcduSwitches {
|
||||
/* Switches are uint8_t datatype and go from 0 to 255 */
|
||||
enum switcherList {
|
||||
Q7S,
|
||||
PAYLOAD_PCDU_CH1,
|
||||
RW,
|
||||
TCS_BOARD_8V_HEATER_IN,
|
||||
SUS_REDUNDANT,
|
||||
DEPLOYMENT_MECHANISM,
|
||||
PAYLOAD_PCDU_CH6,
|
||||
ACS_BOARD_SIDE_B,
|
||||
PAYLOAD_CAMERA,
|
||||
TCS_BOARD_3V3,
|
||||
SYRLINKS,
|
||||
STAR_TRACKER,
|
||||
MGT,
|
||||
SUS_NOMINAL,
|
||||
SOLAR_CELL_EXP,
|
||||
PLOC,
|
||||
ACS_BORAD_SIDE_A,
|
||||
NUMBER_OF_SWITCHES
|
||||
};
|
||||
|
||||
static const uint8_t ON = 1;
|
||||
static const uint8_t OFF = 0;
|
||||
|
||||
/* Output states after reboot of the PDUs */
|
||||
static const uint8_t INIT_STATE_Q7S = ON;
|
||||
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
|
||||
static const uint8_t INIT_STATE_RW = OFF;
|
||||
#if TE0720 == 1
|
||||
/* Because the TE0720 is not connected to the PCDU, this switch is always on */
|
||||
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
|
||||
#else
|
||||
static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
|
||||
#endif
|
||||
static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
|
||||
static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
|
||||
static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
|
||||
static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
|
||||
static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
|
||||
static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
|
||||
static const uint8_t INIT_STATE_SYRLINKS = OFF;
|
||||
static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
|
||||
static const uint8_t INIT_STATE_MGT = OFF;
|
||||
static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
|
||||
static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
|
||||
static const uint8_t INIT_STATE_PLOC = OFF;
|
||||
static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
|
||||
}
|
||||
|
||||
|
||||
#endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */
|
||||
|
|
@ -1,17 +1,16 @@
|
|||
#ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
|
||||
#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
|
||||
|
||||
#include <common/config/commonSubsystemIds.h>
|
||||
#include <cstdint>
|
||||
|
||||
#include "eive/eventSubsystemIds.h"
|
||||
|
||||
/**
|
||||
* These IDs are part of the ID for an event thrown by a subsystem.
|
||||
* Numbers 0-80 are reserved for FSFW Subsystem IDs (framework/events/)
|
||||
*/
|
||||
namespace SUBSYSTEM_ID {
|
||||
enum: uint8_t {
|
||||
SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END
|
||||
};
|
||||
enum : uint8_t { SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END };
|
||||
}
|
||||
|
||||
#endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,8 +1,8 @@
|
|||
#ifndef FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_
|
||||
#define FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_
|
||||
|
||||
#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_ */
|
||||
|
|
|
|||
|
|
@ -1,7 +0,0 @@
|
|||
CXXSRC += $(wildcard $(CURRENTPATH)/cdatapool/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
|
||||
|
||||
INCLUDES += $(CURRENTPATH)
|
||||
|
|
@ -1,11 +1,10 @@
|
|||
#include "MissionMessageTypes.h"
|
||||
|
||||
#include <fsfw/ipc/CommandMessage.h>
|
||||
|
||||
void messagetypes::clearMissionMessage(CommandMessage* message) {
|
||||
switch(message->getMessageType()) {
|
||||
default:
|
||||
break;
|
||||
}
|
||||
switch (message->getMessageType()) {
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -13,10 +13,10 @@ class CommandMessage;
|
|||
*/
|
||||
namespace messagetypes {
|
||||
enum MESSAGE_TYPE {
|
||||
MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT,
|
||||
MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT,
|
||||
};
|
||||
|
||||
void clearMissionMessage(CommandMessage* message);
|
||||
}
|
||||
} // namespace messagetypes
|
||||
|
||||
#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */
|
||||
|
|
|
|||
|
|
@ -2,30 +2,30 @@
|
|||
#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
|
||||
|
||||
#include <cstdint>
|
||||
#include <commonObjects.h>
|
||||
|
||||
#include "eive/objects.h"
|
||||
|
||||
// The objects will be instantiated in the ID order
|
||||
namespace objects {
|
||||
enum sourceObjects: uint32_t {
|
||||
enum sourceObjects : uint32_t {
|
||||
|
||||
PUS_SERVICE_3 = 0x51000300,
|
||||
PUS_SERVICE_5 = 0x51000400,
|
||||
PUS_SERVICE_6 = 0x51000500,
|
||||
PUS_SERVICE_8 = 0x51000800,
|
||||
PUS_SERVICE_23 = 0x51002300,
|
||||
PUS_SERVICE_201 = 0x51020100,
|
||||
PUS_SERVICE_3 = 0x51000300,
|
||||
PUS_SERVICE_5 = 0x51000400,
|
||||
PUS_SERVICE_6 = 0x51000500,
|
||||
PUS_SERVICE_8 = 0x51000800,
|
||||
PUS_SERVICE_23 = 0x51002300,
|
||||
PUS_SERVICE_201 = 0x51020100,
|
||||
|
||||
TM_FUNNEL = 0x52000002,
|
||||
/* Test Task */
|
||||
|
||||
/* Test Task */
|
||||
TEST_TASK = 0x42694269,
|
||||
DUMMY_INTERFACE = 0xCAFECAFE,
|
||||
DUMMY_HANDLER = 0x44000001,
|
||||
/* 0x49 ('I') for Communication Interfaces **/
|
||||
ARDUINO_COM_IF = 0x49000001,
|
||||
|
||||
TEST_TASK = 0x42694269,
|
||||
DUMMY_INTERFACE = 0xCAFECAFE,
|
||||
DUMMY_HANDLER = 0x4400AFFE,
|
||||
|
||||
/* 0x49 ('I') for Communication Interfaces **/
|
||||
ARDUINO_COM_IF = 0x49000001
|
||||
};
|
||||
DUMMY_COM_IF = 0x49000002,
|
||||
};
|
||||
}
|
||||
|
||||
#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */
|
||||
|
|
|
|||
|
|
@ -1,21 +1,122 @@
|
|||
/**
|
||||
* @brief Auto-generated object translation file.
|
||||
/**
|
||||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 31 translations.
|
||||
* Generated on: 2021-05-17 19:12:49
|
||||
* Contains 176 translations.
|
||||
* Generated on: 2024-05-06 13:47:38
|
||||
*/
|
||||
#include "translateObjects.h"
|
||||
|
||||
const char *TEST_TASK_STRING = "TEST_TASK";
|
||||
const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
|
||||
const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
|
||||
const char *POWER_CONTROLLER_STRING = "POWER_CONTROLLER";
|
||||
const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
|
||||
const char *XIPHOS_WDT_STRING = "XIPHOS_WDT";
|
||||
const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
|
||||
const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
|
||||
const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
|
||||
const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
|
||||
const char *SUS_0_N_LOC_XFYFZM_PT_XF_STRING = "SUS_0_N_LOC_XFYFZM_PT_XF";
|
||||
const char *SUS_1_N_LOC_XBYFZM_PT_XB_STRING = "SUS_1_N_LOC_XBYFZM_PT_XB";
|
||||
const char *SUS_2_N_LOC_XFYBZB_PT_YB_STRING = "SUS_2_N_LOC_XFYBZB_PT_YB";
|
||||
const char *SUS_3_N_LOC_XFYBZF_PT_YF_STRING = "SUS_3_N_LOC_XFYBZF_PT_YF";
|
||||
const char *SUS_4_N_LOC_XMYFZF_PT_ZF_STRING = "SUS_4_N_LOC_XMYFZF_PT_ZF";
|
||||
const char *SUS_5_N_LOC_XFYMZB_PT_ZB_STRING = "SUS_5_N_LOC_XFYMZB_PT_ZB";
|
||||
const char *SUS_6_R_LOC_XFYBZM_PT_XF_STRING = "SUS_6_R_LOC_XFYBZM_PT_XF";
|
||||
const char *SUS_7_R_LOC_XBYBZM_PT_XB_STRING = "SUS_7_R_LOC_XBYBZM_PT_XB";
|
||||
const char *SUS_8_R_LOC_XBYBZB_PT_YB_STRING = "SUS_8_R_LOC_XBYBZB_PT_YB";
|
||||
const char *SUS_9_R_LOC_XBYBZB_PT_YF_STRING = "SUS_9_R_LOC_XBYBZB_PT_YF";
|
||||
const char *SUS_10_N_LOC_XMYBZF_PT_ZF_STRING = "SUS_10_N_LOC_XMYBZF_PT_ZF";
|
||||
const char *SUS_11_R_LOC_XBYMZB_PT_ZB_STRING = "SUS_11_R_LOC_XBYMZB_PT_ZB";
|
||||
const char *RW1_STRING = "RW1";
|
||||
const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
|
||||
const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
|
||||
const char *RW2_STRING = "RW2";
|
||||
const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER";
|
||||
const char *GYRO_2_ADIS_HANDLER_STRING = "GYRO_2_ADIS_HANDLER";
|
||||
const char *RW3_STRING = "RW3";
|
||||
const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
|
||||
const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
|
||||
const char *RW4_STRING = "RW4";
|
||||
const char *STAR_TRACKER_STRING = "STAR_TRACKER";
|
||||
const char *GPS_CONTROLLER_STRING = "GPS_CONTROLLER";
|
||||
const char *GPS_0_HEALTH_DEV_STRING = "GPS_0_HEALTH_DEV";
|
||||
const char *GPS_1_HEALTH_DEV_STRING = "GPS_1_HEALTH_DEV";
|
||||
const char *IMTQ_POLLING_STRING = "IMTQ_POLLING";
|
||||
const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
|
||||
const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
|
||||
const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER";
|
||||
const char *PDU1_HANDLER_STRING = "PDU1_HANDLER";
|
||||
const char *PDU2_HANDLER_STRING = "PDU2_HANDLER";
|
||||
const char *ACU_HANDLER_STRING = "ACU_HANDLER";
|
||||
const char *BPX_BATT_HANDLER_STRING = "BPX_BATT_HANDLER";
|
||||
const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
|
||||
const char *RAD_SENSOR_STRING = "RAD_SENSOR";
|
||||
const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
|
||||
const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
|
||||
const char *STR_COM_IF_STRING = "STR_COM_IF";
|
||||
const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
|
||||
const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
|
||||
const char *PTME_CONFIG_STRING = "PTME_CONFIG";
|
||||
const char *PTME_VC0_LIVE_TM_STRING = "PTME_VC0_LIVE_TM";
|
||||
const char *PTME_VC1_LOG_TM_STRING = "PTME_VC1_LOG_TM";
|
||||
const char *PTME_VC2_HK_TM_STRING = "PTME_VC2_HK_TM";
|
||||
const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
|
||||
const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
|
||||
const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
|
||||
const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
|
||||
const char *PLOC_MPSOC_COMMUNICATION_STRING = "PLOC_MPSOC_COMMUNICATION";
|
||||
const char *SCEX_STRING = "SCEX";
|
||||
const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
|
||||
const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
|
||||
const char *TMP1075_HANDLER_TCS_0_STRING = "TMP1075_HANDLER_TCS_0";
|
||||
const char *TMP1075_HANDLER_TCS_1_STRING = "TMP1075_HANDLER_TCS_1";
|
||||
const char *TMP1075_HANDLER_PLPCDU_0_STRING = "TMP1075_HANDLER_PLPCDU_0";
|
||||
const char *TMP1075_HANDLER_PLPCDU_1_STRING = "TMP1075_HANDLER_PLPCDU_1";
|
||||
const char *TMP1075_HANDLER_IF_BOARD_STRING = "TMP1075_HANDLER_IF_BOARD";
|
||||
const char *RTD_0_IC3_PLOC_HEATSPREADER_STRING = "RTD_0_IC3_PLOC_HEATSPREADER";
|
||||
const char *RTD_1_IC4_PLOC_MISSIONBOARD_STRING = "RTD_1_IC4_PLOC_MISSIONBOARD";
|
||||
const char *RTD_2_IC5_4K_CAMERA_STRING = "RTD_2_IC5_4K_CAMERA";
|
||||
const char *RTD_3_IC6_DAC_HEATSPREADER_STRING = "RTD_3_IC6_DAC_HEATSPREADER";
|
||||
const char *RTD_4_IC7_STARTRACKER_STRING = "RTD_4_IC7_STARTRACKER";
|
||||
const char *RTD_5_IC8_RW1_MX_MY_STRING = "RTD_5_IC8_RW1_MX_MY";
|
||||
const char *RTD_6_IC9_DRO_STRING = "RTD_6_IC9_DRO";
|
||||
const char *RTD_7_IC10_SCEX_STRING = "RTD_7_IC10_SCEX";
|
||||
const char *RTD_8_IC11_X8_STRING = "RTD_8_IC11_X8";
|
||||
const char *RTD_9_IC12_HPA_STRING = "RTD_9_IC12_HPA";
|
||||
const char *RTD_10_IC13_PL_TX_STRING = "RTD_10_IC13_PL_TX";
|
||||
const char *RTD_11_IC14_MPA_STRING = "RTD_11_IC14_MPA";
|
||||
const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
|
||||
const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
|
||||
const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
|
||||
const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
|
||||
const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
|
||||
const char *SYRLINKS_COM_HANDLER_STRING = "SYRLINKS_COM_HANDLER";
|
||||
const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
|
||||
const char *DUMMY_COM_IF_STRING = "DUMMY_COM_IF";
|
||||
const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
|
||||
const char *UART_COM_IF_STRING = "UART_COM_IF";
|
||||
const char *ACS_BOARD_POLLING_TASK_STRING = "ACS_BOARD_POLLING_TASK";
|
||||
const char *RW_POLLING_TASK_STRING = "RW_POLLING_TASK";
|
||||
const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
|
||||
const char *SUS_POLLING_TASK_STRING = "SUS_POLLING_TASK";
|
||||
const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
|
||||
const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
|
||||
const char *TCP_TMTC_SERVER_STRING = "TCP_TMTC_SERVER";
|
||||
const char *UDP_TMTC_SERVER_STRING = "UDP_TMTC_SERVER";
|
||||
const char *TCP_TMTC_POLLING_TASK_STRING = "TCP_TMTC_POLLING_TASK";
|
||||
const char *UDP_TMTC_POLLING_TASK_STRING = "UDP_TMTC_POLLING_TASK";
|
||||
const char *FILE_SYSTEM_HANDLER_STRING = "FILE_SYSTEM_HANDLER";
|
||||
const char *SDC_MANAGER_STRING = "SDC_MANAGER";
|
||||
const char *PTME_STRING = "PTME";
|
||||
const char *PDEC_HANDLER_STRING = "PDEC_HANDLER";
|
||||
const char *CCSDS_HANDLER_STRING = "CCSDS_HANDLER";
|
||||
const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
|
||||
const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
|
||||
const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
|
||||
const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
|
||||
const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
|
||||
const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
|
||||
const char *TM_FUNNEL_STRING = "TM_FUNNEL";
|
||||
const char *FSFW_OBJECTS_START_STRING = "FSFW_OBJECTS_START";
|
||||
const char *PUS_SERVICE_1_VERIFICATION_STRING = "PUS_SERVICE_1_VERIFICATION";
|
||||
const char *PUS_SERVICE_2_DEVICE_ACCESS_STRING = "PUS_SERVICE_2_DEVICE_ACCESS";
|
||||
|
|
@ -23,9 +124,13 @@ const char *PUS_SERVICE_3_HOUSEKEEPING_STRING = "PUS_SERVICE_3_HOUSEKEEPING";
|
|||
const char *PUS_SERVICE_5_EVENT_REPORTING_STRING = "PUS_SERVICE_5_EVENT_REPORTING";
|
||||
const char *PUS_SERVICE_8_FUNCTION_MGMT_STRING = "PUS_SERVICE_8_FUNCTION_MGMT";
|
||||
const char *PUS_SERVICE_9_TIME_MGMT_STRING = "PUS_SERVICE_9_TIME_MGMT";
|
||||
const char *PUS_SERVICE_11_TC_SCHEDULER_STRING = "PUS_SERVICE_11_TC_SCHEDULER";
|
||||
const char *PUS_SERVICE_15_TM_STORAGE_STRING = "PUS_SERVICE_15_TM_STORAGE";
|
||||
const char *PUS_SERVICE_17_TEST_STRING = "PUS_SERVICE_17_TEST";
|
||||
const char *PUS_SERVICE_20_PARAMETERS_STRING = "PUS_SERVICE_20_PARAMETERS";
|
||||
const char *PUS_SERVICE_200_MODE_MGMT_STRING = "PUS_SERVICE_200_MODE_MGMT";
|
||||
const char *PUS_SERVICE_201_HEALTH_STRING = "PUS_SERVICE_201_HEALTH";
|
||||
const char *CFDP_PACKET_DISTRIBUTOR_STRING = "CFDP_PACKET_DISTRIBUTOR";
|
||||
const char *HEALTH_TABLE_STRING = "HEALTH_TABLE";
|
||||
const char *MODE_STORE_STRING = "MODE_STORE";
|
||||
const char *EVENT_MANAGER_STRING = "EVENT_MANAGER";
|
||||
|
|
@ -34,76 +139,406 @@ const char *TC_STORE_STRING = "TC_STORE";
|
|||
const char *TM_STORE_STRING = "TM_STORE";
|
||||
const char *IPC_STORE_STRING = "IPC_STORE";
|
||||
const char *TIME_STAMPER_STRING = "TIME_STAMPER";
|
||||
const char *VERIFICATION_REPORTER_STRING = "VERIFICATION_REPORTER";
|
||||
const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
|
||||
const char *HEATER_0_PLOC_PROC_BRD_STRING = "HEATER_0_PLOC_PROC_BRD";
|
||||
const char *HEATER_1_PCDU_BRD_STRING = "HEATER_1_PCDU_BRD";
|
||||
const char *HEATER_2_ACS_BRD_STRING = "HEATER_2_ACS_BRD";
|
||||
const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
|
||||
const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
|
||||
const char *HEATER_5_STR_STRING = "HEATER_5_STR";
|
||||
const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
|
||||
const char *HEATER_7_SYRLINKS_STRING = "HEATER_7_SYRLINKS";
|
||||
const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
|
||||
const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
|
||||
const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
|
||||
const char *RW_ASSY_STRING = "RW_ASSY";
|
||||
const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
|
||||
const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY";
|
||||
const char *IMTQ_ASSY_STRING = "IMTQ_ASSY";
|
||||
const char *STR_ASSY_STRING = "STR_ASSY";
|
||||
const char *TM_FUNNEL_STRING = "TM_FUNNEL";
|
||||
const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
|
||||
const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
|
||||
const char *CFDP_HANDLER_STRING = "CFDP_HANDLER";
|
||||
const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
|
||||
const char *CFDP_FAULT_HANDLER_STRING = "CFDP_FAULT_HANDLER";
|
||||
const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
|
||||
const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
|
||||
const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
|
||||
const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
|
||||
const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
|
||||
const char *EPS_SUBSYSTEM_STRING = "EPS_SUBSYSTEM";
|
||||
const char *MISC_TM_STORE_STRING = "MISC_TM_STORE";
|
||||
const char *OK_TM_STORE_STRING = "OK_TM_STORE";
|
||||
const char *NOT_OK_TM_STORE_STRING = "NOT_OK_TM_STORE";
|
||||
const char *HK_TM_STORE_STRING = "HK_TM_STORE";
|
||||
const char *CFDP_TM_STORE_STRING = "CFDP_TM_STORE";
|
||||
const char *LIVE_TM_TASK_STRING = "LIVE_TM_TASK";
|
||||
const char *LOG_STORE_AND_TM_TASK_STRING = "LOG_STORE_AND_TM_TASK";
|
||||
const char *HK_STORE_AND_TM_TASK_STRING = "HK_STORE_AND_TM_TASK";
|
||||
const char *CFDP_STORE_AND_TM_TASK_STRING = "CFDP_STORE_AND_TM_TASK";
|
||||
const char *DOWNLINK_RAM_STORE_STRING = "DOWNLINK_RAM_STORE";
|
||||
const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
|
||||
const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
|
||||
const char *NO_OBJECT_STRING = "NO_OBJECT";
|
||||
|
||||
const char* translateObject(object_id_t object) {
|
||||
switch( (object & 0xFFFFFFFF) ) {
|
||||
case 0x42694269:
|
||||
return TEST_TASK_STRING;
|
||||
case 0x4400AFFE:
|
||||
return DUMMY_HANDLER_STRING;
|
||||
case 0x49000001:
|
||||
return ARDUINO_COM_IF_STRING;
|
||||
case 0x51000300:
|
||||
return PUS_SERVICE_3_STRING;
|
||||
case 0x51000400:
|
||||
return PUS_SERVICE_5_STRING;
|
||||
case 0x51000500:
|
||||
return PUS_SERVICE_6_STRING;
|
||||
case 0x51000800:
|
||||
return PUS_SERVICE_8_STRING;
|
||||
case 0x51002300:
|
||||
return PUS_SERVICE_23_STRING;
|
||||
case 0x51020100:
|
||||
return PUS_SERVICE_201_STRING;
|
||||
case 0x52000002:
|
||||
return TM_FUNNEL_STRING;
|
||||
case 0x53000000:
|
||||
return FSFW_OBJECTS_START_STRING;
|
||||
case 0x53000001:
|
||||
return PUS_SERVICE_1_VERIFICATION_STRING;
|
||||
case 0x53000002:
|
||||
return PUS_SERVICE_2_DEVICE_ACCESS_STRING;
|
||||
case 0x53000003:
|
||||
return PUS_SERVICE_3_HOUSEKEEPING_STRING;
|
||||
case 0x53000005:
|
||||
return PUS_SERVICE_5_EVENT_REPORTING_STRING;
|
||||
case 0x53000008:
|
||||
return PUS_SERVICE_8_FUNCTION_MGMT_STRING;
|
||||
case 0x53000009:
|
||||
return PUS_SERVICE_9_TIME_MGMT_STRING;
|
||||
case 0x53000017:
|
||||
return PUS_SERVICE_17_TEST_STRING;
|
||||
case 0x53000020:
|
||||
return PUS_SERVICE_20_PARAMETERS_STRING;
|
||||
case 0x53000200:
|
||||
return PUS_SERVICE_200_MODE_MGMT_STRING;
|
||||
case 0x53010000:
|
||||
return HEALTH_TABLE_STRING;
|
||||
case 0x53010100:
|
||||
return MODE_STORE_STRING;
|
||||
case 0x53030000:
|
||||
return EVENT_MANAGER_STRING;
|
||||
case 0x53040000:
|
||||
return INTERNAL_ERROR_REPORTER_STRING;
|
||||
case 0x534f0100:
|
||||
return TC_STORE_STRING;
|
||||
case 0x534f0200:
|
||||
return TM_STORE_STRING;
|
||||
case 0x534f0300:
|
||||
return IPC_STORE_STRING;
|
||||
case 0x53500010:
|
||||
return TIME_STAMPER_STRING;
|
||||
case 0x53ffffff:
|
||||
return FSFW_OBJECTS_END_STRING;
|
||||
case 0xCAFECAFE:
|
||||
return DUMMY_INTERFACE_STRING;
|
||||
case 0xFFFFFFFF:
|
||||
return NO_OBJECT_STRING;
|
||||
default:
|
||||
return "UNKNOWN_OBJECT";
|
||||
}
|
||||
return 0;
|
||||
const char *translateObject(object_id_t object) {
|
||||
switch ((object & 0xFFFFFFFF)) {
|
||||
case 0x42694269:
|
||||
return TEST_TASK_STRING;
|
||||
case 0x43000002:
|
||||
return ACS_CONTROLLER_STRING;
|
||||
case 0x43000003:
|
||||
return CORE_CONTROLLER_STRING;
|
||||
case 0x43000004:
|
||||
return POWER_CONTROLLER_STRING;
|
||||
case 0x43000006:
|
||||
return GLOBAL_JSON_CFG_STRING;
|
||||
case 0x43000007:
|
||||
return XIPHOS_WDT_STRING;
|
||||
case 0x43400001:
|
||||
return THERMAL_CONTROLLER_STRING;
|
||||
case 0x44000001:
|
||||
return DUMMY_HANDLER_STRING;
|
||||
case 0x44120006:
|
||||
return MGM_0_LIS3_HANDLER_STRING;
|
||||
case 0x44120010:
|
||||
return GYRO_0_ADIS_HANDLER_STRING;
|
||||
case 0x44120032:
|
||||
return SUS_0_N_LOC_XFYFZM_PT_XF_STRING;
|
||||
case 0x44120033:
|
||||
return SUS_1_N_LOC_XBYFZM_PT_XB_STRING;
|
||||
case 0x44120034:
|
||||
return SUS_2_N_LOC_XFYBZB_PT_YB_STRING;
|
||||
case 0x44120035:
|
||||
return SUS_3_N_LOC_XFYBZF_PT_YF_STRING;
|
||||
case 0x44120036:
|
||||
return SUS_4_N_LOC_XMYFZF_PT_ZF_STRING;
|
||||
case 0x44120037:
|
||||
return SUS_5_N_LOC_XFYMZB_PT_ZB_STRING;
|
||||
case 0x44120038:
|
||||
return SUS_6_R_LOC_XFYBZM_PT_XF_STRING;
|
||||
case 0x44120039:
|
||||
return SUS_7_R_LOC_XBYBZM_PT_XB_STRING;
|
||||
case 0x44120040:
|
||||
return SUS_8_R_LOC_XBYBZB_PT_YB_STRING;
|
||||
case 0x44120041:
|
||||
return SUS_9_R_LOC_XBYBZB_PT_YF_STRING;
|
||||
case 0x44120042:
|
||||
return SUS_10_N_LOC_XMYBZF_PT_ZF_STRING;
|
||||
case 0x44120043:
|
||||
return SUS_11_R_LOC_XBYMZB_PT_ZB_STRING;
|
||||
case 0x44120047:
|
||||
return RW1_STRING;
|
||||
case 0x44120107:
|
||||
return MGM_1_RM3100_HANDLER_STRING;
|
||||
case 0x44120111:
|
||||
return GYRO_1_L3G_HANDLER_STRING;
|
||||
case 0x44120148:
|
||||
return RW2_STRING;
|
||||
case 0x44120208:
|
||||
return MGM_2_LIS3_HANDLER_STRING;
|
||||
case 0x44120212:
|
||||
return GYRO_2_ADIS_HANDLER_STRING;
|
||||
case 0x44120249:
|
||||
return RW3_STRING;
|
||||
case 0x44120309:
|
||||
return MGM_3_RM3100_HANDLER_STRING;
|
||||
case 0x44120313:
|
||||
return GYRO_3_L3G_HANDLER_STRING;
|
||||
case 0x44120350:
|
||||
return RW4_STRING;
|
||||
case 0x44130001:
|
||||
return STAR_TRACKER_STRING;
|
||||
case 0x44130045:
|
||||
return GPS_CONTROLLER_STRING;
|
||||
case 0x44130046:
|
||||
return GPS_0_HEALTH_DEV_STRING;
|
||||
case 0x44130047:
|
||||
return GPS_1_HEALTH_DEV_STRING;
|
||||
case 0x44140013:
|
||||
return IMTQ_POLLING_STRING;
|
||||
case 0x44140014:
|
||||
return IMTQ_HANDLER_STRING;
|
||||
case 0x442000A1:
|
||||
return PCDU_HANDLER_STRING;
|
||||
case 0x44250000:
|
||||
return P60DOCK_HANDLER_STRING;
|
||||
case 0x44250001:
|
||||
return PDU1_HANDLER_STRING;
|
||||
case 0x44250002:
|
||||
return PDU2_HANDLER_STRING;
|
||||
case 0x44250003:
|
||||
return ACU_HANDLER_STRING;
|
||||
case 0x44260000:
|
||||
return BPX_BATT_HANDLER_STRING;
|
||||
case 0x44300000:
|
||||
return PLPCDU_HANDLER_STRING;
|
||||
case 0x443200A5:
|
||||
return RAD_SENSOR_STRING;
|
||||
case 0x44330000:
|
||||
return PLOC_UPDATER_STRING;
|
||||
case 0x44330001:
|
||||
return PLOC_MEMORY_DUMPER_STRING;
|
||||
case 0x44330002:
|
||||
return STR_COM_IF_STRING;
|
||||
case 0x44330003:
|
||||
return PLOC_MPSOC_HELPER_STRING;
|
||||
case 0x44330004:
|
||||
return AXI_PTME_CONFIG_STRING;
|
||||
case 0x44330005:
|
||||
return PTME_CONFIG_STRING;
|
||||
case 0x44330006:
|
||||
return PTME_VC0_LIVE_TM_STRING;
|
||||
case 0x44330007:
|
||||
return PTME_VC1_LOG_TM_STRING;
|
||||
case 0x44330008:
|
||||
return PTME_VC2_HK_TM_STRING;
|
||||
case 0x44330009:
|
||||
return PTME_VC3_CFDP_TM_STRING;
|
||||
case 0x44330015:
|
||||
return PLOC_MPSOC_HANDLER_STRING;
|
||||
case 0x44330016:
|
||||
return PLOC_SUPERVISOR_HANDLER_STRING;
|
||||
case 0x44330017:
|
||||
return PLOC_SUPERVISOR_HELPER_STRING;
|
||||
case 0x44330018:
|
||||
return PLOC_MPSOC_COMMUNICATION_STRING;
|
||||
case 0x44330032:
|
||||
return SCEX_STRING;
|
||||
case 0x444100A2:
|
||||
return SOLAR_ARRAY_DEPL_HANDLER_STRING;
|
||||
case 0x444100A4:
|
||||
return HEATER_HANDLER_STRING;
|
||||
case 0x44420004:
|
||||
return TMP1075_HANDLER_TCS_0_STRING;
|
||||
case 0x44420005:
|
||||
return TMP1075_HANDLER_TCS_1_STRING;
|
||||
case 0x44420006:
|
||||
return TMP1075_HANDLER_PLPCDU_0_STRING;
|
||||
case 0x44420007:
|
||||
return TMP1075_HANDLER_PLPCDU_1_STRING;
|
||||
case 0x44420008:
|
||||
return TMP1075_HANDLER_IF_BOARD_STRING;
|
||||
case 0x44420016:
|
||||
return RTD_0_IC3_PLOC_HEATSPREADER_STRING;
|
||||
case 0x44420017:
|
||||
return RTD_1_IC4_PLOC_MISSIONBOARD_STRING;
|
||||
case 0x44420018:
|
||||
return RTD_2_IC5_4K_CAMERA_STRING;
|
||||
case 0x44420019:
|
||||
return RTD_3_IC6_DAC_HEATSPREADER_STRING;
|
||||
case 0x44420020:
|
||||
return RTD_4_IC7_STARTRACKER_STRING;
|
||||
case 0x44420021:
|
||||
return RTD_5_IC8_RW1_MX_MY_STRING;
|
||||
case 0x44420022:
|
||||
return RTD_6_IC9_DRO_STRING;
|
||||
case 0x44420023:
|
||||
return RTD_7_IC10_SCEX_STRING;
|
||||
case 0x44420024:
|
||||
return RTD_8_IC11_X8_STRING;
|
||||
case 0x44420025:
|
||||
return RTD_9_IC12_HPA_STRING;
|
||||
case 0x44420026:
|
||||
return RTD_10_IC13_PL_TX_STRING;
|
||||
case 0x44420027:
|
||||
return RTD_11_IC14_MPA_STRING;
|
||||
case 0x44420028:
|
||||
return RTD_12_IC15_ACU_STRING;
|
||||
case 0x44420029:
|
||||
return RTD_13_IC16_PLPCDU_HEATSPREADER_STRING;
|
||||
case 0x44420030:
|
||||
return RTD_14_IC17_TCS_BOARD_STRING;
|
||||
case 0x44420031:
|
||||
return RTD_15_IC18_IMTQ_STRING;
|
||||
case 0x445300A3:
|
||||
return SYRLINKS_HANDLER_STRING;
|
||||
case 0x445300A4:
|
||||
return SYRLINKS_COM_HANDLER_STRING;
|
||||
case 0x49000001:
|
||||
return ARDUINO_COM_IF_STRING;
|
||||
case 0x49000002:
|
||||
return DUMMY_COM_IF_STRING;
|
||||
case 0x49010006:
|
||||
return SCEX_UART_READER_STRING;
|
||||
case 0x49030003:
|
||||
return UART_COM_IF_STRING;
|
||||
case 0x49060004:
|
||||
return ACS_BOARD_POLLING_TASK_STRING;
|
||||
case 0x49060005:
|
||||
return RW_POLLING_TASK_STRING;
|
||||
case 0x49060006:
|
||||
return SPI_RTD_COM_IF_STRING;
|
||||
case 0x49060007:
|
||||
return SUS_POLLING_TASK_STRING;
|
||||
case 0x50000100:
|
||||
return CCSDS_PACKET_DISTRIBUTOR_STRING;
|
||||
case 0x50000200:
|
||||
return PUS_PACKET_DISTRIBUTOR_STRING;
|
||||
case 0x50000300:
|
||||
return TCP_TMTC_SERVER_STRING;
|
||||
case 0x50000301:
|
||||
return UDP_TMTC_SERVER_STRING;
|
||||
case 0x50000400:
|
||||
return TCP_TMTC_POLLING_TASK_STRING;
|
||||
case 0x50000401:
|
||||
return UDP_TMTC_POLLING_TASK_STRING;
|
||||
case 0x50000500:
|
||||
return FILE_SYSTEM_HANDLER_STRING;
|
||||
case 0x50000550:
|
||||
return SDC_MANAGER_STRING;
|
||||
case 0x50000600:
|
||||
return PTME_STRING;
|
||||
case 0x50000700:
|
||||
return PDEC_HANDLER_STRING;
|
||||
case 0x50000800:
|
||||
return CCSDS_HANDLER_STRING;
|
||||
case 0x51000300:
|
||||
return PUS_SERVICE_3_STRING;
|
||||
case 0x51000400:
|
||||
return PUS_SERVICE_5_STRING;
|
||||
case 0x51000500:
|
||||
return PUS_SERVICE_6_STRING;
|
||||
case 0x51000800:
|
||||
return PUS_SERVICE_8_STRING;
|
||||
case 0x51002300:
|
||||
return PUS_SERVICE_23_STRING;
|
||||
case 0x51020100:
|
||||
return PUS_SERVICE_201_STRING;
|
||||
case 0x53000000:
|
||||
return FSFW_OBJECTS_START_STRING;
|
||||
case 0x53000001:
|
||||
return PUS_SERVICE_1_VERIFICATION_STRING;
|
||||
case 0x53000002:
|
||||
return PUS_SERVICE_2_DEVICE_ACCESS_STRING;
|
||||
case 0x53000003:
|
||||
return PUS_SERVICE_3_HOUSEKEEPING_STRING;
|
||||
case 0x53000005:
|
||||
return PUS_SERVICE_5_EVENT_REPORTING_STRING;
|
||||
case 0x53000008:
|
||||
return PUS_SERVICE_8_FUNCTION_MGMT_STRING;
|
||||
case 0x53000009:
|
||||
return PUS_SERVICE_9_TIME_MGMT_STRING;
|
||||
case 0x53000011:
|
||||
return PUS_SERVICE_11_TC_SCHEDULER_STRING;
|
||||
case 0x53000015:
|
||||
return PUS_SERVICE_15_TM_STORAGE_STRING;
|
||||
case 0x53000017:
|
||||
return PUS_SERVICE_17_TEST_STRING;
|
||||
case 0x53000020:
|
||||
return PUS_SERVICE_20_PARAMETERS_STRING;
|
||||
case 0x53000200:
|
||||
return PUS_SERVICE_200_MODE_MGMT_STRING;
|
||||
case 0x53000201:
|
||||
return PUS_SERVICE_201_HEALTH_STRING;
|
||||
case 0x53001000:
|
||||
return CFDP_PACKET_DISTRIBUTOR_STRING;
|
||||
case 0x53010000:
|
||||
return HEALTH_TABLE_STRING;
|
||||
case 0x53010100:
|
||||
return MODE_STORE_STRING;
|
||||
case 0x53030000:
|
||||
return EVENT_MANAGER_STRING;
|
||||
case 0x53040000:
|
||||
return INTERNAL_ERROR_REPORTER_STRING;
|
||||
case 0x534f0100:
|
||||
return TC_STORE_STRING;
|
||||
case 0x534f0200:
|
||||
return TM_STORE_STRING;
|
||||
case 0x534f0300:
|
||||
return IPC_STORE_STRING;
|
||||
case 0x53500010:
|
||||
return TIME_STAMPER_STRING;
|
||||
case 0x53500020:
|
||||
return VERIFICATION_REPORTER_STRING;
|
||||
case 0x53ffffff:
|
||||
return FSFW_OBJECTS_END_STRING;
|
||||
case 0x60000000:
|
||||
return HEATER_0_PLOC_PROC_BRD_STRING;
|
||||
case 0x60000001:
|
||||
return HEATER_1_PCDU_BRD_STRING;
|
||||
case 0x60000002:
|
||||
return HEATER_2_ACS_BRD_STRING;
|
||||
case 0x60000003:
|
||||
return HEATER_3_OBC_BRD_STRING;
|
||||
case 0x60000004:
|
||||
return HEATER_4_CAMERA_STRING;
|
||||
case 0x60000005:
|
||||
return HEATER_5_STR_STRING;
|
||||
case 0x60000006:
|
||||
return HEATER_6_DRO_STRING;
|
||||
case 0x60000007:
|
||||
return HEATER_7_SYRLINKS_STRING;
|
||||
case 0x73000001:
|
||||
return ACS_BOARD_ASS_STRING;
|
||||
case 0x73000002:
|
||||
return SUS_BOARD_ASS_STRING;
|
||||
case 0x73000003:
|
||||
return TCS_BOARD_ASS_STRING;
|
||||
case 0x73000004:
|
||||
return RW_ASSY_STRING;
|
||||
case 0x73000006:
|
||||
return CAM_SWITCHER_STRING;
|
||||
case 0x73000007:
|
||||
return SYRLINKS_ASSY_STRING;
|
||||
case 0x73000008:
|
||||
return IMTQ_ASSY_STRING;
|
||||
case 0x73000009:
|
||||
return STR_ASSY_STRING;
|
||||
case 0x73000100:
|
||||
return TM_FUNNEL_STRING;
|
||||
case 0x73000101:
|
||||
return PUS_TM_FUNNEL_STRING;
|
||||
case 0x73000102:
|
||||
return CFDP_TM_FUNNEL_STRING;
|
||||
case 0x73000205:
|
||||
return CFDP_HANDLER_STRING;
|
||||
case 0x73000206:
|
||||
return CFDP_DISTRIBUTOR_STRING;
|
||||
case 0x73000207:
|
||||
return CFDP_FAULT_HANDLER_STRING;
|
||||
case 0x73010000:
|
||||
return EIVE_SYSTEM_STRING;
|
||||
case 0x73010001:
|
||||
return ACS_SUBSYSTEM_STRING;
|
||||
case 0x73010002:
|
||||
return PL_SUBSYSTEM_STRING;
|
||||
case 0x73010003:
|
||||
return TCS_SUBSYSTEM_STRING;
|
||||
case 0x73010004:
|
||||
return COM_SUBSYSTEM_STRING;
|
||||
case 0x73010005:
|
||||
return EPS_SUBSYSTEM_STRING;
|
||||
case 0x73020001:
|
||||
return MISC_TM_STORE_STRING;
|
||||
case 0x73020002:
|
||||
return OK_TM_STORE_STRING;
|
||||
case 0x73020003:
|
||||
return NOT_OK_TM_STORE_STRING;
|
||||
case 0x73020004:
|
||||
return HK_TM_STORE_STRING;
|
||||
case 0x73030000:
|
||||
return CFDP_TM_STORE_STRING;
|
||||
case 0x73040000:
|
||||
return LIVE_TM_TASK_STRING;
|
||||
case 0x73040001:
|
||||
return LOG_STORE_AND_TM_TASK_STRING;
|
||||
case 0x73040002:
|
||||
return HK_STORE_AND_TM_TASK_STRING;
|
||||
case 0x73040003:
|
||||
return CFDP_STORE_AND_TM_TASK_STRING;
|
||||
case 0x73040004:
|
||||
return DOWNLINK_RAM_STORE_STRING;
|
||||
case 0x90000003:
|
||||
return THERMAL_TEMP_INSERTER_STRING;
|
||||
case 0xCAFECAFE:
|
||||
return DUMMY_INTERFACE_STRING;
|
||||
case 0xFFFFFFFF:
|
||||
return NO_OBJECT_STRING;
|
||||
default:
|
||||
return "UNKNOWN_OBJECT";
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -3,6 +3,6 @@
|
|||
|
||||
#include <fsfw/objectmanager/SystemObjectIF.h>
|
||||
|
||||
const char* translateObject(object_id_t object);
|
||||
const char *translateObject(object_id_t object);
|
||||
|
||||
#endif /* FSFWCONFIG_OBJECTS_TRANSLATEOBJECTS_H_ */
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
target_sources(${OBSW_NAME} PRIVATE DummyPst.cpp)
|
||||
|
|
@ -0,0 +1,139 @@
|
|||
#include "DummyPst.h"
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
|
||||
#include <objects/systemObjectList.h>
|
||||
|
||||
ReturnValue_t dummy_pst::pst(FixedTimeslotTaskIF *thisSequence) {
|
||||
uint32_t length = thisSequence->getPeriodMs();
|
||||
|
||||
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
if (thisSequence->checkSequence() == returnvalue::OK) {
|
||||
return returnvalue::OK;
|
||||
} else {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!" << std::endl;
|
||||
#endif
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,14 @@
|
|||
#ifndef POLLINGSEQUENCEFACTORY_H_
|
||||
#define POLLINGSEQUENCEFACTORY_H_
|
||||
|
||||
#include <fsfw/returnvalues/returnvalue.h>
|
||||
|
||||
class FixedTimeslotTaskIF;
|
||||
|
||||
namespace dummy_pst {
|
||||
|
||||
ReturnValue_t pst(FixedTimeslotTaskIF *thisSequence);
|
||||
|
||||
}
|
||||
|
||||
#endif /* POLLINGSEQUENCEINIT_H_ */
|
||||
|
|
@ -1,9 +1,10 @@
|
|||
#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
|
||||
#define CONFIG_RETURNVALUES_CLASSIDS_H_
|
||||
|
||||
#include "commonClassIds.h"
|
||||
#include <fsfw/returnvalues/FwClassIds.h>
|
||||
|
||||
#include "eive/resultClassIds.h"
|
||||
|
||||
/**
|
||||
* Source IDs starts at 73 for now
|
||||
* Framework IDs for ReturnValues run from 0 to 56
|
||||
|
|
@ -11,9 +12,9 @@
|
|||
*/
|
||||
namespace CLASS_ID {
|
||||
enum {
|
||||
CLASS_ID_START = COMMON_CLASS_ID_END,
|
||||
CLASS_ID_START = COMMON_CLASS_ID_END,
|
||||
CLASS_ID_END // [EXPORT] : [END]
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */
|
||||
|
|
|
|||
|
|
@ -1,19 +0,0 @@
|
|||
#ifndef FSFWCONFIG_TMTC_APID_H_
|
||||
#define FSFWCONFIG_TMTC_APID_H_
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
/**
|
||||
* Application Process Definition: entity, uniquely identified by an
|
||||
* application process ID (APID), capable of generating telemetry source
|
||||
* packets and receiving telecommand packets
|
||||
*
|
||||
* SOURCE APID: 0x73 / 115 / s
|
||||
* APID is a 11 bit number
|
||||
*/
|
||||
namespace apid {
|
||||
static const uint16_t EIVE_OBSW = 0x65;
|
||||
}
|
||||
|
||||
|
||||
#endif /* FSFWCONFIG_TMTC_APID_H_ */
|
||||
|
|
@ -1,23 +0,0 @@
|
|||
#ifndef CONFIG_TMTC_PUSIDS_HPP_
|
||||
#define CONFIG_TMTC_PUSIDS_HPP_
|
||||
|
||||
namespace pus {
|
||||
enum Ids{
|
||||
PUS_SERVICE_1 = 1,
|
||||
PUS_SERVICE_2 = 2,
|
||||
PUS_SERVICE_3 = 3,
|
||||
PUS_SERVICE_3_PSB = 3,
|
||||
PUS_SERVICE_5 = 5,
|
||||
PUS_SERVICE_6 = 6,
|
||||
PUS_SERVICE_8 = 8,
|
||||
PUS_SERVICE_9 = 9,
|
||||
PUS_SERVICE_17 = 17,
|
||||
PUS_SERVICE_19 = 19,
|
||||
PUS_SERVICE_20 = 20,
|
||||
PUS_SERVICE_23 = 23,
|
||||
PUS_SERVICE_200 = 200,
|
||||
PUS_SERVICE_201 = 201,
|
||||
};
|
||||
};
|
||||
|
||||
#endif /* CONFIG_TMTC_PUSIDS_HPP_ */
|
||||
|
|
@ -1,9 +1,17 @@
|
|||
#include "InitMission.h"
|
||||
#include <objects/systemObjectList.h>
|
||||
|
||||
#include <OBSWVersion.h>
|
||||
#include <fsfw/tasks/TaskFactory.h>
|
||||
#include <iostream>
|
||||
|
||||
#include "commonConfig.h"
|
||||
#include "fsfw/FSFWVersion.h"
|
||||
#include "fsfw/controller/ControllerBase.h"
|
||||
#include "fsfw/ipc/QueueFactory.h"
|
||||
#include "fsfw/modes/HasModesIF.h"
|
||||
#include "fsfw/modes/ModeMessage.h"
|
||||
#include "fsfw/objectmanager/ObjectManager.h"
|
||||
#include "fsfw/tasks/TaskFactory.h"
|
||||
#include "scheduling.h"
|
||||
|
||||
#ifdef WIN32
|
||||
static const char* COMPILE_PRINTOUT = "Windows";
|
||||
#elif LINUX
|
||||
|
|
@ -16,20 +24,21 @@ static const char* COMPILE_PRINTOUT = "unknown OS";
|
|||
* Linux and Windows.
|
||||
* @return
|
||||
*/
|
||||
int main(void)
|
||||
{
|
||||
std::cout << "-- EIVE OBSW --" << std::endl;
|
||||
std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl;
|
||||
std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "."
|
||||
<< SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl;
|
||||
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
|
||||
int main(void) {
|
||||
std::cout << "-- EIVE OBSW --" << std::endl;
|
||||
std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl;
|
||||
std::cout << "-- OBSW "
|
||||
<< "v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
|
||||
<< std::endl;
|
||||
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
|
||||
std::cout << "-- "
|
||||
<< " BSP HOSTED"
|
||||
<< " --" << std::endl;
|
||||
|
||||
initmission::initMission();
|
||||
scheduling::initMission();
|
||||
|
||||
for(;;) {
|
||||
// suspend main thread by sleeping it.
|
||||
TaskFactory::delayTask(5000);
|
||||
}
|
||||
for (;;) {
|
||||
// suspend main thread by sleeping it.
|
||||
TaskFactory::delayTask(5000);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,124 @@
|
|||
#include "objectFactory.h"
|
||||
|
||||
#include <fsfw/power/DummyPowerSwitcher.h>
|
||||
#include <fsfw/tmtcservices/CommandingServiceBase.h>
|
||||
#include <fsfw/tmtcservices/PusServiceBase.h>
|
||||
#include <mission/controller/ThermalController.h>
|
||||
#include <mission/genericFactory.h>
|
||||
#include <mission/tmtc/TmFunnelHandler.h>
|
||||
#include <objects/systemObjectList.h>
|
||||
|
||||
#include "../mission/utility/DummySdCardManager.h"
|
||||
#include "OBSWConfig.h"
|
||||
#include "fsfw/platform.h"
|
||||
#include "fsfw/power/PowerSwitchIF.h"
|
||||
#include "fsfw_tests/integration/task/TestTask.h"
|
||||
|
||||
#if OBSW_ADD_TMTC_UDP_SERVER == 1
|
||||
#include "fsfw/osal/common/UdpTcPollingTask.h"
|
||||
#include "fsfw/osal/common/UdpTmTcBridge.h"
|
||||
#endif
|
||||
#if OBSW_ADD_TMTC_TCP_SERVER == 1
|
||||
#include "fsfw/osal/common/TcpTmTcBridge.h"
|
||||
#include "fsfw/osal/common/TcpTmTcServer.h"
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
#include <test/testtasks/TestTask.h>
|
||||
#endif
|
||||
|
||||
#include <dummies/AcuDummy.h>
|
||||
#include <dummies/CoreControllerDummy.h>
|
||||
|
||||
#include "dummies/helperFactory.h"
|
||||
|
||||
#ifdef PLATFORM_UNIX
|
||||
#include <fsfw_hal/linux/serial/SerialComIF.h>
|
||||
#include <fsfw_hal/linux/serial/SerialCookie.h>
|
||||
|
||||
#include "devices/gpioIds.h"
|
||||
#include "fsfw_hal/linux/gpio/Gpio.h"
|
||||
#include "linux/payload/FreshSupvHandler.h"
|
||||
#include "linux/payload/PlocSupvUartMan.h"
|
||||
#include "test/gpio/DummyGpioIF.h"
|
||||
#endif
|
||||
|
||||
void Factory::setStaticFrameworkObjectIds() {
|
||||
PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
|
||||
|
||||
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
|
||||
|
||||
VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
|
||||
}
|
||||
|
||||
void ObjectFactory::produce(void* args) {
|
||||
Factory::setStaticFrameworkObjectIds();
|
||||
PusTmFunnel* pusFunnel;
|
||||
CfdpTmFunnel* cfdpFunnel;
|
||||
StorageManagerIF* tmStore;
|
||||
StorageManagerIF* ipcStore;
|
||||
PersistentTmStores persistentStores{};
|
||||
bool enableHkSets = false;
|
||||
#if OBSW_ENABLE_PERIODIC_HK == 1
|
||||
enableHkSets = true;
|
||||
#endif
|
||||
auto sdcMan = new DummySdCardManager("/tmp");
|
||||
ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore,
|
||||
&tmStore, persistentStores, 120, enableHkSets, false);
|
||||
|
||||
new TmFunnelHandler(objects::LIVE_TM_TASK, *pusFunnel, *cfdpFunnel);
|
||||
auto* dummyGpioIF = new DummyGpioIF();
|
||||
auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
|
||||
std::vector<ReturnValue_t> switcherList;
|
||||
auto initVal = PowerSwitchIF::SWITCH_OFF;
|
||||
for (unsigned i = 0; i < 18; i++) {
|
||||
switcherList.emplace_back(initVal);
|
||||
}
|
||||
dummySwitcher->setInitialSwitcherList(switcherList);
|
||||
|
||||
#ifdef PLATFORM_UNIX
|
||||
// Obsolete dev handler..
|
||||
/*
|
||||
new SerialComIF(objects::UART_COM_IF);
|
||||
#if OBSW_ADD_PLOC_MPSOC == 1
|
||||
std::string mpscoDev = "";
|
||||
auto mpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, mpscoDev, uart::PLOC_MPSOC_BAUD,
|
||||
mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
|
||||
mpsocCookie->setNoFixedSizeReply();
|
||||
auto plocMpsocHelper = new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER);
|
||||
new PlocMpsocHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
|
||||
plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF),
|
||||
objects::PLOC_SUPERVISOR_HANDLER);
|
||||
#endif // OBSW_ADD_PLOC_MPSOC == 1
|
||||
*/
|
||||
#if OBSW_ADD_PLOC_SUPERVISOR == 1
|
||||
std::string plocSupvString = "/dev/ploc_supv";
|
||||
auto supervisorCookie =
|
||||
new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, plocSupvString, uart::PLOC_SUPV_BAUD,
|
||||
supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
|
||||
supervisorCookie->setNoFixedSizeReply();
|
||||
new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
|
||||
DhbConfig dhbConf(objects::PLOC_SUPERVISOR_HANDLER);
|
||||
auto* supvHandler =
|
||||
new FreshSupvHandler(dhbConf, supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, dummyGpioIF),
|
||||
dummySwitcher, power::PDU1_CH6_PLOC_12V);
|
||||
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
|
||||
#endif
|
||||
|
||||
dummy::DummyCfg cfg;
|
||||
cfg.addPlPcduDummy = true;
|
||||
cfg.addCamSwitcherDummy = true;
|
||||
dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF, enableHkSets);
|
||||
|
||||
HeaterHandler* heaterHandler = nullptr;
|
||||
// new ThermalController(objects::THERMAL_CONTROLLER);
|
||||
ObjectFactory::createGenericHeaterComponents(*dummyGpioIF, *dummySwitcher, heaterHandler);
|
||||
if (heaterHandler == nullptr) {
|
||||
sif::error << "HeaterHandler could not be created" << std::endl;
|
||||
} else {
|
||||
ObjectFactory::createThermalController(*heaterHandler, true);
|
||||
}
|
||||
new TestTask(objects::TEST_TASK);
|
||||
}
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
#ifndef BSP_LINUX_OBJECTFACTORY_H_
|
||||
#define BSP_LINUX_OBJECTFACTORY_H_
|
||||
|
||||
namespace ObjectFactory {
|
||||
void setStatics();
|
||||
void produce(void* args);
|
||||
}; // namespace ObjectFactory
|
||||
|
||||
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */
|
||||
|
|
@ -0,0 +1,280 @@
|
|||
#include "linux/scheduling.h"
|
||||
|
||||
#include <bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h>
|
||||
#include <fsfw/objectmanager/ObjectManager.h>
|
||||
#include <fsfw/objectmanager/ObjectManagerIF.h>
|
||||
#include <fsfw/returnvalues/returnvalue.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 <iostream>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "mission/scheduling.h"
|
||||
#include "objectFactory.h"
|
||||
#include "scheduling.h"
|
||||
|
||||
#ifdef LINUX
|
||||
ServiceInterfaceStream sif::debug("DEBUG");
|
||||
ServiceInterfaceStream sif::info("INFO");
|
||||
ServiceInterfaceStream sif::warning("WARNING");
|
||||
ServiceInterfaceStream sif::error("ERROR", false, false, true);
|
||||
#else
|
||||
ServiceInterfaceStream sif::debug("DEBUG", true);
|
||||
ServiceInterfaceStream sif::info("INFO", true);
|
||||
ServiceInterfaceStream sif::warning("WARNING", true);
|
||||
ServiceInterfaceStream sif::error("ERROR", true, false, true);
|
||||
#endif
|
||||
|
||||
ObjectManagerIF* objectManager = nullptr;
|
||||
|
||||
void scheduling::initMission() {
|
||||
sif::info << "Building global objects.." << std::endl;
|
||||
/* Instantiate global object manager and also create all objects */
|
||||
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
|
||||
sif::info << "Initializing all objects.." << std::endl;
|
||||
ObjectManager::instance()->initialize();
|
||||
|
||||
/* This function creates and starts all tasks */
|
||||
initTasks();
|
||||
}
|
||||
|
||||
void scheduling::initTasks() {
|
||||
TaskFactory* factory = TaskFactory::instance();
|
||||
if (factory == nullptr) {
|
||||
/* Should never happen ! */
|
||||
return;
|
||||
}
|
||||
#if OBSW_PRINT_MISSED_DEADLINES == 1
|
||||
void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
|
||||
#else
|
||||
void (*missedDeadlineFunc)(void) = nullptr;
|
||||
#endif
|
||||
|
||||
/* TMTC Distribution */
|
||||
PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
|
||||
"DIST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
||||
ReturnValue_t result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Adding CCSDS distributor failed" << std::endl;
|
||||
}
|
||||
result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Adding PUS distributor failed" << std::endl;
|
||||
}
|
||||
result = tmtcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Adding CFDP distributor failed" << std::endl;
|
||||
}
|
||||
#if OBSW_ADD_TMTC_UDP_SERVER == 1
|
||||
result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "adding UDP server failed" << std::endl;
|
||||
}
|
||||
#endif
|
||||
result = tmtcDistributor->addComponent(objects::TCP_TMTC_SERVER);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "adding TCP server failed" << std::endl;
|
||||
}
|
||||
|
||||
#if OBSW_ADD_TMTC_UDP_SERVER == 1
|
||||
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
|
||||
"UDP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
|
||||
result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Add component UDP Polling failed" << std::endl;
|
||||
}
|
||||
#endif
|
||||
PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
|
||||
"TCP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
|
||||
result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Add component UDP Polling failed" << std::endl;
|
||||
}
|
||||
|
||||
PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
|
||||
"LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr, &RR_SCHEDULING);
|
||||
result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
|
||||
}
|
||||
|
||||
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
|
||||
"PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
|
||||
}
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
|
||||
}
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
}
|
||||
|
||||
PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
|
||||
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
||||
}
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_15_TM_STORAGE);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PUS15", objects::PUS_SERVICE_15_TM_STORAGE);
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
|
||||
}
|
||||
|
||||
PeriodicTaskIF* thermalTask = factory->createPeriodicTask(
|
||||
"THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
|
||||
result = thermalTask->addComponent(objects::CORE_CONTROLLER);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
|
||||
}
|
||||
result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
|
||||
}
|
||||
result = thermalTask->addComponent(objects::HEATER_HANDLER);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
|
||||
}
|
||||
|
||||
FixedTimeslotTaskIF* pstTask = factory->createFixedTimeslotTask(
|
||||
"DUMMY_PST", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
|
||||
result = dummy_pst::pst(pstTask);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Failed to add dummy pst to fixed timeslot task" << std::endl;
|
||||
}
|
||||
|
||||
#if OBSW_ADD_CFDP_COMPONENTS == 1
|
||||
PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
|
||||
"CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
|
||||
result = cfdpTask->addComponent(objects::CFDP_HANDLER);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
|
||||
}
|
||||
#endif
|
||||
|
||||
// If those are added at a later stage..
|
||||
/*
|
||||
PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
|
||||
"LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
|
||||
result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
|
||||
}
|
||||
PeriodicTaskIF* hkTmTask =
|
||||
factory->createPeriodicTask("HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
|
||||
result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
|
||||
}
|
||||
PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
|
||||
"CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
|
||||
result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
|
||||
}
|
||||
*/
|
||||
|
||||
#if OBSW_ADD_PLOC_SUPERVISOR == 1
|
||||
PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
|
||||
"PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
|
||||
result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
|
||||
}
|
||||
#endif /* OBSW_ADD_PLOC_SUPERVISOR */
|
||||
|
||||
PeriodicTaskIF* plTask = factory->createPeriodicTask(
|
||||
"PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
|
||||
scheduling::addMpsocSupvHandlers(plTask);
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
result = testTask->addComponent(objects::TEST_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
|
||||
}
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
|
||||
PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
|
||||
"DUMMY_TASK", 35, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
|
||||
dummyTask->addComponent(objects::THERMAL_TEMP_INSERTER);
|
||||
scheduling::scheduleTmpTempSensors(dummyTask, true);
|
||||
scheduling::scheduleRtdSensors(dummyTask);
|
||||
dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
|
||||
dummyTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
|
||||
dummyTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
|
||||
dummyTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
|
||||
dummyTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
|
||||
dummyTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
|
||||
dummyTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
|
||||
dummyTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
|
||||
dummyTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
|
||||
dummyTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
|
||||
dummyTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
|
||||
dummyTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
|
||||
|
||||
sif::info << "Starting tasks.." << std::endl;
|
||||
tmtcDistributor->startTask();
|
||||
#if OBSW_ADD_TMTC_UDP_SERVER == 1
|
||||
udpPollingTask->startTask();
|
||||
#endif
|
||||
tcpPollingTask->startTask();
|
||||
liveTmTask->startTask();
|
||||
|
||||
pusHighPrio->startTask();
|
||||
pusMedPrio->startTask();
|
||||
|
||||
pstTask->startTask();
|
||||
thermalTask->startTask();
|
||||
dummyTask->startTask();
|
||||
|
||||
// If those are added at a later stage..
|
||||
// logTmTask->startTask();
|
||||
// cfdpTmTask->startTask();
|
||||
// hkTmTask->startTask();
|
||||
|
||||
#if OBSW_ADD_PLOC_SUPERVISOR == 1
|
||||
supvHelperTask->startTask();
|
||||
#endif
|
||||
#if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
|
||||
plTask->startTask();
|
||||
#endif
|
||||
#if OBSW_ADD_CFDP_COMPONENTS == 1
|
||||
cfdpTask->startTask();
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
testTask->startTask();
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
|
||||
sif::info << "Tasks started.." << std::endl;
|
||||
}
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
#pragma once
|
||||
|
||||
namespace scheduling {
|
||||
void initMission();
|
||||
void initTasks();
|
||||
}; // namespace scheduling
|
||||
|
|
@ -1,8 +1,6 @@
|
|||
target_sources(${TARGET_NAME} PUBLIC
|
||||
InitMission.cpp
|
||||
main.cpp
|
||||
ObjectFactory.cpp
|
||||
)
|
||||
target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp gpioInit.cpp
|
||||
ObjectFactory.cpp)
|
||||
|
||||
add_subdirectory(boardconfig)
|
||||
add_subdirectory(boardtest)
|
||||
add_subdirectory(fsfwconfig)
|
||||
|
|
|
|||
|
|
@ -1,192 +1,267 @@
|
|||
#include "InitMission.h"
|
||||
#include "ObjectFactory.h"
|
||||
|
||||
#include "objects/systemObjectList.h"
|
||||
#include "OBSWConfig.h"
|
||||
#include "pollingsequence/pollingSequenceFactory.h"
|
||||
|
||||
#include <mission/utility/InitMission.h>
|
||||
#include <fsfw/objectmanager/ObjectManagerIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <fsfw/objectmanager/ObjectManager.h>
|
||||
#include <fsfw/objectmanager/ObjectManagerIF.h>
|
||||
#include <fsfw/returnvalues/returnvalue.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
|
||||
#include <fsfw/tasks/PeriodicTaskIF.h>
|
||||
#include <fsfw/tasks/TaskFactory.h>
|
||||
#include <linux/InitMission.h>
|
||||
#include <mission/utility/InitMission.h>
|
||||
|
||||
#include <iostream>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "ObjectFactory.h"
|
||||
#include "objects/systemObjectList.h"
|
||||
#include "pollingsequence/pollingSequenceFactory.h"
|
||||
|
||||
ServiceInterfaceStream sif::debug("DEBUG");
|
||||
ServiceInterfaceStream sif::info("INFO");
|
||||
ServiceInterfaceStream sif::warning("WARNING");
|
||||
ServiceInterfaceStream sif::error("ERROR");
|
||||
|
||||
ObjectManagerIF *objectManager = nullptr;
|
||||
ObjectManagerIF* objectManager = nullptr;
|
||||
|
||||
void initmission::initMission() {
|
||||
sif::info << "Building global objects.." << std::endl;
|
||||
/* Instantiate global object manager and also create all objects */
|
||||
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
|
||||
sif::info << "Initializing all objects.." << std::endl;
|
||||
ObjectManager::instance()->initialize();
|
||||
sif::info << "Building global objects.." << std::endl;
|
||||
/* Instantiate global object manager and also create all objects */
|
||||
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
|
||||
sif::info << "Initializing all objects.." << std::endl;
|
||||
ObjectManager::instance()->initialize();
|
||||
|
||||
/* This function creates and starts all tasks */
|
||||
initTasks();
|
||||
/* This function creates and starts all tasks */
|
||||
initTasks();
|
||||
}
|
||||
|
||||
void initmission::initTasks() {
|
||||
TaskFactory* factory = TaskFactory::instance();
|
||||
if(factory == nullptr) {
|
||||
/* Should never happen ! */
|
||||
return;
|
||||
}
|
||||
TaskFactory* factory = TaskFactory::instance();
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
if (factory == nullptr) {
|
||||
/* Should never happen ! */
|
||||
return;
|
||||
}
|
||||
#if OBSW_PRINT_MISSED_DEADLINES == 1
|
||||
void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
|
||||
void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
|
||||
#else
|
||||
void (*missedDeadlineFunc) (void) = nullptr;
|
||||
void (*missedDeadlineFunc)(void) = nullptr;
|
||||
#endif
|
||||
|
||||
/* TMTC Distribution */
|
||||
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
|
||||
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
||||
ReturnValue_t result = tmTcDistributor->addComponent(
|
||||
objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
/* TMTC Distribution */
|
||||
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
|
||||
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
||||
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
|
||||
/* UDP bridge */
|
||||
PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
|
||||
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
||||
result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
|
||||
}
|
||||
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
|
||||
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
|
||||
result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "Add component UDP Polling failed" << std::endl;
|
||||
}
|
||||
/* UDP bridge */
|
||||
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
|
||||
"TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
||||
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Add component TMTC Bridge failed" << std::endl;
|
||||
}
|
||||
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
|
||||
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
|
||||
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Add component TMTC Polling failed" << std::endl;
|
||||
}
|
||||
|
||||
/* PUS Services */
|
||||
PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
|
||||
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
#if OBSW_ADD_SCEX_DEVICE == 1
|
||||
PeriodicTaskIF* scexDevHandler;
|
||||
PeriodicTaskIF* scexReaderTask;
|
||||
scheduling::schedulingScex(*factory, scexDevHandler, scexReaderTask);
|
||||
#endif
|
||||
|
||||
PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
|
||||
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
|
||||
}
|
||||
/* PUS Services */
|
||||
std::vector<PeriodicTaskIF*> pusTasks;
|
||||
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
|
||||
|
||||
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
|
||||
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
||||
}
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
}
|
||||
|
||||
PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
|
||||
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
|
||||
}
|
||||
|
||||
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
|
||||
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
|
||||
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
|
||||
}
|
||||
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("INT_ERR_RPRT",
|
||||
objects::INTERNAL_ERROR_REPORTER);
|
||||
}
|
||||
|
||||
#if OBSW_ADD_TEST_PST == 1
|
||||
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
|
||||
"ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
|
||||
result = pst::pollingSequenceTest(pstTestTask);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;
|
||||
}
|
||||
#endif /* RPI_TEST_ACS_BOARD == 1 */
|
||||
|
||||
PeriodicTaskIF* testTask = factory->createPeriodicTask(
|
||||
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
|
||||
std::vector<PeriodicTaskIF*> pstTasks;
|
||||
createPstTasks(*factory, missedDeadlineFunc, pstTasks);
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
result = testTask->addComponent(objects::TEST_TASK);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
|
||||
}
|
||||
std::vector<PeriodicTaskIF*> testTasks;
|
||||
createTestTasks(*factory, missedDeadlineFunc, pstTasks);
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
#if RPI_ADD_SPI_TEST == 1
|
||||
result = testTask->addComponent(objects::SPI_TEST);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
|
||||
|
||||
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
|
||||
for (const auto& task : taskVector) {
|
||||
if (task != nullptr) {
|
||||
task->startTask();
|
||||
} else {
|
||||
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
sif::info << "Starting tasks.." << std::endl;
|
||||
tmTcDistributor->startTask();
|
||||
tmtcBridgeTask->startTask();
|
||||
tmtcPollingTask->startTask();
|
||||
|
||||
taskStarter(pusTasks, "PUS Tasks");
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
taskStarter(testTasks, "Test Tasks");
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
taskStarter(pstTasks, "PST Tasks");
|
||||
|
||||
#if OBSW_ADD_SCEX_DEVICE == 1
|
||||
scexDevHandler->startTask();
|
||||
scexReaderTask->startTask();
|
||||
#endif
|
||||
#if OBSW_ADD_TEST_PST == 1
|
||||
if (startTestPst) {
|
||||
pstTestTask->startTask();
|
||||
}
|
||||
#endif /* RPI_TEST_ACS_BOARD == 1 */
|
||||
sif::info << "Tasks started.." << std::endl;
|
||||
}
|
||||
|
||||
void initmission::createPusTasks(TaskFactory& factory,
|
||||
TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
|
||||
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Object add component failed" << std::endl;
|
||||
}
|
||||
taskVec.push_back(pusVerification);
|
||||
|
||||
PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
|
||||
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
|
||||
}
|
||||
result = pusEvents->addComponent(objects::EVENT_MANAGER);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
|
||||
}
|
||||
taskVec.push_back(pusEvents);
|
||||
|
||||
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
|
||||
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
||||
}
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
}
|
||||
taskVec.push_back(pusHighPrio);
|
||||
|
||||
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
|
||||
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
|
||||
}
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
|
||||
}
|
||||
taskVec.push_back(pusMedPrio);
|
||||
|
||||
PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
|
||||
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
|
||||
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
|
||||
}
|
||||
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
|
||||
}
|
||||
taskVec.push_back(pusLowPrio);
|
||||
}
|
||||
|
||||
void initmission::createPstTasks(TaskFactory& factory,
|
||||
TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
#if OBSW_ADD_SPI_TEST_CODE == 0
|
||||
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
|
||||
"SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
|
||||
result = pst::pstSpi(spiPst);
|
||||
if (result != returnvalue::OK) {
|
||||
if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
||||
sif::error << "InitMission::createPstTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
} else {
|
||||
taskVec.push_back(spiPst);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void initmission::createTestTasks(TaskFactory& factory,
|
||||
TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
PeriodicTaskIF* testTask = factory.createPeriodicTask(
|
||||
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
|
||||
result = testTask->addComponent(objects::TEST_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
|
||||
}
|
||||
#if OBSW_ADD_SPI_TEST_CODE == 1
|
||||
result = testTask->addComponent(objects::SPI_TEST);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
|
||||
}
|
||||
#endif /* RPI_ADD_SPI_TEST == 1 */
|
||||
#if RPI_ADD_GPIO_TEST == 1
|
||||
result = testTask->addComponent(objects::LIBGPIOD_TEST);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
|
||||
}
|
||||
result = testTask->addComponent(objects::LIBGPIOD_TEST);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
|
||||
}
|
||||
#endif /* RPI_ADD_GPIO_TEST == 1 */
|
||||
#if RPI_ADD_UART_TEST == 1
|
||||
result = testTask->addComponent(objects::UART_TEST);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
|
||||
}
|
||||
#if OBSW_ADD_UART_TEST_CODE == 1
|
||||
result = testTask->addComponent(objects::UART_TEST);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
|
||||
}
|
||||
PeriodicTaskIF* scexReaderTask = factory.createPeriodicTask(
|
||||
"SCEX_UART_READER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
|
||||
result = scexReaderTask->addComponent(objects::SCEX_UART_READER);
|
||||
if (result != returnvalue::OK) {
|
||||
initmission::printAddObjectError("SCEX_UART_READER", objects::SCEX_UART_READER);
|
||||
}
|
||||
taskVec.push_back(scexReaderTask);
|
||||
#endif /* RPI_ADD_GPIO_TEST == 1 */
|
||||
taskVec.push_back(testTask);
|
||||
|
||||
sif::info << "Starting tasks.." << std::endl;
|
||||
tmTcDistributor->startTask();
|
||||
udpBridgeTask->startTask();
|
||||
udpPollingTask->startTask();
|
||||
|
||||
pusVerification->startTask();
|
||||
pusEvents->startTask();
|
||||
pusHighPrio->startTask();
|
||||
pusMedPrio->startTask();
|
||||
pusLowPrio->startTask();
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
testTask->startTask();
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
|
||||
bool startTestPst = true;
|
||||
static_cast<void>(startTestPst);
|
||||
#if OBSW_ADD_TEST_PST == 1
|
||||
pstTestTask->startTask();
|
||||
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
|
||||
"TEST_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
|
||||
result = pst::pstTest(pstTestTask);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
|
||||
startTestPst = false;
|
||||
}
|
||||
#endif /* RPI_TEST_ACS_BOARD == 1 */
|
||||
sif::info << "Tasks started.." << std::endl;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,9 +1,23 @@
|
|||
#ifndef BSP_LINUX_INITMISSION_H_
|
||||
#define BSP_LINUX_INITMISSION_H_
|
||||
|
||||
#include <vector>
|
||||
|
||||
#include "fsfw/tasks/definitions.h"
|
||||
|
||||
class PeriodicTaskIF;
|
||||
class TaskFactory;
|
||||
|
||||
namespace initmission {
|
||||
void initMission();
|
||||
void initTasks();
|
||||
};
|
||||
|
||||
void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec);
|
||||
void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec);
|
||||
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec);
|
||||
}; // namespace initmission
|
||||
|
||||
#endif /* BSP_LINUX_INITMISSION_H_ */
|
||||
|
|
|
|||
|
|
@ -0,0 +1,129 @@
|
|||
/**
|
||||
* @brief This file can be used to add preprocessor define for conditional
|
||||
* code inclusion exclusion or various other project constants and
|
||||
* properties in one place.
|
||||
*/
|
||||
#ifndef FSFWCONFIG_OBSWCONFIG_H_
|
||||
#define FSFWCONFIG_OBSWCONFIG_H_
|
||||
|
||||
#include "commonConfig.h"
|
||||
#include "OBSWVersion.h"
|
||||
|
||||
/*******************************************************************/
|
||||
/** All of the following flags should be enabled for mission code */
|
||||
/*******************************************************************/
|
||||
|
||||
#define OBSW_ENABLE_TIMERS 1
|
||||
#define OBSW_ADD_STAR_TRACKER 0
|
||||
#define OBSW_ADD_PLOC_SUPERVISOR 0
|
||||
#define OBSW_ADD_PLOC_MPSOC 0
|
||||
#define OBSW_ADD_SUN_SENSORS 0
|
||||
#define OBSW_ADD_MGT 0
|
||||
#define OBSW_ADD_ACS_BOARD 0
|
||||
#define OBSW_ADD_ACS_HANDLERS 0
|
||||
#define OBSW_ADD_GPS_0 0
|
||||
#define OBSW_ADD_GPS_1 0
|
||||
#define OBSW_ADD_RW 0
|
||||
#define OBSW_ADD_BPX_BATTERY_HANDLER 0
|
||||
#define OBSW_ADD_RTD_DEVICES 0
|
||||
#define OBSW_ADD_PL_PCDU 0
|
||||
#define OBSW_ADD_TMP_DEVICES 0
|
||||
#define OBSW_ADD_SCEX_DEVICE 1
|
||||
#define OBSW_ADD_RAD_SENSORS 0
|
||||
#define OBSW_ADD_SYRLINKS 0
|
||||
#define OBSW_STAR_TRACKER_GROUND_CONFIG 1
|
||||
|
||||
// This is a really tricky switch.. It initializes the PCDU switches to their default states
|
||||
// at powerup. I think it would be better
|
||||
// to leave it off for now. It makes testing a lot more difficult and it might mess with
|
||||
// something the operators might want to do by giving the software too much intelligence
|
||||
// at the wrong place. The system component might command all the Switches accordingly anyway
|
||||
#define OBSW_INITIALIZE_SWITCHES 0
|
||||
#define OBSW_ENABLE_PERIODIC_HK 0
|
||||
|
||||
/*******************************************************************/
|
||||
/** All of the following flags should be disabled for mission code */
|
||||
/*******************************************************************/
|
||||
|
||||
// Can be used to switch device to NORMAL mode immediately
|
||||
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
|
||||
#define OBSW_PRINT_MISSED_DEADLINES 1
|
||||
|
||||
#define OBSW_SYRLINKS_SIMULATED 1
|
||||
#define OBSW_ADD_TEST_CODE 0
|
||||
#define OBSW_ADD_TEST_TASK 0
|
||||
#define OBSW_ADD_TEST_PST 0
|
||||
// If this is enabled, all other SPI code should be disabled
|
||||
#define OBSW_ADD_SPI_TEST_CODE 0
|
||||
// If this is enabled, all other I2C code should be disabled
|
||||
#define OBSW_ADD_I2C_TEST_CODE 0
|
||||
#define OBSW_ADD_UART_TEST_CODE 0
|
||||
|
||||
#define OBSW_TEST_ACS 0
|
||||
#define OBSW_DEBUG_ACS 0
|
||||
#define OBSW_TEST_SUS 0
|
||||
#define OBSW_DEBUG_SUS 0
|
||||
#define OBSW_TEST_RTD 0
|
||||
#define OBSW_DEBUG_RTD 0
|
||||
#define OBSW_TEST_RAD_SENSOR 0
|
||||
#define OBSW_DEBUG_RAD_SENSOR 0
|
||||
#define OBSW_TEST_PL_PCDU 0
|
||||
#define OBSW_DEBUG_PL_PCDU 0
|
||||
#define OBSW_TEST_BPX_BATT 0
|
||||
#define OBSW_DEBUG_BPX_BATT 0
|
||||
#define OBSW_TEST_IMTQ 0
|
||||
#define OBSW_DEBUG_IMTQ 0
|
||||
#define OBSW_TEST_RW 0
|
||||
#define OBSW_DEBUG_RW 0
|
||||
|
||||
#define OBSW_TEST_LIBGPIOD 0
|
||||
#define OBSW_TEST_PLOC_HANDLER 0
|
||||
#define OBSW_TEST_CCSDS_BRIDGE 0
|
||||
#define OBSW_TEST_CCSDS_PTME 0
|
||||
#define OBSW_TEST_TE7020_HEATER 0
|
||||
#define OBSW_TEST_GPIO_OPEN_BY_LABEL 0
|
||||
#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME 0
|
||||
#define OBSW_DEBUG_P60DOCK 0
|
||||
|
||||
#define OBSW_PRINT_CORE_HK 0
|
||||
#define OBSW_DEBUG_PDU1 0
|
||||
#define OBSW_DEBUG_PDU2 0
|
||||
#define OBSW_DEBUG_GPS 0
|
||||
#define OBSW_DEBUG_ACU 0
|
||||
#define OBSW_DEBUG_SYRLINKS 0
|
||||
|
||||
#define OBSW_DEBUG_PDEC_HANDLER 0
|
||||
#define OBSW_DEBUG_PLOC_SUPERVISOR 0
|
||||
#define OBSW_DEBUG_PLOC_MPSOC 0
|
||||
#define OBSW_DEBUG_STARTRACKER 0
|
||||
#define OBSW_TCP_SERVER_WIRETAPPING 0
|
||||
|
||||
/*******************************************************************/
|
||||
/** CMake Defines */
|
||||
/*******************************************************************/
|
||||
#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
|
||||
|
||||
#define OBSW_ADD_CCSDS_IP_CORES 0
|
||||
// Set to 1 if all telemetry should be sent to the PTME IP Core
|
||||
#define OBSW_TM_TO_PTME 0
|
||||
// Set to 1 if telecommands are received via the PDEC IP Core
|
||||
#define OBSW_TC_FROM_PDEC 0
|
||||
|
||||
#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
|
||||
#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
|
||||
|
||||
#ifdef RASPBERRY_PI
|
||||
#include "rpiConfig.h"
|
||||
#elif defined(XIPHOS_Q7S)
|
||||
#include "q7sConfig.h"
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
#include "objects/systemObjectList.h"
|
||||
#include "events/subsystemIdRanges.h"
|
||||
#include "returnvalues/classIds.h"
|
||||
|
||||
#endif
|
||||
|
||||
#endif /* FSFWCONFIG_OBSWCONFIG_H_ */
|
||||
|
|
@ -1,149 +1,248 @@
|
|||
#include "ObjectFactory.h"
|
||||
|
||||
#include "objects/systemObjectList.h"
|
||||
#include <bsp_linux_board/RPiSdCardManager.h>
|
||||
#include <linux/devices/ScexUartReader.h>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "devConf.h"
|
||||
#include "devices/addresses.h"
|
||||
#include "devices/gpioIds.h"
|
||||
#include "OBSWConfig.h"
|
||||
#include "tmtc/apid.h"
|
||||
#include "tmtc/pusIds.h"
|
||||
#include "spiConf.h"
|
||||
|
||||
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
|
||||
#include "fsfw/power/DummyPowerSwitcher.h"
|
||||
#include "fsfw/tasks/TaskFactory.h"
|
||||
#include "fsfw/tmtcpacket/pus/tm.h"
|
||||
#include "fsfw/tmtcservices/CommandingServiceBase.h"
|
||||
#include "fsfw/tmtcservices/PusServiceBase.h"
|
||||
#include "gpioInit.h"
|
||||
#include "linux/ObjectFactory.h"
|
||||
#include "linux/boardtest/LibgpiodTest.h"
|
||||
#include "linux/boardtest/SpiTestClass.h"
|
||||
#include "linux/boardtest/UartTestClass.h"
|
||||
|
||||
#include "mission/core/GenericFactory.h"
|
||||
#include "mission/utility/TmFunnel.h"
|
||||
#include "mission/devices/MGMHandlerLIS3MDL.h"
|
||||
#include "mission/devices/MGMHandlerRM3100.h"
|
||||
#include "mission/devices/GyroADIS16507Handler.h"
|
||||
|
||||
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
|
||||
#include "fsfw/tmtcservices/CommandingServiceBase.h"
|
||||
#include "fsfw/tmtcservices/PusServiceBase.h"
|
||||
#include "fsfw/tmtcpacket/pus/tm.h"
|
||||
#include "fsfw/tasks/TaskFactory.h"
|
||||
#include "mission/devices/GPSHyperionHandler.h"
|
||||
#include "mission/devices/GyroADIS1650XHandler.h"
|
||||
#include "mission/tmtc/TmFunnel.h"
|
||||
#include "objects/systemObjectList.h"
|
||||
#include "tmtc/pusIds.h"
|
||||
|
||||
/* UDP server includes */
|
||||
#include "fsfw/osal/common/UdpTmTcBridge.h"
|
||||
#if OBSW_USE_TMTC_TCP_BRIDGE == 1
|
||||
#include <fsfw/src/fsfw/osal/common/TcpTmTcBridge.h>
|
||||
#include <fsfw/src/fsfw/osal/common/TcpTmTcServer.h>
|
||||
#else
|
||||
#include "fsfw/osal/common/UdpTcPollingTask.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"
|
||||
|
||||
void Factory::setStaticFrameworkObjectIds() {
|
||||
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
PusServiceBase::packetDestination = objects::TM_FUNNEL;
|
||||
|
||||
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
|
||||
|
||||
TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
|
||||
// No storage object for now.
|
||||
TmFunnel::storageDestination = objects::NO_OBJECT;
|
||||
|
||||
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
|
||||
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ObjectFactory::produce(void* args){
|
||||
Factory::setStaticFrameworkObjectIds();
|
||||
ObjectFactory::produceGenericObjects();
|
||||
|
||||
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
|
||||
|
||||
GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
|
||||
GpioCookie* gpioCookie = nullptr;
|
||||
static_cast<void>(gpioCookie);
|
||||
#if RPI_ADD_SPI_TEST == 1
|
||||
new SpiTestClass(objects::SPI_TEST, gpioIF);
|
||||
#include "fsfw/osal/common/UdpTmTcBridge.h"
|
||||
#endif
|
||||
|
||||
#if RPI_ADD_UART_TEST == 1
|
||||
new UartTestClass(objects::UART_TEST);
|
||||
#include <fsfw_hal/linux/serial/SerialComIF.h>
|
||||
#include <fsfw_hal/linux/serial/SerialCookie.h>
|
||||
|
||||
#include "fsfw_hal/common/gpio/GpioCookie.h"
|
||||
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
|
||||
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
|
||||
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
|
||||
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
|
||||
#include "fsfw_hal/linux/rpi/GpioRPi.h"
|
||||
#include "fsfw_hal/linux/spi/SpiComIF.h"
|
||||
#include "fsfw_hal/linux/spi/SpiCookie.h"
|
||||
|
||||
void Factory::setStaticFrameworkObjectIds() {
|
||||
PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
PusServiceBase::PACKET_DESTINATION = objects::TM_FUNNEL;
|
||||
|
||||
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
|
||||
|
||||
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
|
||||
// No storage object for now.
|
||||
TmFunnel::storageDestination = objects::NO_OBJECT;
|
||||
}
|
||||
|
||||
void ObjectFactory::produce(void* args) {
|
||||
Factory::setStaticFrameworkObjectIds();
|
||||
ObjectFactory::produceGenericObjects();
|
||||
|
||||
GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
|
||||
GpioCookie* gpioCookie = nullptr;
|
||||
static_cast<void>(gpioCookie);
|
||||
|
||||
SpiComIF* spiComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, spi::DEV, gpioIF);
|
||||
static_cast<void>(spiComIF);
|
||||
auto pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
|
||||
static_cast<void>(pwrSwitcher);
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1 && defined(RASPBERRY_PI)
|
||||
createRpiAcsBoard(gpioIF, spiDev);
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_SUN_SENSORS == 1 || OBSW_ADD_RTD_DEVICES == 1
|
||||
#ifdef RASPBERRY_PI
|
||||
rpi::gpio::initSpiCsDecoder(gpioIF);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_SCEX_DEVICE == 1
|
||||
auto* sdcMan = new DummySdCardManager("/tmp");
|
||||
createScexComponents(uart::DEV, pwrSwitcher, *sdcMan, true, std::nullopt);
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_SUN_SENSORS == 1
|
||||
createSunSensorComponents(gpioIF, spiComIF, pwrSwitcher, spi::DEV);
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_RTD_DEVICES == 1
|
||||
createRtdComponents(spi::DEV, gpioIF, pwrSwitcher);
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
createTestTasks();
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
}
|
||||
|
||||
void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
|
||||
GpioCookie* gpioCookie = new GpioCookie();
|
||||
// TODO: Missing pin for Gyro 2
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, "MGM_0_LIS3",
|
||||
gpio::Direction::OUT, gpio::Levels::HIGH);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
|
||||
"MGM_1_RM3100", gpio::Direction::OUT, gpio::Levels::HIGH);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, "MGM_2_LIS3",
|
||||
gpio::Direction::OUT, gpio::Levels::HIGH);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
|
||||
"MGM_3_RM3100", gpio::Direction::OUT, gpio::Levels::HIGH);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
|
||||
"GYRO_0_ADIS", gpio::Direction::OUT, gpio::Levels::HIGH);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, "GYRO_1_L3G",
|
||||
gpio::Direction::OUT, gpio::Levels::HIGH);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
|
||||
"GYRO_2_ADIS", gpio::Direction::OUT, gpio::Levels::HIGH);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN, "GYRO_3_L3G",
|
||||
gpio::Direction::OUT, gpio::Levels::HIGH);
|
||||
gpioIF->addGpios(gpioCookie);
|
||||
SpiCookie* spiCookie =
|
||||
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
||||
auto mgmLis3Handler =
|
||||
new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
|
||||
mgmLis3Handler->setStartUpImmediately();
|
||||
#if OBSW_TEST_ACS == 1
|
||||
mgmLis3Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
||||
auto mgmRm3100Handler =
|
||||
new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
|
||||
mgmRm3100Handler->setStartUpImmediately();
|
||||
#if OBSW_TEST_ACS == 1
|
||||
mgmRm3100Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
||||
mgmLis3Handler =
|
||||
new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
|
||||
mgmLis3Handler->setStartUpImmediately();
|
||||
#if OBSW_TEST_ACS == 1
|
||||
mgmLis3Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
||||
mgmRm3100Handler =
|
||||
new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
|
||||
mgmRm3100Handler->setStartUpImmediately();
|
||||
#if OBSW_TEST_ACS == 1
|
||||
mgmRm3100Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
|
||||
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
auto adisHandler =
|
||||
new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
|
||||
ADIS1650X::Type::ADIS16505);
|
||||
adisHandler->setStartUpImmediately();
|
||||
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
auto gyroL3gHandler =
|
||||
new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
#if OBSW_TEST_ACS == 1
|
||||
gyroL3gHandler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
|
||||
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
|
||||
spiCookie, ADIS1650X::Type::ADIS16505);
|
||||
adisHandler->setStartUpImmediately();
|
||||
|
||||
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
gyroL3gHandler =
|
||||
new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
#if OBSW_TEST_ACS == 1
|
||||
gyroL3gHandler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createTestTasks() {
|
||||
new TestTask(objects::TEST_TASK);
|
||||
|
||||
#if OBSW_ADD_SPI_TEST_CODE == 1
|
||||
new SpiTestClass(objects::SPI_TEST, gpioIF);
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_UART_TEST_CODE == 1
|
||||
new UartTestClass(objects::UART_TEST);
|
||||
#else
|
||||
newSerialComIF(objects::UART_COM_IF);
|
||||
#endif
|
||||
|
||||
#if RPI_LOOPBACK_TEST_GPIO == 1
|
||||
GpioCookie* gpioCookieLoopback = new GpioCookie();
|
||||
/* Loopback pins. Adapt according to setup */
|
||||
gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
|
||||
int bcmPinSender = 26;
|
||||
gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
|
||||
int bcmPinReader = 16;
|
||||
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
|
||||
gpio::Direction::OUT, 0);
|
||||
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
|
||||
gpio::Direction::IN, 0);
|
||||
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
|
||||
GpioCookie* gpioCookieLoopback = new GpioCookie();
|
||||
/* Loopback pins. Adapt according to setup */
|
||||
gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
|
||||
int bcmPinSender = 26;
|
||||
gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
|
||||
int bcmPinReader = 16;
|
||||
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
|
||||
gpio::Direction::OUT, 0);
|
||||
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
|
||||
gpio::Direction::IN, 0);
|
||||
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
|
||||
#endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
|
||||
|
||||
new SpiComIF(objects::SPI_COM_IF, gpioIF);
|
||||
|
||||
std::string spiDev;
|
||||
SpiCookie* spiCookie = nullptr;
|
||||
static_cast<void>(spiCookie);
|
||||
|
||||
#if RPI_TEST_ACS_BOARD == 1
|
||||
if(gpioCookie == nullptr) {
|
||||
gpioCookie = new GpioCookie();
|
||||
}
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
|
||||
"MGM_0_LIS3", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
|
||||
"MGM_1_RM3100", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
|
||||
"MGM_2_LIS3", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
|
||||
"MGM_3_RM3100", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
|
||||
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
|
||||
"GYRO_1_L3G", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_L3G_CS, gpio::GYRO_2_BCM_PIN,
|
||||
"GYRO_2_L3G", gpio::Direction::OUT, 1);
|
||||
gpioIF->addGpios(gpioCookie);
|
||||
|
||||
spiDev = "/dev/spidev0.0";
|
||||
spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
|
||||
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
||||
auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
|
||||
objects::SPI_COM_IF, spiCookie);
|
||||
mgmLis3Handler->setStartUpImmediately();
|
||||
|
||||
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
|
||||
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
||||
auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
|
||||
objects::SPI_COM_IF, spiCookie);
|
||||
mgmRm3100Handler->setStartUpImmediately();
|
||||
|
||||
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
|
||||
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie);
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
|
||||
#endif /* RPI_TEST_ACS_BOARD == 1 */
|
||||
|
||||
#if RPI_TEST_ADIS16507 == 1
|
||||
if(gpioCookie == nullptr) {
|
||||
gpioCookie = new GpioCookie();
|
||||
}
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
|
||||
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
|
||||
gpioIF->addGpios(gpioCookie);
|
||||
if (gpioCookie == nullptr) {
|
||||
gpioCookie = new GpioCookie();
|
||||
}
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
|
||||
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
|
||||
gpioIF->addGpios(gpioCookie);
|
||||
|
||||
spiDev = "/dev/spidev0.0";
|
||||
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
|
||||
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED,
|
||||
nullptr, nullptr);
|
||||
auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
|
||||
adisGyroHandler->setStartUpImmediately();
|
||||
spiDev = "/dev/spidev0.1";
|
||||
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
|
||||
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
|
||||
spi::DEFAULT_ADIS16507_SPEED, nullptr, nullptr);
|
||||
auto adisGyroHandler =
|
||||
new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
|
||||
adisGyroHandler->setStartUpImmediately();
|
||||
#endif /* RPI_TEST_ADIS16507 == 1 */
|
||||
|
||||
#if RPI_TEST_GPS_HANDLER == 1
|
||||
UartCookie* uartCookie =
|
||||
new UartCookie(objects::GPS0_HANDLER, "/dev/serial0", UartModes::CANONICAL, 9600, 1024);
|
||||
uartCookie->setToFlushInput(true);
|
||||
uartCookie->setReadCycles(6);
|
||||
GPSHyperionHandler* gpsHandler =
|
||||
new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookie, false);
|
||||
gpsHandler->setStartUpImmediately();
|
||||
#endif
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,10 +1,16 @@
|
|||
#ifndef BSP_LINUX_OBJECTFACTORY_H_
|
||||
#define BSP_LINUX_OBJECTFACTORY_H_
|
||||
|
||||
#include <string>
|
||||
|
||||
class GpioIF;
|
||||
|
||||
namespace ObjectFactory {
|
||||
void setStatics();
|
||||
void produce(void* args);
|
||||
};
|
||||
void setStatics();
|
||||
void produce(void* args);
|
||||
|
||||
void createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev);
|
||||
void createTestTasks();
|
||||
}; // namespace ObjectFactory
|
||||
|
||||
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */
|
||||
|
|
|
|||
|
|
@ -1,7 +1,3 @@
|
|||
target_sources(${TARGET_NAME} PRIVATE
|
||||
print.c
|
||||
)
|
||||
target_sources(${OBSW_NAME} PRIVATE print.c)
|
||||
|
||||
target_include_directories(${TARGET_NAME} PUBLIC
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
|
||||
|
|
|
|||
|
|
@ -32,7 +32,7 @@ SOFTWARE.
|
|||
|
||||
#define ETL_CHECK_PUSH_POP
|
||||
|
||||
#define ETL_CPP11_SUPPORTED 1
|
||||
#define ETL_NO_NULLPTR_SUPPORT 0
|
||||
#define ETL_CPP11_SUPPORTED 1
|
||||
#define ETL_NO_NULLPTR_SUPPORT 0
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -6,8 +6,9 @@
|
|||
extern "C" void __gcov_flush();
|
||||
#else
|
||||
void __gcov_flush() {
|
||||
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
|
||||
"coverage information is desired.\n" << std::flush;
|
||||
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
|
||||
"coverage information is desired.\n"
|
||||
<< std::flush;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
|
|||
|
|
@ -1,14 +1,10 @@
|
|||
#include <bsp_q7s/boardconfig/print.h>
|
||||
#include <bsp_linux_board/boardconfig/print.h>
|
||||
#include <stdio.h>
|
||||
|
||||
void printChar(const char* character, bool errStream) {
|
||||
if(errStream) {
|
||||
putc(*character, stderr);
|
||||
return;
|
||||
}
|
||||
putc(*character, stdout);
|
||||
if (errStream) {
|
||||
putc(*character, stderr);
|
||||
return;
|
||||
}
|
||||
putc(*character, stdout);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -7,6 +7,7 @@
|
|||
#define RPI_LOOPBACK_TEST_GPIO 0
|
||||
|
||||
#define RPI_TEST_ADIS16507 0
|
||||
#define RPI_TEST_GPS_HANDLER 0
|
||||
|
||||
// Only one of those 2 should be enabled!
|
||||
#define RPI_ADD_SPI_TEST 0
|
||||
|
|
@ -14,20 +15,6 @@
|
|||
#define RPI_TEST_ACS_BOARD 0
|
||||
#endif
|
||||
|
||||
#define RPI_ADD_UART_TEST 1
|
||||
#if RPI_ADD_UART_TEST == 1
|
||||
#define RPI_TEST_GPS_DEVICE 0
|
||||
#endif
|
||||
|
||||
/* Adapt these values accordingly */
|
||||
namespace gpio {
|
||||
static constexpr uint8_t MGM_0_BCM_PIN = 0;
|
||||
static constexpr uint8_t MGM_1_BCM_PIN = 1;
|
||||
static constexpr uint8_t MGM_2_BCM_PIN = 17;
|
||||
static constexpr uint8_t MGM_3_BCM_PIN = 27;
|
||||
static constexpr uint8_t GYRO_0_BCM_PIN = 5;
|
||||
static constexpr uint8_t GYRO_1_BCM_PIN = 6;
|
||||
static constexpr uint8_t GYRO_2_BCM_PIN = 4;
|
||||
}
|
||||
#define RPI_ADD_UART_TEST 0
|
||||
|
||||
#endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */
|
||||
|
|
|
|||
|
|
@ -1,6 +1 @@
|
|||
target_sources(${TARGET_NAME} PRIVATE
|
||||
)
|
||||
|
||||
|
||||
|
||||
|
||||
target_sources(${OBSW_NAME} PRIVATE)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,43 @@
|
|||
#ifndef BSP_LINUX_BOARD_DEFINITIONS_H_
|
||||
#define BSP_LINUX_BOARD_DEFINITIONS_H_
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
|
||||
#ifdef RASPBERRY_PI
|
||||
|
||||
namespace spi {
|
||||
|
||||
static constexpr char DEV[] = "/dev/spidev0.1";
|
||||
|
||||
}
|
||||
|
||||
namespace uart {
|
||||
|
||||
static constexpr char DEV[] = "/dev/serial0";
|
||||
|
||||
}
|
||||
|
||||
/* Adapt these values accordingly */
|
||||
namespace gpio {
|
||||
static constexpr uint8_t MGM_0_BCM_PIN = 17;
|
||||
static constexpr uint8_t MGM_1_BCM_PIN = 27;
|
||||
static constexpr uint8_t MGM_2_BCM_PIN = 22;
|
||||
static constexpr uint8_t MGM_3_BCM_PIN = 23;
|
||||
static constexpr uint8_t GYRO_0_BCM_PIN = 5;
|
||||
static constexpr uint8_t GYRO_1_BCM_PIN = 6;
|
||||
static constexpr uint8_t GYRO_2_BCM_PIN = 13;
|
||||
static constexpr uint8_t GYRO_3_BCM_PIN = 19;
|
||||
|
||||
static constexpr uint8_t SPI_MUX_0_BCM = 17;
|
||||
static constexpr uint8_t SPI_MUX_1_BCM = 27;
|
||||
static constexpr uint8_t SPI_MUX_2_BCM = 22;
|
||||
static constexpr uint8_t SPI_MUX_3_BCM = 23;
|
||||
static constexpr uint8_t SPI_MUX_4_BCM = 5;
|
||||
static constexpr uint8_t SPI_MUX_5_BCM = 6;
|
||||
} // namespace gpio
|
||||
|
||||
#endif
|
||||
|
||||
#endif /* BSP_LINUX_BOARD_DEFINITIONS_H_ */
|
||||
|
|
@ -0,0 +1,56 @@
|
|||
#include "gpioInit.h"
|
||||
|
||||
#include <devices/gpioIds.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||
|
||||
#include "definitions.h"
|
||||
#include "fsfw_hal/linux/rpi/GpioRPi.h"
|
||||
|
||||
#ifdef RASPBERRY_PI
|
||||
|
||||
struct MuxInfo {
|
||||
MuxInfo(gpioId_t gpioId, int bcmNum, std::string consumer)
|
||||
: gpioId(gpioId), bcmNum(bcmNum), consumer(consumer) {}
|
||||
gpioId_t gpioId;
|
||||
int bcmNum;
|
||||
std::string consumer;
|
||||
};
|
||||
|
||||
void rpi::gpio::initSpiCsDecoder(GpioIF* gpioComIF) {
|
||||
using namespace ::gpio;
|
||||
ReturnValue_t result;
|
||||
|
||||
if (gpioComIF == nullptr) {
|
||||
sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
|
||||
return;
|
||||
}
|
||||
|
||||
std::array<::MuxInfo, 6> muxInfo{
|
||||
MuxInfo(gpioIds::SPI_MUX_BIT_0, SPI_MUX_0_BCM, "SPI_MUX_0"),
|
||||
MuxInfo(gpioIds::SPI_MUX_BIT_1, SPI_MUX_1_BCM, "SPI_MUX_1"),
|
||||
MuxInfo(gpioIds::SPI_MUX_BIT_2, SPI_MUX_2_BCM, "SPI_MUX_2"),
|
||||
MuxInfo(gpioIds::SPI_MUX_BIT_3, SPI_MUX_3_BCM, "SPI_MUX_3"),
|
||||
MuxInfo(gpioIds::SPI_MUX_BIT_4, SPI_MUX_4_BCM, "SPI_MUX_4"),
|
||||
MuxInfo(gpioIds::SPI_MUX_BIT_5, SPI_MUX_5_BCM, "SPI_MUX_5"),
|
||||
};
|
||||
GpioCookie* spiMuxGpios = new GpioCookie;
|
||||
|
||||
for (const auto& info : muxInfo) {
|
||||
result = createRpiGpioConfig(spiMuxGpios, info.gpioId, info.bcmNum, info.consumer,
|
||||
Direction::OUT, Levels::LOW);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "Creating Raspberry Pi SPI Mux GPIO failed with code " << result << std::endl;
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
result = gpioComIF->addGpios(spiMuxGpios);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
#pragma once
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
|
||||
class GpioIF;
|
||||
|
||||
#ifdef RASPBERRY_PI
|
||||
namespace rpi {
|
||||
namespace gpio {
|
||||
|
||||
/**
|
||||
* @brief This function initializes the GPIOs used to control the SN74LVC138APWR decoders on
|
||||
* the TCS Board and the interface board.
|
||||
*/
|
||||
void initSpiCsDecoder(GpioIF* gpioComIF);
|
||||
|
||||
} // namespace gpio
|
||||
} // namespace rpi
|
||||
|
||||
#endif
|
||||
|
|
@ -1,10 +1,11 @@
|
|||
#include "InitMission.h"
|
||||
#include <OBSWVersion.h>
|
||||
|
||||
#include <fsfw/tasks/TaskFactory.h>
|
||||
|
||||
#include <iostream>
|
||||
|
||||
#include "InitMission.h"
|
||||
#include "OBSWConfig.h"
|
||||
#include "OBSWVersion.h"
|
||||
#include "fsfw/tasks/TaskFactory.h"
|
||||
#include "fsfw/version.h"
|
||||
|
||||
#ifdef RASPBERRY_PI
|
||||
static const char* const BOARD_NAME = "Raspberry Pi";
|
||||
#elif defined(BEAGLEBONEBLACK)
|
||||
|
|
@ -17,20 +18,17 @@ static const char* const BOARD_NAME = "Unknown Board";
|
|||
* @brief This is the main program and entry point for the Raspberry Pi.
|
||||
* @return
|
||||
*/
|
||||
int main(void)
|
||||
{
|
||||
std::cout << "-- EIVE OBSW --" << std::endl;
|
||||
std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl;
|
||||
std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "."
|
||||
<< SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl;
|
||||
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
|
||||
int main(void) {
|
||||
std::cout << "-- EIVE OBSW --" << std::endl;
|
||||
std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl;
|
||||
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
|
||||
<< SW_REVISION << ", FSFW v" << fsfw::FSFW_VERSION << " --" << std::endl;
|
||||
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
|
||||
|
||||
initmission::initMission();
|
||||
initmission::initMission();
|
||||
|
||||
for(;;) {
|
||||
/* Suspend main thread by sleeping it. */
|
||||
TaskFactory::delayTask(5000);
|
||||
}
|
||||
for (;;) {
|
||||
/* Suspend main thread by sleeping it. */
|
||||
TaskFactory::delayTask(5000);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,11 +1,28 @@
|
|||
target_sources(${TARGET_NAME} PUBLIC
|
||||
InitMission.cpp
|
||||
main.cpp
|
||||
ObjectFactory.cpp
|
||||
)
|
||||
# simple mode
|
||||
add_executable(${SIMPLE_OBSW_NAME} EXCLUDE_FROM_ALL)
|
||||
target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
|
||||
target_sources(${SIMPLE_OBSW_NAME} PUBLIC main.cpp)
|
||||
# I think this is unintentional? (produces linker errors for stuff in /linux)
|
||||
target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC ${LIB_FSFW_NAME})
|
||||
target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
|
||||
add_subdirectory(simple)
|
||||
|
||||
target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp scheduling.cpp
|
||||
objectFactory.cpp)
|
||||
|
||||
add_subdirectory(boardtest)
|
||||
|
||||
add_subdirectory(boardconfig)
|
||||
add_subdirectory(comIF)
|
||||
add_subdirectory(boardtest)
|
||||
add_subdirectory(gpio)
|
||||
add_subdirectory(core)
|
||||
|
||||
if(EIVE_Q7S_EM)
|
||||
add_subdirectory(em)
|
||||
else()
|
||||
target_sources(${OBSW_NAME} PUBLIC fmObjectFactory.cpp)
|
||||
endif()
|
||||
|
||||
add_subdirectory(memory)
|
||||
add_subdirectory(callbacks)
|
||||
add_subdirectory(xadc)
|
||||
add_subdirectory(fs)
|
||||
add_subdirectory(acs)
|
||||
|
|
|
|||
|
|
@ -1,35 +0,0 @@
|
|||
FROM ubuntu:latest
|
||||
# FROM alpine:latest
|
||||
|
||||
ENV TZ=Europe/Berlin
|
||||
RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
|
||||
|
||||
RUN apt-get update && apt-get install -y curl cmake g++
|
||||
|
||||
# Q7S root filesystem, required for cross-compilation. Use IPv6 for curl
|
||||
RUN mkdir -p /usr/rootfs; \
|
||||
curl -6 https://eive-cloud.irs.uni-stuttgart.de/index.php/s/dnfMy9kGpgynN6J/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz \
|
||||
| tar xvz -C /usr/rootfs
|
||||
# Q7S C++ cross-compiler. Use IPv6 for curl
|
||||
RUN mkdir -p /usr/tools; \
|
||||
curl -6 https://eive-cloud.irs.uni-stuttgart.de/index.php/s/RMsbHydJc6PSqcz/download/gcc-arm-linux-gnueabi.tar.gz \
|
||||
| tar xvz -C /usr/tools
|
||||
|
||||
# RUN apk add cmake make g++
|
||||
|
||||
# Required for cmake build
|
||||
ENV Q7S_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
|
||||
ENV PATH=$PATH:"/usr/tools/gcc-arm-linux-gnueabi/bin"
|
||||
|
||||
WORKDIR /usr/src/app
|
||||
COPY . .
|
||||
|
||||
RUN set -ex; \
|
||||
rm -rf build-q7s; \
|
||||
mkdir build-q7s; \
|
||||
cd build-q7s; \
|
||||
cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=linux -DTGT_BSP="arm/q7s" ..;
|
||||
|
||||
ENTRYPOINT ["cmake", "--build", "build-q7s"]
|
||||
CMD ["-j"]
|
||||
# CMD ["bash"]
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue