Merge pull request 'prep v6.6.0' (#795) from prep_v6.6.0 into main

Reviewed-on: #795

CHANGELOG.md

@@ -16,6 +16,15 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v6.6.0] 2023-09-18
+
+## Changed
+
+- Changed the memory initialized for the PDEC Config Memory and the PDEC RAM by using `mmap`
+  directly and ignoring UIO. This makes the OBSW compatible to a device tree update, where those
+  memory segments are marked reserved and are thus not properly accessible through the UIO API
+  anymore. This change should be downwards compatible to older device trees.
+
 # [v6.5.1] 2023-09-12
 
 - Bumped `eive-tmtc` to v5.5.0.

CMakeLists.txt

@@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 6)
-set(OBSW_VERSION_MINOR 5)
-set(OBSW_VERSION_REVISION 1)
+set(OBSW_VERSION_MINOR 6)
+set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
 

linux/ipcore/PdecHandler.cpp

@@ -53,23 +53,30 @@ ReturnValue_t PdecHandler::initialize() {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
-  ReturnValue_t result = returnvalue::OK;
-
   UioMapper regMapper(uioNames.registers);
-  result = regMapper.getMappedAdress(&registerBaseAddress, UioMapper::Permissions::READ_WRITE);
+  ReturnValue_t result =
+      regMapper.getMappedAdress(&registerBaseAddress, UioMapper::Permissions::READ_WRITE);
   if (result != returnvalue::OK) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
-  UioMapper configMemMapper(uioNames.configMemory);
-  result = configMemMapper.getMappedAdress(&memoryBaseAddress, UioMapper::Permissions::READ_WRITE);
-  if (result != returnvalue::OK) {
+
+  int fd = 0;
+  if ((fd = open("/dev/mem", O_RDWR | O_SYNC)) == -1) {
+    sif::error << "PdecHandler::initialize: Opening /dev/mem failed" << std::endl;
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  };
+  memoryBaseAddress = static_cast<uint32_t*>(
+      mmap(0, PDEC_CFG_MEM_SIZE, static_cast<int>(UioMapper::Permissions::READ_WRITE), MAP_SHARED,
+           fd, PDEC_CFG_MEM_PHY_ADDR));
+  if (memoryBaseAddress == nullptr) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
-  } else {
-    pdecConfig.setMemoryBaseAddress(memoryBaseAddress);
   }
-  UioMapper ramMapper(uioNames.ramMemory);
-  result = ramMapper.getMappedAdress(&ramBaseAddress, UioMapper::Permissions::READ_WRITE);
-  if (result != returnvalue::OK) {
+  pdecConfig.setMemoryBaseAddress(memoryBaseAddress);
+
+  ramBaseAddress = static_cast<uint32_t*>(mmap(0, PDEC_RAM_SIZE,
+                                               static_cast<int>(UioMapper::Permissions::READ_WRITE),
+                                               MAP_SHARED, fd, PDEC_RAM_PHY_ADDR));
+  if (ramBaseAddress == nullptr) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 

linux/ipcore/PdecHandler.h

@@ -51,6 +51,10 @@ class PdecHandler : public SystemObject,
                     public ReceivesParameterMessagesIF {
  public:
   static constexpr dur_millis_t IRQ_TIMEOUT_MS = 500;
+  static constexpr uint32_t PDEC_CFG_MEM_SIZE = 0x1000;
+  static constexpr uint32_t PDEC_CFG_MEM_PHY_ADDR = 0x24000000;
+  static constexpr uint32_t PDEC_RAM_SIZE = 0x10000;
+  static constexpr uint32_t PDEC_RAM_PHY_ADDR = 0x26000000;
 
   enum class Modes { POLLED, IRQ };