meier/pcduhandler #10
3
.gitignore
vendored
3
.gitignore
vendored
@ -7,3 +7,6 @@ _dep
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||||
.project
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.cproject
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||||
__pycache__
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!misc/eclipse/**/.cproject
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!misc/eclipse/**/.project
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||||
6
.gitmodules
vendored
6
.gitmodules
vendored
@ -1,12 +1,12 @@
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[submodule "etl"]
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path = etl
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url = https://github.com/ETLCPP/etl.git
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[submodule "tmtc"]
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path = tmtc
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url = https://git.ksat-stuttgart.de/Robin.Mueller/tmtc.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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[submodule "fsfw"]
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path = fsfw
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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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@ -15,7 +15,7 @@ CUSTOM_DEFINES :=
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# Chip & board used for compilation
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# (can be overriden by adding CHIP=chip and BOARD=board to the command-line)
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BOARD_FILE_ROOT = hosted
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BOARD_FILE_ROOT = bsp_hosted
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BOARD = host
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OS_FSFW = host
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CUSTOM_DEFINES += -D$(OS_FSFW)
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@ -4,7 +4,6 @@
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#include <fsfw/objectmanager/ObjectManagerIF.h>
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include <fsfw/datapool/DataPool.h>
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#include <fsfw/objectmanager/ObjectManager.h>
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#include <fsfw/tasks/FixedTimeslotTaskIF.h>
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#include <fsfw/tasks/PeriodicTaskIF.h>
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@ -29,9 +28,6 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
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ObjectManagerIF *objectManager = nullptr;
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//Initialize Data Pool
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DataPool dataPool(nullptr);
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void InitMission::initMission() {
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sif::info << "Building global objects.." << std::endl;
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/* Instantiate global object manager and also create all objects */
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@ -1,7 +1,7 @@
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#include "ObjectFactory.h"
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#include <objects/systemObjectList.h>
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#include <OBSWConfig.h>
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#include <objects/systemObjectList.h>
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#include <tmtc/apid.h>
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#include <tmtc/pusIds.h>
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@ -1,4 +1,5 @@
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#include "print.h"
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#include <stdio.h>
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void printChar(const char* character, bool errStream) {
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8
bsp_hosted/boardconfig/print.h
Normal file
8
bsp_hosted/boardconfig/print.h
Normal file
@ -0,0 +1,8 @@
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#ifndef BSP_HOSTED_BOARDCONFIG_PRINT_H_
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#define BSP_HOSTED_BOARDCONFIG_PRINT_H_
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#include <stdbool.h>
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void printChar(const char* character, bool errStream);
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#endif /* BSP_HOSTED_BOARDCONFIG_PRINT_H_ */
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@ -7,4 +7,5 @@ CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c)
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CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp)
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CSRC += $(wildcard $(CURRENTPATH)/comIF/*.c)
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INCLUDES += $(CURRENTPATH)/boardconfig
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INCLUDES += $(CURRENTPATH)/boardconfig
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INCLUDES += $(CURRENTPATH)/fsfwconfig
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@ -1,6 +1,5 @@
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#include "ArduinoComIF.h"
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#include "ArduinoCookie.h"
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#include <bsp_hosted/comIF/ArduinoComIF.h>
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#include <bsp_hosted/comIF/ArduinoCookie.h>
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#include <fsfw/globalfunctions/DleEncoder.h>
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#include <fsfw/globalfunctions/CRC.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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@ -1,4 +1,4 @@
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#include "ArduinoCookie.h"
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#include <bsp_hosted/comIF/ArduinoCookie.h>
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ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address,
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const size_t maxReplySize) :
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@ -1,8 +1,8 @@
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#ifndef CONFIG_FSFWCONFIG_H_
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#define CONFIG_FSFWCONFIG_H_
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#include <FSFWVersion.h>
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#include <cstddef>
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#include <cstdint>
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//! Used to determine whether C++ ostreams are used
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//! Those can lead to code bloat.
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@ -6,9 +6,10 @@
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#ifndef CONFIG_OBSWCONFIG_H_
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#define CONFIG_OBSWCONFIG_H_
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#define ADD_TEST_FOLDER 1
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#define OBSW_ADD_TEST_CODE 0
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// Define not used yet, PUS stack and TMTC tasks are always started
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#define ADD_PUS_STACK 1
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// These defines should be disabled for mission code but are useful for
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// debugging.
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#define OBSW_ENHANCED_PRINTOUT 1
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#endif /* CONFIG_OBSWCONFIG_H_ */
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@ -1,5 +1,5 @@
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#include "MissionMessageTypes.h"
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#include <fsfw/ipc/CommandMessage.h>
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#include <hosted/fsfwconfig/ipc/MissionMessageTypes.h>
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void messagetypes::clearMissionMessage(CommandMessage* message) {
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switch(message->getMessageType()) {
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36
bsp_hosted/fsfwconfig/objects/systemObjectList.h
Normal file
36
bsp_hosted/fsfwconfig/objects/systemObjectList.h
Normal file
@ -0,0 +1,36 @@
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#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
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#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
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#include <cstdint>
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// The objects will be instantiated in the ID order
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namespace objects {
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enum sourceObjects: uint32_t {
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/* First Byte 0x50-0x52 reserved for PUS Services **/
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CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
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PUS_PACKET_DISTRIBUTOR = 0x50000200,
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UDP_BRIDGE = 0x50000300,
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UDP_POLLING_TASK = 0x50000400,
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PUS_SERVICE_3 = 0x51000300,
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PUS_SERVICE_5 = 0x51000400,
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PUS_SERVICE_6 = 0x51000500,
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PUS_SERVICE_8 = 0x51000800,
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PUS_SERVICE_23 = 0x51002300,
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PUS_SERVICE_201 = 0x51020100,
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TIME_STAMPER = 0x52000001,
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TM_FUNNEL = 0x52000002,
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/* Test Task */
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TEST_TASK = 0x42694269,
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DUMMY_INTERFACE = 0xCAFECAFE,
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DUMMY_HANDLER = 0x4400AFFE,
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/* 0x49 ('I') for Communication Interfaces **/
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ARDUINO_COM_IF = 0x49000001
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};
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}
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#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */
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19
bsp_hosted/fsfwconfig/tmtc/apid.h
Normal file
19
bsp_hosted/fsfwconfig/tmtc/apid.h
Normal file
@ -0,0 +1,19 @@
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#ifndef FSFWCONFIG_TMTC_APID_H_
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#define FSFWCONFIG_TMTC_APID_H_
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#include <stdint.h>
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/**
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* Application Process Definition: entity, uniquely identified by an
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* application process ID (APID), capable of generating telemetry source
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* packets and receiving telecommand packets
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*
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* SOURCE APID: 0x73 / 115 / s
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* APID is a 11 bit number
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*/
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namespace apid {
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static const uint16_t EIVE_OBSW = 0x65;
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}
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#endif /* FSFWCONFIG_TMTC_APID_H_ */
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23
bsp_hosted/fsfwconfig/tmtc/pusIds.h
Normal file
23
bsp_hosted/fsfwconfig/tmtc/pusIds.h
Normal file
@ -0,0 +1,23 @@
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#ifndef CONFIG_TMTC_PUSIDS_HPP_
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#define CONFIG_TMTC_PUSIDS_HPP_
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namespace pus {
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enum Ids{
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PUS_SERVICE_1 = 1,
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PUS_SERVICE_2 = 2,
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PUS_SERVICE_3 = 3,
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PUS_SERVICE_3_PSB = 3,
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PUS_SERVICE_5 = 5,
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PUS_SERVICE_6 = 6,
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PUS_SERVICE_8 = 8,
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PUS_SERVICE_9 = 9,
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PUS_SERVICE_17 = 17,
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PUS_SERVICE_19 = 19,
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PUS_SERVICE_20 = 20,
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PUS_SERVICE_23 = 23,
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PUS_SERVICE_200 = 200,
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PUS_SERVICE_201 = 201,
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};
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};
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#endif /* CONFIG_TMTC_PUSIDS_HPP_ */
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@ -1,7 +1,6 @@
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#include <bsp_hosted/fsfwconfig/OBSWVersion.h>
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#include <bsp_linux/InitMission.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include <hosted/fsfwconfig/OBSWVersion.h>
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#include <iostream>
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#ifdef WIN32
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2
fsfw
2
fsfw
@ -1 +1 @@
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||||
Subproject commit 113397c6c6ae4c46341f4880710e4e4d9b6e7630
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Subproject commit 086cbe1e3950cf6c904609352408a7fa48cc83ef
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||||
@ -8,7 +8,8 @@
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#define ADD_TEST_CODE 0
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// Define not used yet, PUS stack and TMTC tasks are always started
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#define ADD_PUS_STACK 1
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// These defines should be disabled for mission code but are useful for
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// debugging.
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#define OBSW_ENHANCED_PRINTOUT 1
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#endif /* FSFWCONFIG_OBSWCONFIG_H_ */
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@ -1,14 +1,14 @@
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#ifndef FSFWCONFIG_TMTC_APID_H_
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#define FSFWCONFIG_TMTC_APID_H_
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#include <stdint.h>
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||||
#include <cstdint>
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/**
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||||
* Application Process Definition: entity, uniquely identified by an
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* application process ID (APID), capable of generating telemetry source
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* packets and receiving telecommand packets
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*
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||||
* SOURCE APID: 0x73 / 115 / s
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* EIVE APID: 0x65 / 101 / e
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* APID is a 11 bit number
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||||
*/
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||||
namespace apid {
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||||
|
||||
@ -1,10 +0,0 @@
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||||
#ifndef FSFWCONFIG_TMTC_TMTCSIZE_H_
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#define FSFWCONFIG_TMTC_TMTCSIZE_H_
|
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|
||||
#include <cstdint>
|
||||
|
||||
namespace tmtcsize {
|
||||
static const uint32_t MAX_TM_PACKET = 50;
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||||
}
|
||||
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||||
#endif /* FSFWCONFIG_TMTC_TMTCSIZE_H_ */
|
||||
@ -1,8 +0,0 @@
|
||||
#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_ */
|
||||
144
misc/eclipse/.cproject
Normal file
144
misc/eclipse/.cproject
Normal file
@ -0,0 +1,144 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
|
||||
<storageModule moduleId="org.eclipse.cdt.core.settings">
|
||||
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186">
|
||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186" moduleId="org.eclipse.cdt.core.settings" name="Default">
|
||||
<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="org.eclipse.cdt.core.PE64" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186" name="Default" optionalBuildProperties="" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.471696178" name="/" resourcePath="">
|
||||
<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.708704722" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
|
||||
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1147901267" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
|
||||
<builder buildPath="${workspace_loc:/eive_obsw}/Default" command="make" id="cdt.managedbuild.builder.gnu.cross.1787778157" incrementalBuildTarget="debug" keepEnvironmentInBuildfile="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.1943279911" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.assembler.input.745109632" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.archiver.mingw.base.2124527841" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.mingw.base"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.1825890326" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1800325625" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
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||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.c.compiler.mingw.base.562363652" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1828496389" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.c.linker.mingw.base.2091184770" name="MinGW C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.mingw.base"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cpp.linker.mingw.base.1024503752" name="MinGW C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1930752543" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
|
||||
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
|
||||
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
|
||||
</inputType>
|
||||
</tool>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
</cconfiguration>
|
||||
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443">
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||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443" moduleId="org.eclipse.cdt.core.settings" name="eive-mingw-debug">
|
||||
<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="org.eclipse.cdt.core.PE64" point="org.eclipse.cdt.core.BinaryParser"/>
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||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
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<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443" name="eive-mingw-debug" optionalBuildProperties="" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443." name="/" resourcePath="">
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||||
<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.1176904738" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
|
||||
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1087094604" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
|
||||
<builder arguments="-f Makefile-Hosted" command="make" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="release" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.813737526" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
|
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<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1289649483" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
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|
||||
<tool id="cdt.managedbuild.tool.gnu.archiver.mingw.base.1046377753" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.mingw.base"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.646655988" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1437856797" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.c.compiler.mingw.base.397223006" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1482659499" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.c.linker.mingw.base.361305758" name="MinGW C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.mingw.base"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cpp.linker.mingw.base.1019605845" name="MinGW C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1704278779" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
|
||||
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
|
||||
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
|
||||
</inputType>
|
||||
</tool>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
</cconfiguration>
|
||||
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249">
|
||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249" moduleId="org.eclipse.cdt.core.settings" name="eive-mingw-release">
|
||||
<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="org.eclipse.cdt.core.PE64" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249" name="eive-mingw-release" optionalBuildProperties="" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249." name="/" resourcePath="">
|
||||
<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.754560869" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
|
||||
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.2125491129" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
|
||||
<builder arguments="-f Makefile-Hosted" command="make" id="cdt.managedbuild.builder.gnu.cross.1840576359" incrementalBuildTarget="debug" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.1445228447" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1571446155" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.archiver.mingw.base.18980373" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.mingw.base"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.539225324" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1848997248" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.c.compiler.mingw.base.473677411" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.2060052812" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.c.linker.mingw.base.416732714" name="MinGW C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.mingw.base"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cpp.linker.mingw.base.1096391538" name="MinGW C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1444067768" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
|
||||
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
|
||||
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
|
||||
</inputType>
|
||||
</tool>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
</cconfiguration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<project id="eive_obsw.null.1109622296" name="eive_obsw"/>
|
||||
</storageModule>
|
||||
<storageModule moduleId="scannerConfiguration">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
|
||||
<storageModule moduleId="refreshScope" versionNumber="2">
|
||||
<configuration configurationName="eive-mingw-debug">
|
||||
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
|
||||
</configuration>
|
||||
<configuration configurationName="Default">
|
||||
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
|
||||
</cproject>
|
||||
27
misc/eclipse/.project
Normal file
27
misc/eclipse/.project
Normal file
@ -0,0 +1,27 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
|
||||
<name>eive_obsw</name>
|
||||
<comment></comment>
|
||||
<projects>
|
||||
</projects>
|
||||
<buildSpec>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
||||
<triggers>clean,full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
|
||||
<triggers>full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
</buildSpec>
|
||||
<natures>
|
||||
<nature>org.eclipse.cdt.core.cnature</nature>
|
||||
<nature>org.eclipse.cdt.core.ccnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
|
||||
</natures>
|
||||
</projectDescription>
|
||||
33
misc/eclipse/eive-mingw-debug.launch
Normal file
33
misc/eclipse/eive-mingw-debug.launch
Normal file
@ -0,0 +1,33 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
|
||||
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="_bin/host/devel/eiveobsw-host.exe"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443"/>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
|
||||
<listEntry value="/eive_obsw"/>
|
||||
</listAttribute>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
|
||||
<listEntry value="4"/>
|
||||
</listAttribute>
|
||||
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><memoryBlockExpressionList context="reserved-for-future-use"/>"/>
|
||||
<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
|
||||
</launchConfiguration>
|
||||
33
misc/eclipse/eive-mingw-release.launch
Normal file
33
misc/eclipse/eive-mingw-release.launch
Normal file
@ -0,0 +1,33 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
|
||||
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="_bin/host/devel/eiveobsw-host.exe"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249"/>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
|
||||
<listEntry value="/eive_obsw"/>
|
||||
</listAttribute>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
|
||||
<listEntry value="4"/>
|
||||
</listAttribute>
|
||||
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><memoryBlockExpressionList context="reserved-for-future-use"/>"/>
|
||||
<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
|
||||
</launchConfiguration>
|
||||
@ -33,32 +33,28 @@ void ObjectFactory::produceGenericObjects() {
|
||||
/* Framework objects */
|
||||
new EventManager(objects::EVENT_MANAGER);
|
||||
new HealthTable(objects::HEALTH_TABLE);
|
||||
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER, 0, 0, 0);
|
||||
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
|
||||
new TimeStamper(objects::TIME_STAMPER);
|
||||
|
||||
{
|
||||
static constexpr uint8_t NUMBER_OF_POOLS = 5;
|
||||
const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
|
||||
const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
|
||||
new PoolManager<NUMBER_OF_POOLS>(objects::TC_STORE, element_sizes,
|
||||
n_elements);
|
||||
PoolManager::LocalPoolConfig poolCfg = {
|
||||
{100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024}
|
||||
};
|
||||
new PoolManager(objects::TC_STORE, poolCfg);
|
||||
}
|
||||
|
||||
{
|
||||
static constexpr uint8_t NUMBER_OF_POOLS = 5;
|
||||
const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
|
||||
const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
|
||||
new PoolManager<NUMBER_OF_POOLS>(objects::TM_STORE, element_sizes,
|
||||
n_elements);
|
||||
PoolManager::LocalPoolConfig poolCfg = {
|
||||
{100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024}
|
||||
};
|
||||
new PoolManager(objects::TM_STORE, poolCfg);
|
||||
}
|
||||
|
||||
{
|
||||
static constexpr uint8_t NUMBER_OF_POOLS = 6;
|
||||
const uint16_t element_sizes[NUMBER_OF_POOLS] = {32, 64, 512,
|
||||
1024, 2048, 4096};
|
||||
const uint16_t n_elements[NUMBER_OF_POOLS] = {200, 100, 50, 25, 15, 5};
|
||||
new PoolManager<NUMBER_OF_POOLS>(objects::IPC_STORE, element_sizes,
|
||||
n_elements);
|
||||
PoolManager::LocalPoolConfig poolCfg = {
|
||||
{100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024}
|
||||
};
|
||||
new PoolManager(objects::IPC_STORE, poolCfg);
|
||||
}
|
||||
|
||||
new CCSDSDistributor(apid::EIVE_OBSW, objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
@ -71,7 +67,7 @@ void ObjectFactory::produceGenericObjects() {
|
||||
|
||||
/* PUS stack */
|
||||
new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION,
|
||||
apid::EIVE_OBSW, pus::PUS_SERVICE_1, objects::TM_FUNNEL);
|
||||
apid::EIVE_OBSW, pus::PUS_SERVICE_1, objects::TM_FUNNEL, 20);
|
||||
new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS,
|
||||
apid::EIVE_OBSW, pus::PUS_SERVICE_2, 3, 10);
|
||||
new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING,
|
||||
|
||||
@ -1,13 +1,19 @@
|
||||
#include "MGMHandlerLIS3MDL.h"
|
||||
|
||||
|
||||
MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
|
||||
object_id_t deviceCommunication, CookieIF* comCookie):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
|
||||
registers[0] = 0x00;
|
||||
registers[1] = 0x00;
|
||||
registers[2] = 0x00;
|
||||
registers[3] = 0x00;
|
||||
registers[4] = 0x00;
|
||||
object_id_t deviceCommunication, CookieIF* comCookie):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
dataset(this) {
|
||||
#if OBSW_ENHANCED_PRINTOUT == 1
|
||||
debugDivider = new PeriodicOperationDivider(10);
|
||||
#endif
|
||||
// Set to default values right away.
|
||||
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
|
||||
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
|
||||
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
|
||||
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
|
||||
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
|
||||
|
||||
}
|
||||
|
||||
@ -16,60 +22,56 @@ MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
|
||||
|
||||
|
||||
void MGMHandlerLIS3MDL::doStartUp() {
|
||||
switch (internalState) {
|
||||
case STATE_NONE:
|
||||
internalState = STATE_FIRST_CONTACT;
|
||||
break;
|
||||
switch (internalState) {
|
||||
case STATE_NONE:
|
||||
internalState = STATE_FIRST_CONTACT;
|
||||
break;
|
||||
|
||||
case STATE_FIRST_CONTACT:
|
||||
internalState = STATE_SETUP;
|
||||
break;
|
||||
case STATE_FIRST_CONTACT:
|
||||
internalState = STATE_SETUP;
|
||||
break;
|
||||
|
||||
case STATE_SETUP:
|
||||
internalState = STATE_CHECK_REGISTERS;
|
||||
break;
|
||||
case STATE_SETUP:
|
||||
internalState = STATE_CHECK_REGISTERS;
|
||||
break;
|
||||
|
||||
case STATE_CHECK_REGISTERS:
|
||||
if (setupMGM() == RETURN_OK) {
|
||||
for (size_t i = 1; i <= MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
|
||||
if (registers[i - 1] != commandBuffer[i]) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
setMode(_MODE_TO_ON);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
case STATE_CHECK_REGISTERS: {
|
||||
// Set up cached registers which will be used to configure the MGM.
|
||||
if(commandExecuted) {
|
||||
commandExecuted = false;
|
||||
setMode(MODE_NORMAL);
|
||||
}
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void MGMHandlerLIS3MDL::doShutDown() {
|
||||
setMode(_MODE_POWER_DOWN);
|
||||
setMode(_MODE_POWER_DOWN);
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) {
|
||||
switch (internalState) {
|
||||
case STATE_FIRST_CONTACT:
|
||||
*id = MGMLIS3MDL::IDENTIFY_DEVICE;
|
||||
break;
|
||||
DeviceCommandId_t *id) {
|
||||
switch (internalState) {
|
||||
case STATE_FIRST_CONTACT:
|
||||
*id = MGMLIS3MDL::IDENTIFY_DEVICE;
|
||||
break;
|
||||
|
||||
case STATE_SETUP:
|
||||
*id = MGMLIS3MDL::SETUP_MGM;
|
||||
break;
|
||||
case STATE_SETUP:
|
||||
*id = MGMLIS3MDL::SETUP_MGM;
|
||||
break;
|
||||
|
||||
case STATE_CHECK_REGISTERS:
|
||||
*id = MGMLIS3MDL::READALL_MGM;
|
||||
break;
|
||||
case STATE_CHECK_REGISTERS:
|
||||
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
default:
|
||||
break;
|
||||
}
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
|
||||
uint8_t MGMHandlerLIS3MDL::readCommand(uint8_t command, bool continuousCom) {
|
||||
@ -88,89 +90,117 @@ uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) {
|
||||
return command;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::setupMGM() {
|
||||
void MGMHandlerLIS3MDL::setupMgm() {
|
||||
|
||||
registers[0] = (1 << MGMLIS3MDL::TEMP_EN) | (1 << MGMLIS3MDL::OM1)
|
||||
| (1 << MGMLIS3MDL::DO0) | (1 << MGMLIS3MDL::DO1)
|
||||
| (1 << MGMLIS3MDL::DO2);
|
||||
registers[1] = 0;
|
||||
registers[2] = 0;
|
||||
registers[3] = (1 << MGMLIS3MDL::OMZ1);
|
||||
registers[4] = 0;
|
||||
|
||||
return prepareCtrlRegisterWrite();
|
||||
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
|
||||
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
|
||||
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
|
||||
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
|
||||
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
|
||||
|
||||
prepareCtrlRegisterWrite();
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) {
|
||||
//defines CommandID of MGM in normal operation and build command from command
|
||||
*id = MGMLIS3MDL::READALL_MGM;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
// Data/config register will be read in an alternating manner.
|
||||
if(communicationStep == CommunicationStep::DATA) {
|
||||
lastSentCommand = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
communicationStep = CommunicationStep::TEMPERATURE;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
else {
|
||||
lastSentCommand = MGMLIS3MDL::READ_TEMPERATURE;
|
||||
*id = MGMLIS3MDL::READ_TEMPERATURE;
|
||||
communicationStep = CommunicationStep::DATA;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
lastSentCommand = deviceCommand;
|
||||
switch(deviceCommand) {
|
||||
case(MGMLIS3MDL::READALL_MGM): {
|
||||
std::memset(commandBuffer, 0, sizeof(commandBuffer));
|
||||
commandBuffer[0] = readCommand(0, true);
|
||||
lastSentCommand = deviceCommand;
|
||||
switch(deviceCommand) {
|
||||
case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
|
||||
std::memset(commandBuffer, 0, sizeof(commandBuffer));
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = sizeof(commandBuffer);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
|
||||
return RETURN_OK;
|
||||
}
|
||||
case(MGMLIS3MDL::READ_TEMPERATURE): {
|
||||
std::memset(commandBuffer, 0, 3);
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 3;
|
||||
return RETURN_OK;
|
||||
}
|
||||
case(MGMLIS3MDL::IDENTIFY_DEVICE): {
|
||||
return identifyDevice();
|
||||
return identifyDevice();
|
||||
}
|
||||
case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
|
||||
return enableTemperatureSensor(commandData, commandDataLen);
|
||||
return enableTemperatureSensor(commandData, commandDataLen);
|
||||
}
|
||||
case(MGMLIS3MDL::SETUP_MGM): {
|
||||
return setupMGM();
|
||||
setupMgm();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
|
||||
return setOperatingMode(commandData, commandDataLen);
|
||||
return setOperatingMode(commandData, commandDataLen);
|
||||
}
|
||||
default:
|
||||
lastSentCommand = DeviceHandlerIF::NO_COMMAND;
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
lastSentCommand = DeviceHandlerIF::NO_COMMAND;
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() {
|
||||
uint32_t size = 2;
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
|
||||
commandBuffer[1] = 0x00;
|
||||
uint32_t size = 2;
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
|
||||
commandBuffer[1] = 0x00;
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = size;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = size;
|
||||
|
||||
return RETURN_OK;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
|
||||
size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
*foundLen = len;
|
||||
if (len == MGMLIS3MDL::TOTAL_NR_OF_ADRESSES + 1) {
|
||||
if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::READALL_MGM;
|
||||
//WHO AM I test
|
||||
if (*(start + 16) != MGMLIS3MDL::DEVICE_ID) {
|
||||
*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
// Check validity by checking config registers
|
||||
if (start[1] != registers[0] or start[2] != registers[1] or
|
||||
start[3] != registers[2] or start[4] != registers[3] or
|
||||
start[5] != registers[4]) {
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
if(mode == _MODE_START_UP) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
|
||||
} else if (len == MGMLIS3MDL::SETUP_REPLY) {
|
||||
}
|
||||
else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::READ_TEMPERATURE;
|
||||
}
|
||||
else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::SETUP_MGM;
|
||||
} else if (len == SINGLE_COMMAND_ANSWER_LEN) {
|
||||
}
|
||||
else if (len == SINGLE_COMMAND_ANSWER_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = lastSentCommand;
|
||||
} else {
|
||||
|
||||
}
|
||||
else {
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
|
||||
@ -193,40 +223,62 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
|
||||
case MGMLIS3MDL::SETUP_MGM: {
|
||||
break;
|
||||
}
|
||||
case MGMLIS3MDL::READALL_MGM: {
|
||||
// TODO: Store configuration and sensor values in new local datasets.
|
||||
registers[0] = *(packet + 33);
|
||||
registers[1] = *(packet + 34);
|
||||
registers[2] = *(packet + 35);
|
||||
registers[3] = *(packet + 36);
|
||||
registers[4] = *(packet + 37);
|
||||
case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
|
||||
// TODO: Store configuration and sensor values in new local datasets.
|
||||
|
||||
uint8_t reg2_value = *(packet + 34);
|
||||
uint8_t scale = getFullScale(®2_value);
|
||||
uint8_t scale = getFullScale(registers[2]);
|
||||
float sensitivityFactor = getSensitivityFactor(scale);
|
||||
|
||||
int16_t x_value_raw;
|
||||
int16_t y_value_raw;
|
||||
int16_t z_value_raw;
|
||||
int16_t temp_value_raw;
|
||||
//size_t size = 2;
|
||||
uint8_t *accessBuffer;
|
||||
accessBuffer = const_cast<uint8_t*>(packet + 41);
|
||||
int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
|
||||
| packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
|
||||
int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
|
||||
| packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
|
||||
int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
|
||||
| packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
|
||||
|
||||
x_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
|
||||
accessBuffer += 2;
|
||||
y_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
|
||||
accessBuffer += 2;
|
||||
z_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
|
||||
accessBuffer += 2;
|
||||
// Target value in microtesla
|
||||
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
|
||||
temp_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
|
||||
|
||||
float x_value = static_cast<float>(x_value_raw) * sensitivityFactor;
|
||||
float y_value = static_cast<float>(y_value_raw) * sensitivityFactor;
|
||||
float z_value = static_cast<float>(z_value_raw) * sensitivityFactor;
|
||||
float temp_value = 25.0 + ((static_cast<float>(temp_value_raw)) / 8.0);
|
||||
#if OBSW_ENHANCED_PRINTOUT == 1
|
||||
if(debugDivider->checkAndIncrement()) {
|
||||
sif::info << "MGMHandlerLIS3: Magnetic field strength in"
|
||||
" microtesla:" << std::endl;
|
||||
// Set terminal to utf-8 if there is an issue with micro printout.
|
||||
sif::info << "X: " << mgmX << " \xC2\xB5T" << std::endl;
|
||||
sif::info << "Y: " << mgmY << " \xC2\xB5T" << std::endl;
|
||||
sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl;
|
||||
}
|
||||
#endif
|
||||
ReturnValue_t result = dataset.read(20);
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.fieldStrengthX = mgmX;
|
||||
dataset.fieldStrengthY = mgmY;
|
||||
dataset.fieldStrengthZ = mgmZ;
|
||||
dataset.commit(20);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case MGMLIS3MDL::READ_TEMPERATURE: {
|
||||
int16_t tempValueRaw = packet[2] << 8 | packet[1];
|
||||
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
|
||||
#if OBSW_ENHANCED_PRINTOUT == 1
|
||||
if(debugDivider->check()) {
|
||||
// Set terminal to utf-8 if there is an issue with micro printout.
|
||||
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue<< " °C"
|
||||
<< std::endl;
|
||||
}
|
||||
#endif
|
||||
ReturnValue_t result = dataset.read(20);
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.temperature = tempValue;
|
||||
dataset.commit(20);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
@ -238,12 +290,12 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t *reg2) {
|
||||
uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) {
|
||||
bool FS0 = false;
|
||||
bool FS1 = false;
|
||||
if ((*reg2 >> 5) == 1)
|
||||
if ((ctrlRegister2 >> 5) == 1)
|
||||
FS0 = true;
|
||||
if ((*reg2 >> 6) == 1)
|
||||
if ((ctrlRegister2 >> 6) == 1)
|
||||
FS1 = true;
|
||||
if ((FS0 == true) && (FS1 == true))
|
||||
return 16;
|
||||
@ -269,17 +321,16 @@ ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor(
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
switch (*commandData) {
|
||||
case (MGMLIS3MDL::ON):
|
||||
case (MGMLIS3MDL::ON): {
|
||||
commandBuffer[1] = registers[0] | (1 << 7);
|
||||
break;
|
||||
|
||||
case (MGMLIS3MDL::OFF):
|
||||
}
|
||||
case (MGMLIS3MDL::OFF): {
|
||||
commandBuffer[1] = registers[0] & ~(1 << 7);
|
||||
break;
|
||||
|
||||
}
|
||||
default:
|
||||
return INVALID_COMMAND_PARAMETER;
|
||||
break;
|
||||
}
|
||||
registers[0] = commandBuffer[1];
|
||||
|
||||
@ -333,7 +384,8 @@ void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
|
||||
* We dont read single registers, we just expect special
|
||||
* reply from he Readall_MGM
|
||||
*/
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READALL_MGM, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
|
||||
@ -348,14 +400,14 @@ ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
|
||||
commandBuffer[i + 1] = registers[i];
|
||||
}
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
|
||||
|
||||
// We dont have to check if this is working because we just did it
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void MGMHandlerLIS3MDL::setNormalDatapoolEntriesInvalid() {
|
||||
// TODO: use new distributed datapools here.
|
||||
// TODO: use new distributed datapools here.
|
||||
}
|
||||
|
||||
void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
|
||||
@ -363,9 +415,22 @@ void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
|
||||
}
|
||||
|
||||
uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return 5000;
|
||||
return 5000;
|
||||
}
|
||||
|
||||
void MGMHandlerLIS3MDL::modeChanged(void) {
|
||||
internalState = STATE_NONE;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
|
||||
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
|
||||
new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
@ -1,9 +1,13 @@
|
||||
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
|
||||
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include "devicedefinitions/MGMHandlerLIS3Definitions.h"
|
||||
#include <subsystemIdRanges.h>
|
||||
|
||||
#include <OBSWConfig.h>
|
||||
#include <events/subsystemIdRanges.h>
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
|
||||
|
||||
/**
|
||||
* @brief Device handler object for the LIS3MDL 3-axis magnetometer
|
||||
@ -14,13 +18,18 @@
|
||||
*/
|
||||
class MGMHandlerLIS3MDL: public DeviceHandlerBase {
|
||||
public:
|
||||
enum class CommunicationStep {
|
||||
DATA,
|
||||
TEMPERATURE
|
||||
};
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
|
||||
//Notifies a command to change the setup parameters
|
||||
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, SEVERITY::LOW);
|
||||
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
|
||||
|
||||
MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie);
|
||||
CookieIF* comCookie);
|
||||
virtual ~MGMHandlerLIS3MDL();
|
||||
|
||||
protected:
|
||||
@ -34,18 +43,23 @@ protected:
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) override;
|
||||
virtual ReturnValue_t buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
DeviceCommandId_t *id) override;
|
||||
virtual ReturnValue_t buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
DeviceCommandId_t *id) override;
|
||||
virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) override;
|
||||
virtual void fillCommandAndReplyMap() override;
|
||||
virtual void modeChanged(void) override;
|
||||
void setNormalDatapoolEntriesInvalid() override;
|
||||
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
|
||||
private:
|
||||
MGMLIS3MDL::MgmPrimaryDataset dataset;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Device specific commands and variables */
|
||||
/*------------------------------------------------------------------------*/
|
||||
@ -68,7 +82,7 @@ private:
|
||||
* e.g.: +- 4 gauss. See p.25 datasheet.
|
||||
* @return The ReturnValue does not contain the sign of the value
|
||||
*/
|
||||
uint8_t getFullScale(uint8_t *reg2);
|
||||
uint8_t getFullScale(uint8_t ctrlReg2);
|
||||
|
||||
/**
|
||||
* The 16 bit value needs to be divided by the full range of a 16bit value
|
||||
@ -86,7 +100,7 @@ private:
|
||||
*/
|
||||
ReturnValue_t identifyDevice();
|
||||
|
||||
virtual ReturnValue_t setupMGM();
|
||||
virtual void setupMgm();
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Non normal commands */
|
||||
@ -114,7 +128,7 @@ private:
|
||||
//Single SPIcommand has 2 bytes, first for adress, second for content
|
||||
size_t singleComandSize = 2;
|
||||
//has the size for all adresses of the lis3mdl + the continous write bit
|
||||
uint8_t commandBuffer[MGMLIS3MDL::TOTAL_NR_OF_ADRESSES + 1];
|
||||
uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
|
||||
|
||||
/**
|
||||
* We want to save the registers we set, so we dont have to read the
|
||||
@ -123,6 +137,9 @@ private:
|
||||
*/
|
||||
uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
|
||||
|
||||
uint8_t statusRegister = 0;
|
||||
|
||||
|
||||
/**
|
||||
* As this is a SPI Device, we get the Answer of the last sent command in
|
||||
* the next read cycle, so we could check the command for identification.
|
||||
@ -142,6 +159,12 @@ private:
|
||||
};
|
||||
|
||||
InternalState internalState = STATE_NONE;
|
||||
CommunicationStep communicationStep = CommunicationStep::DATA;
|
||||
bool commandExecuted = false;
|
||||
|
||||
#if OBSW_ENHANCED_PRINTOUT == 1
|
||||
PeriodicOperationDivider* debugDivider;
|
||||
#endif
|
||||
|
||||
};
|
||||
|
||||
|
||||
@ -1,6 +1,9 @@
|
||||
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_
|
||||
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/datapoollocal/LocalPoolVariable.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <cstdint>
|
||||
|
||||
namespace MGMLIS3MDL {
|
||||
@ -12,11 +15,14 @@ enum opMode {
|
||||
LOW, MEDIUM, HIGH, ULTRA
|
||||
};
|
||||
|
||||
static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
|
||||
|
||||
static const DeviceCommandId_t SETUP_MGM = 0x00;
|
||||
static const DeviceCommandId_t READALL_MGM = 0x01;
|
||||
static const DeviceCommandId_t IDENTIFY_DEVICE = 0x02;
|
||||
static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x03;
|
||||
static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x04;
|
||||
static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x01;
|
||||
static const DeviceCommandId_t READ_TEMPERATURE = 0x02;
|
||||
static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
|
||||
static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;
|
||||
static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05;
|
||||
|
||||
//Number of all control registers
|
||||
static const uint8_t NR_OF_CTRL_REGISTERS = 5;
|
||||
@ -24,7 +30,9 @@ static const uint8_t NR_OF_CTRL_REGISTERS = 5;
|
||||
static const uint8_t NR_OF_REGISTERS = 19;
|
||||
//Total number of adresses for all registers
|
||||
static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
|
||||
static const uint8_t SETUP_REPLY = 6;
|
||||
static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14;
|
||||
static const uint8_t TEMPERATURE_REPLY_LEN = 3;
|
||||
static const uint8_t SETUP_REPLY_LEN = 6;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Register adresses */
|
||||
@ -45,19 +53,26 @@ static const uint8_t CTRL_REG4 = 0b00100011;
|
||||
static const uint8_t CTRL_REG5 = 0b00100100;
|
||||
|
||||
//Register adress to access status register
|
||||
static const uint8_t STATUS_REG_IDX = 8;
|
||||
static const uint8_t STATUS_REG = 0b00100111;
|
||||
|
||||
//Register adress to access low byte of x-axis
|
||||
static const uint8_t X_LOWBYTE_IDX = 9;
|
||||
static const uint8_t X_LOWBYTE = 0b00101000;
|
||||
//Register adress to access high byte of x-axis
|
||||
static const uint8_t X_HIGHBYTE_IDX = 10;
|
||||
static const uint8_t X_HIGHBYTE = 0b00101001;
|
||||
//Register adress to access low byte of y-axis
|
||||
static const uint8_t Y_LOWBYTE_IDX = 11;
|
||||
static const uint8_t Y_LOWBYTE = 0b00101010;
|
||||
//Register adress to access high byte of y-axis
|
||||
static const uint8_t Y_HIGHBYTE_IDX = 12;
|
||||
static const uint8_t Y_HIGHBYTE = 0b00101011;
|
||||
//Register adress to access low byte of z-axis
|
||||
static const uint8_t Z_LOWBYTE_IDX = 13;
|
||||
static const uint8_t Z_LOWBYTE = 0b00101100;
|
||||
//Register adress to access high byte of z-axis
|
||||
static const uint8_t Z_HIGHBYTE_IDX = 14;
|
||||
static const uint8_t Z_HIGHBYTE = 0b00101101;
|
||||
|
||||
//Register adress to access low byte of temperature sensor
|
||||
@ -66,7 +81,7 @@ static const uint8_t TEMP_LOWBYTE = 0b00101110;
|
||||
static const uint8_t TEMP_HIGHBYTE = 0b00101111;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Initialize Setup Register set bits
|
||||
/* Initialize Setup Register set bits */
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* General transfer bits */
|
||||
// Read=1 / Write=0 Bit
|
||||
@ -84,6 +99,8 @@ static const uint8_t DO2 = 4; // Output data rate bit 4
|
||||
static const uint8_t OM0 = 5; // XY operating mode bit 5
|
||||
static const uint8_t OM1 = 6; // XY operating mode bit 6
|
||||
static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1
|
||||
static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
|
||||
(1 << DO0) | (1 << DO1) | (1 << DO2);
|
||||
|
||||
/* CTRL_REG2 bits */
|
||||
//reset configuration registers and user registers
|
||||
@ -91,6 +108,7 @@ static const uint8_t SOFT_RST = 2;
|
||||
static const uint8_t REBOOT = 3; //reboot memory content
|
||||
static const uint8_t FSO = 5; //full-scale selection bit 5
|
||||
static const uint8_t FS1 = 6; //full-scale selection bit 6
|
||||
static const uint8_t CTRL_REG2_DEFAULT = 0;
|
||||
|
||||
/* CTRL_REG3 bits */
|
||||
static const uint8_t MD0 = 0; //Operating mode bit 0
|
||||
@ -98,18 +116,48 @@ static const uint8_t MD1 = 1; //Operating mode bit 1
|
||||
//SPI serial interface mode selection enabled = 3-wire-mode
|
||||
static const uint8_t SIM = 2;
|
||||
static const uint8_t LP = 5; //low-power mode
|
||||
static const uint8_t CTRL_REG3_DEFAULT = 0;
|
||||
|
||||
/* CTRL_REG4 bits */
|
||||
//big/little endian data selection enabled = MSb at lower adress
|
||||
static const uint8_t BLE = 1;
|
||||
static const uint8_t OMZ0 = 2; //Z operating mode bit 2
|
||||
static const uint8_t OMZ1 = 3; //Z operating mode bit 3
|
||||
static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
|
||||
|
||||
/* CTRL_REG5 bits */
|
||||
static const uint8_t BDU = 6; //Block data update
|
||||
static const uint8_t FAST_READ = 7; //Fast read enabled = 1
|
||||
static const uint8_t CTRL_REG5_DEFAULT = 0;
|
||||
|
||||
static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
|
||||
|
||||
enum MgmPoolIds: lp_id_t {
|
||||
FIELD_STRENGTH_X,
|
||||
FIELD_STRENGTH_Y,
|
||||
FIELD_STRENGTH_Z,
|
||||
TEMPERATURE_CELCIUS
|
||||
};
|
||||
|
||||
class MgmPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
|
||||
public:
|
||||
MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
|
||||
|
||||
MgmPrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
|
||||
|
||||
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_X, this);
|
||||
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Y, this);
|
||||
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
|
||||
TEMPERATURE_CELCIUS, this);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_ */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user