eive/eive-obsw
eive/eive-obsw
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Update to v1.8.0 #100

Merged
muellerr merged 125 commits from develop into main 2021-09-24 10:17:43 +02:00
Conversation 0 Commits 125 Files Changed 67 +1293 -1146
16 changed files with 1293 additions and 1146 deletions
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Showing only changes of commit f7c6f16777 - Show all commits

2
bsp_q7s/CMakeLists.txt
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@ -12,6 +12,6 @@ else()
add_subdirectory(gpio)
add_subdirectory(core)
add_subdirectory(memory)
add_subdirectory(spiCallbacks)
add_subdirectory(callbacks)
add_subdirectory(devices)
endif()

1
bsp_q7s/spiCallbacks/CMakeLists.txt → bsp_q7s/callbacks/CMakeLists.txt
View File

@ -1,3 +1,4 @@
target_sources(${TARGET_NAME} PRIVATE
rwSpiCallback.cpp
gnssCallback.cpp
)

26
bsp_q7s/callbacks/gnssCallback.cpp Normal file
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@ -0,0 +1,26 @@
#include "gnssCallback.h"
#include "devices/gpioIds.h"
#include "fsfw/tasks/TaskFactory.h"
ReturnValue_t gps::triggerGpioResetPin(void *args) {
ResetArgs* resetArgs = reinterpret_cast<ResetArgs*>(args);
if(args == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if (resetArgs->gpioComIF == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
gpioId_t gpioId;
if(resetArgs->gnss1) {
gpioId = gpioIds::GNSS_1_NRESET;
}
else {
gpioId = gpioIds::GNSS_0_NRESET;
}
resetArgs->gpioComIF->pullLow(gpioId);
TaskFactory::delayTask(resetArgs->waitPeriodMs);
resetArgs->gpioComIF->pullHigh(gpioId);
return HasReturnvaluesIF::RETURN_OK;
}

19
bsp_q7s/callbacks/gnssCallback.h Normal file
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@ -0,0 +1,19 @@
#ifndef BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
#define BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
struct ResetArgs {
bool gnss1 = false;
LinuxLibgpioIF* gpioComIF = nullptr;
uint32_t waitPeriodMs = 100;
};
namespace gps {
ReturnValue_t triggerGpioResetPin(void* args);
}
#endif /* BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_ */

11
bsp_q7s/spiCallbacks/rwSpiCallback.cpp → bsp_q7s/callbacks/rwSpiCallback.cpp
View File

@ -1,9 +1,10 @@
#include <bsp_q7s/spiCallbacks/rwSpiCallback.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <mission/devices/RwHandler.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
#include "rwSpiCallback.h"
#include "devices/gpioIds.h"
#include "mission/devices/RwHandler.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
namespace rwSpiCallback {

6
bsp_q7s/spiCallbacks/rwSpiCallback.h → bsp_q7s/callbacks/rwSpiCallback.h
View File

@ -1,9 +1,9 @@
#ifndef BSP_Q7S_RW_SPI_CALLBACK_H_
#define BSP_Q7S_RW_SPI_CALLBACK_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
namespace rwSpiCallback {

16
bsp_q7s/core/ObjectFactory.cpp
View File

@ -9,12 +9,13 @@
#include "devices/powerSwitcherList.h"
#include "bsp_q7s/gpio/gpioCallbacks.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/spiCallbacks/rwSpiCallback.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include "bsp_q7s/devices/PlocSupervisorHandler.h"
#include "bsp_q7s/devices/PlocUpdater.h"
#include "bsp_q7s/devices/PlocMemoryDumper.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/callbacks/gnssCallback.h"
#include "linux/devices/HeaterHandler.h"
#include "linux/devices/SolarArrayDeploymentHandler.h"
@ -82,6 +83,9 @@
#include "linux/boardtest/LibgpiodTest.h"
#endif
ResetArgs resetArgsGnss0;
ResetArgs resetArgsGnss1;
void ObjectFactory::setStatics() {
Factory::setStaticFrameworkObjectIds();
}
@ -427,6 +431,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
"GNSS_1_NRESET", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
// GNSS enable pins must be pulled high
gpioComIF->addGpios(gpioCookieAcsBoard);
@ -485,6 +491,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
objects::SPI_COM_IF, spiCookie);
gyroL3gHandler->setStartUpImmediately();
resetArgsGnss1.gnss1 = true;
resetArgsGnss1.gpioComIF = gpioComIF;
resetArgsGnss1.waitPeriodMs = 100;
resetArgsGnss0.gnss1 = false;
resetArgsGnss0.gpioComIF = gpioComIF;
resetArgsGnss0.waitPeriodMs = 100;
auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_0_DEV,
UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
uartCookieGps0->setToFlushInput(true);
@ -495,9 +507,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
uartCookieGps1->setReadCycles(6);
auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
uartCookieGps0, true);
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
gpsHandler0->setStartUpImmediately();
auto gpsHandler1 = new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF,
uartCookieGps1, true);
gpsHandler1->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss1);
gpsHandler1->setStartUpImmediately();
}

35
mission/devices/GPSHyperionHandler.cpp
View File

@ -6,6 +6,11 @@
#include "lwgps/lwgps.h"
#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
#include <filesystem>
#include <fstream>
#endif
GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, bool debugHyperionGps):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), gpsSet(this),
@ -47,6 +52,19 @@ ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id
ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(GpsHyperion::TRIGGER_RESET_PIN): {
if(resetPinTrigger != nullptr) {
PoolReadGuard pg(&gpsSet);
// Set HK entries invalid
gpsSet.setValidity(false, true);
// The user needs to implement this. Don't touch states for now, the device should
// quickly reboot and send valid strings again.
return resetPinTrigger(resetPinTriggerArgs);
}
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
@ -54,9 +72,9 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// Pass data to GPS library
if(len > 0) {
sif::info << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
sif::debug << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
// TODO: Check whether data is valid by chcking whether NMEA start string is valid
// TODO: Check whether data is valid by checking whether NMEA start string is valid?
commandExecuted = true;
}
int result = lwgps_process(&gpsData, start, len);
@ -110,6 +128,13 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
printf("Altitude: %f meters\n", gpsData.altitude);
}
#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
std::string filename = "/mnt/sd0/gps_log_070921.txt";
std::ofstream gpsFile;
if(not std::filesystem::exists(filename)) {
gpsFile.open(filename, std::ofstream::out);
}
gpsFile.open(filename, std::ofstream::out | std::ofstream::app);
gpsFile.write(reinterpret_cast<const char*>(start), len);
#endif
}
*foundLen = len;
@ -155,6 +180,12 @@ void GPSHyperionHandler::modeChanged() {
internalState = InternalStates::NONE;
}
void GPSHyperionHandler::setResetPinTriggerFunction(ReturnValue_t (*function)(void *args),
void *args) {
resetPinTrigger = function;
resetPinTriggerArgs = args;
}
void GPSHyperionHandler::debugInterface(uint8_t positionTracker, object_id_t objectId,
uint32_t parameter) {
}

4
mission/devices/GPSHyperionHandler.h
View File

@ -19,8 +19,12 @@ public:
CookieIF* comCookie, bool debugHyperionGps = false);
virtual ~GPSHyperionHandler();
void setResetPinTriggerFunction(ReturnValue_t (*function) (void*args), void*args);
protected:
ReturnValue_t (*resetPinTrigger) (void* args) = nullptr;
void* resetPinTriggerArgs = nullptr;
enum class InternalStates {
NONE,
WAIT_FIRST_MESSAGE,

9
mission/devices/GomspaceDeviceHandler.cpp
View File

@ -75,6 +75,10 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(
}
break;
}
case(GOMSPACE::PRINT_OUT_ENB_STATUS): {
result = printStatus(deviceCommand);
break;
}
case(GOMSPACE::REQUEST_HK_TABLE): {
result = generateRequestFullHkTableCmd(hkTableReplySize);
if(result != HasReturnvaluesIF::RETURN_OK){
@ -396,3 +400,8 @@ LocalPoolDataSetBase* GomspaceDeviceHandler::getDataSetHandle(sid_t sid) {
void GomspaceDeviceHandler::setModeNormal() {
mode = MODE_NORMAL;
}
ReturnValue_t GomspaceDeviceHandler::printStatus(DeviceCommandId_t cmd) {
sif::info << "No printHkTable implementation given.." << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}

7
mission/devices/GomspaceDeviceHandler.h
View File

@ -88,6 +88,13 @@ protected:
*/
virtual ReturnValue_t generateRequestFullHkTableCmd(uint16_t hkTableSize);
/**
* This command handles printing the HK table to the console. This is useful for debugging
* purposes
* @return
*/
virtual ReturnValue_t printStatus(DeviceCommandId_t cmd);
/**
* @brief Because housekeeping tables are device specific the handling of the reply is
* given to the child class.

76
mission/devices/PDU1Handler.cpp
View File

@ -1,11 +1,12 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include "PDU1Handler.h"
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include <OBSWConfig.h>
PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu1HkTableDataset), pdu1HkTableDataset(
this) {
PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu1HkTableDataset),
pdu1HkTableDataset(this) {
}
PDU1Handler::~PDU1Handler() {
@ -55,25 +56,9 @@ void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
<< std::endl;
sif::info << "PDU1 channel 8 current: " << pdu1HkTableDataset.currentOutChannel8
<< std::endl;
sif::info << "PDU1 TCS Board switch: "
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledTCSBoard3V3.value) << std::endl;
sif::info << "PDU1 Syrlinks switch: "
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSyrlinks.value) << std::endl;
sif::info << "PDU1 star tracker switch: "
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledStarTracker.value) << std::endl;
sif::info << "PDU1 MGT switch: "
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledMGT.value) << std::endl;
sif::info << "PDU1 SUS nominal switch: "
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSUSNominal.value) << std::endl;
sif::info << "PDU1 solar cell experiment switch: "
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSolarCellExp.value) << std::endl;
sif::info << "PDU1 PLOC switch: "
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledPLOC.value) << std::endl;
sif::info << "PDU1 ACS Side A switch: "
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledAcsBoardSideA.value) << std::endl;
sif::info << "PDU1 channel 8 switch: "
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledChannel8.value) << std::endl;
sif::info << "PDU1 battery mode: " << static_cast<unsigned int>(pdu1HkTableDataset.battMode.value) << std::endl;
printOutputSwitchStates();
sif::info << "PDU1 battery mode: " <<
static_cast<unsigned int>(pdu1HkTableDataset.battMode.value) << std::endl;
sif::info << "PDU1 VCC: " << pdu1HkTableDataset.vcc << " mV" << std::endl;
float vbat = pdu1HkTableDataset.vbat.value * 0.001;
sif::info << "PDU1 VBAT: " << vbat << "V" << std::endl;
@ -87,9 +72,35 @@ void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
#endif
}
void PDU1Handler::printOutputSwitchStates() {
sif::info << "PDU1 TCS Board switch: " <<
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledTCSBoard3V3.value) << std::endl;
sif::info << "PDU1 Syrlinks switch: " <<
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSyrlinks.value) << std::endl;
sif::info << "PDU1 star tracker switch: " <<
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledStarTracker.value) << std::endl;
sif::info << "PDU1 MGT switch: " <<
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledMGT.value) << std::endl;
sif::info << "PDU1 SUS nominal switch: " <<
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSUSNominal.value) << std::endl;
sif::info << "PDU1 solar cell experiment switch: " <<
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSolarCellExp.value) << std::endl;
sif::info << "PDU1 PLOC switch: " <<
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledPLOC.value) << std::endl;
sif::info << "PDU1 ACS Side A switch: " <<
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledAcsBoardSideA.value) << std::endl;
sif::info << "PDU1 channel 8 switch: " <<
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledChannel8.value) << std::endl;
}
void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
uint16_t dataOffset = 0;
pdu1HkTableDataset.read();
PoolReadGuard pg(&pdu1HkTableDataset);
ReturnValue_t readResult = pg.getReadResult();
if(readResult != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Reading PDU1 HK table failed!" << std::endl;
return;
}
/* Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
* address. */
dataOffset += 12;
@ -249,8 +260,10 @@ void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
dataOffset += 3;
pdu1HkTableDataset.csp2WatchdogPingsLeft = *(packet + dataOffset);
pdu1HkTableDataset.commit();
pdu1HkTableDataset.setChanged(true);
if(not pdu1HkTableDataset.isValid()) {
pdu1HkTableDataset.setValidity(true, true);
}
}
ReturnValue_t PDU1Handler::initializeLocalDataPool(
@ -341,3 +354,20 @@ ReturnValue_t PDU1Handler::initializeLocalDataPool(
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
switch(cmd) {
case(GOMSPACE::PRINT_OUT_ENB_STATUS): {
PoolReadGuard pg(&pdu1HkTableDataset);
ReturnValue_t readResult = pg.getReadResult();
if(readResult != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Reading PDU1 HK table failed!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
printOutputSwitchStates();
return HasReturnvaluesIF::RETURN_OK;
}
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
}

2
mission/devices/PDU1Handler.h
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@ -32,11 +32,13 @@ protected:
*/
virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
private:
/** Dataset for the housekeeping table of the PDU1 */
PDU1::PDU1HkTableDataset pdu1HkTableDataset;
void printOutputSwitchStates();
void parseHkTableReply(const uint8_t *packet);
};

1
mission/devices/devicedefinitions/GPSDefinitions.h
View File

@ -7,6 +7,7 @@
namespace GpsHyperion {
static constexpr DeviceCommandId_t GPS_REPLY = 0;
static constexpr DeviceCommandId_t TRIGGER_RESET_PIN = 5;
static constexpr uint32_t DATASET_ID = 0;

2222
mission/devices/devicedefinitions/GomspaceDefinitions.h
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File diff suppressed because it is too large Load Diff

2
tmtc

@ -1 +1 @@
Subproject commit 90b42e7de172fee8e6b41d21ee3de13334ec9e53
Subproject commit eb8d52607b49b091764940f7d909b7e525238d1c