eive/eive-obsw
eive/eive-obsw
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PCDU switch callback #128

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meierj merged 24 commits from mueller/pcdu-switch-callback into develop 2022-01-19 19:46:57 +01:00
Conversation 1 Commits 24 Files Changed 24 +30577 -25619
231 changed files with 30577 additions and 25619 deletions
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8
.clang-format Normal file
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@ -0,0 +1,8 @@
---
BasedOnStyle: Google
IndentWidth: 2
---
Language: Cpp
ColumnLimit: 100
ReflowComments: true
---

2
CMakeLists.txt
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@ -66,6 +66,7 @@ set(LIB_ARCSEC wire)
set(THIRD_PARTY_FOLDER thirdparty) set(THIRD_PARTY_FOLDER thirdparty)
set(LIB_CXX_FS -lstdc++fs) set(LIB_CXX_FS -lstdc++fs)
set(LIB_CATCH2 Catch2) set(LIB_CATCH2 Catch2)
set(LIB_GPS gps)
set(LIB_JSON_NAME nlohmann_json::nlohmann_json) set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
# Set path names # Set path names
@ -221,6 +222,7 @@ if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG))
if(TGT_BSP MATCHES "arm/q7s") if(TGT_BSP MATCHES "arm/q7s")
target_link_libraries(${TARGET_NAME} PRIVATE target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_ARCSEC} ${LIB_ARCSEC}
${LIB_GPS}
) )
endif() endif()
endif() endif()

3
Justfile
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@ -5,5 +5,8 @@ default: q7s-debug-make
q7s-debug-make: q7s-debug-make:
{{python_script}} -o linux -g make -b debug -t "arm/q7s" -l build-Debug-Q7S {{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: q7s-debug-ninja:
{{python_script}} -o linux -g ninja -b debug -t "arm/q7s" -l build-Debug-Q7S {{python_script}} -o linux -g ninja -b debug -t "arm/q7s" -l build-Debug-Q7S

65
README.md
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@ -11,14 +11,15 @@
4. [Useful and Common Host Commands](#host-commands) 4. [Useful and Common Host Commands](#host-commands)
5. [Setting up Prerequisites](#set-up-prereq) 5. [Setting up Prerequisites](#set-up-prereq)
6. [Remote Debugging](#remote-debugging) 6. [Remote Debugging](#remote-debugging)
7. [TMTC testing](#tmtc-testing) 6. [Remote Reset](#remote-reset)
8. [Direct Debugging](#direct-debugging) 8. [TMTC testing](#tmtc-testing)
9. [Transfering Files to the Q7S](#file-transfer) 9. [Direct Debugging](#direct-debugging)
10. [Q7S OBC](#q7s) 10. [Transfering Files to the Q7S](#file-transfer)
11. [Static Code Analysis](#static-code-analysis) 11. [Q7S OBC](#q7s)
12. [Eclipse](#eclipse) 12. [Static Code Analysis](#static-code-analysis)
13. [Running the OBSW on a Raspberry Pi](#rpi) 13. [Eclipse](#eclipse)
14. [FSFW](#fsfw) 14. [Running the OBSW on a Raspberry Pi](#rpi)
15. [FSFW](#fsfw)
# <a id="general"></a> General information # <a id="general"></a> General information
@ -535,10 +536,10 @@ ssh root@192.168.133.10
``` ```
If this has not been done yet, you can access the serial If this has not been done yet, you can access the serial
console of the Q7S like this to set it console of the Q7S like this
```sh ```sh
picocom -b 115200 /dev/ttyUSB0 picocom -b 115200 /dev/q7sSerial
``` ```
The flatsat has the aliases and shell scripts `q7s_ssh` and `q7s_serial` for this task as well. The flatsat has the aliases and shell scripts `q7s_ssh` and `q7s_serial` for this task as well.
@ -575,6 +576,29 @@ alias or shell script to do this quickly.
Note: When now setting up a debug session in the Xilinx SDK or Eclipse, the host must be set Note: When now setting up a debug session in the Xilinx SDK or Eclipse, the host must be set
to localhost instead of the IP address of the Q7S. to localhost instead of the IP address of the Q7S.
# <a id="remote-reset"></a> Remote Reset
1. Launch xilinx hardware server on flatsat with alias
````
launch-hwserver-xilinx
````
2. On host PC start xsc
3. In xsct console type the follwing command to connect to the hardware server (replace </flatsat-pc-ip-address/> with the IP address of the flatsat PC. Can be found out with ifconfig)
````
connect -url tcp:</flatsat-pc-ip-address/>:3121
````
4. The following command will list all available devices
````
targets
````
5. Connect to the APU of the Q7S
````
target </APU-number/>
````
6. Perform reset
````
rst
````
# <a id="tmtc-testing"></a> TMTC testing # <a id="tmtc-testing"></a> TMTC testing
The OBSW supports sending PUS TM packets via TCP or the PDEC IP Core which transmits the data as The OBSW supports sending PUS TM packets via TCP or the PDEC IP Core which transmits the data as
@ -1021,26 +1045,7 @@ cat file.bin | hexdump -v -n X
## Preparation of a fresh rootfs and SD card ## Preparation of a fresh rootfs and SD card
This section summarizes important changes between a fresh rootfs and the current See [q7s-package repository README](https://egit.irs.uni-stuttgart.de/eive/q7s-package)
EIVE implementation
### rootfs
- Mount point `/mnt/sd0` created for SD card 0. Created with `mkdir`
- Mount point `/mnt/sd1` created for SD card 1. Created with `mkdir`
- Folder `scripts` in `/home/root` folder.
- `scripts` folder currently contains a few shell helper scripts
- Folder `profile.d` in `/etc` folder which contains the `path-set.sh` script
which is sourced at software startup
- Library `libwire.so` in `/usr/lib` folder
### SD Cards
- Folder `bin` for binaries, for example the OBSW
- Folder `misc` for miscellaneous files. Contains `ls` for directory listings
- Folder `tc` for telecommands
- Folder `tm` for telemetry
- Folder `xdi` for XDI components (e.g. for firmware or device tree updates)
# <a id="static-code-analysis"></a> Running cppcheck on the Software # <a id="static-code-analysis"></a> Running cppcheck on the Software

11
apply-clang-format.sh Executable file
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@ -0,0 +1,11 @@
#!/bin/bash
if [[ ! -f README.md ]]; then
cd ..
fi
find ./mission -iname *.h o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
find ./linux -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
find ./bsp_q7s -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
find ./bsp_linux_board -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
find ./bsp_hosted -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
find ./test -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i

46
bsp_hosted/InitMission.cpp
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@ -1,20 +1,19 @@
#include "InitMission.h" #include "InitMission.h"
#include "ObjectFactory.h"
#include <OBSWConfig.h> #include <OBSWConfig.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/ObjectManagerIF.h> #include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h> #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h> #include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h> #include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h> #include <fsfw/tasks/TaskFactory.h>
#include <mission/utility/InitMission.h> #include <mission/utility/InitMission.h>
#include <iostream> #include <iostream>
#include "ObjectFactory.h"
#ifdef LINUX #ifdef LINUX
ServiceInterfaceStream sif::debug("DEBUG"); ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO"); ServiceInterfaceStream sif::info("INFO");
@ -27,7 +26,7 @@ ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true); ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif #endif
ObjectManagerIF *objectManager = nullptr; ObjectManagerIF* objectManager = nullptr;
void initmission::initMission() { void initmission::initMission() {
sif::info << "Building global objects.." << std::endl; sif::info << "Building global objects.." << std::endl;
@ -42,30 +41,29 @@ void initmission::initMission() {
void initmission::initTasks() { void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance(); TaskFactory* factory = TaskFactory::instance();
if(factory == nullptr) { if (factory == nullptr) {
/* Should never happen ! */ /* Should never happen ! */
return; return;
} }
#if OBSW_PRINT_MISSED_DEADLINES == 1 #if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline; void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else #else
void (*missedDeadlineFunc) (void) = nullptr; void (*missedDeadlineFunc)(void) = nullptr;
#endif #endif
/* TMTC Distribution */ /* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
ReturnValue_t result = tmTcDistributor->addComponent( ReturnValue_t result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
objects::CCSDS_PACKET_DISTRIBUTOR); if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR); result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
result = tmTcDistributor->addComponent(objects::TM_FUNNEL); result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
@ -73,13 +71,13 @@ void initmission::initTasks() {
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask( PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TMTC_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "TMTC_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE); result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl; sif::error << "Add component UDP Unix Bridge failed" << std::endl;
} }
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask( PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK); result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl; sif::error << "Add component UDP Polling failed" << std::endl;
} }
@ -87,47 +85,47 @@ void initmission::initTasks() {
PeriodicTaskIF* pusVerification = factory->createPeriodicTask( PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION); result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
PeriodicTaskIF* pusEvents = factory->createPeriodicTask( PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING); result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING); initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
} }
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask( PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS); result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS); initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
} }
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT); result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT); initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
} }
PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask( PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc); "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT); result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT); initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT); result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT); initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS); result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS); initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
} }
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask( PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc); "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST); result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST); initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
} }
@ -135,7 +133,7 @@ void initmission::initTasks() {
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
result = testTask->addComponent(objects::TEST_TASK); result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK); initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
} }
#endif /* OBSW_ADD_TEST_CODE == 1 */ #endif /* OBSW_ADD_TEST_CODE == 1 */

2
bsp_hosted/InitMission.h
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@ -4,6 +4,6 @@
namespace initmission { namespace initmission {
void initMission(); void initMission();
void initTasks(); void initTasks();
}; }; // namespace initmission
#endif /* BSP_LINUX_INITMISSION_H_ */ #endif /* BSP_LINUX_INITMISSION_H_ */

17
bsp_hosted/ObjectFactory.cpp
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@ -1,14 +1,14 @@
#include "ObjectFactory.h" #include "ObjectFactory.h"
#include "OBSWConfig.h"
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>
#include <objects/systemObjectList.h> #include <objects/systemObjectList.h>
#include <tmtc/apid.h> #include <tmtc/apid.h>
#include <tmtc/pusIds.h> #include <tmtc/pusIds.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h> #include "OBSWConfig.h"
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>
#if OBSW_USE_TMTC_TCP_BRIDGE == 0 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
#include "fsfw/osal/common/UdpTcPollingTask.h" #include "fsfw/osal/common/UdpTcPollingTask.h"
@ -20,12 +20,11 @@
#include <fsfw/tmtcpacket/pus/tm.h> #include <fsfw/tmtcpacket/pus/tm.h>
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
#include <test/testtasks/TestTask.h> #include <test/testtasks/TestTask.h>
#endif #endif
void Factory::setStaticFrameworkObjectIds(){ void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR; PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL; PusServiceBase::packetDestination = objects::TM_FUNNEL;
@ -40,7 +39,7 @@ void Factory::setStaticFrameworkObjectIds(){
TmPacketBase::timeStamperId = objects::TIME_STAMPER; TmPacketBase::timeStamperId = objects::TIME_STAMPER;
} }
void ObjectFactory::produce(void* args){ void ObjectFactory::produce(void* args) {
Factory::setStaticFrameworkObjectIds(); Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects(); ObjectFactory::produceGenericObjects();

7
bsp_hosted/ObjectFactory.h
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@ -1,10 +1,9 @@
#ifndef BSP_LINUX_OBJECTFACTORY_H_ #ifndef BSP_LINUX_OBJECTFACTORY_H_
#define BSP_LINUX_OBJECTFACTORY_H_ #define BSP_LINUX_OBJECTFACTORY_H_
namespace ObjectFactory { namespace ObjectFactory {
void setStatics(); void setStatics();
void produce(void* args); void produce(void* args);
}; }; // namespace ObjectFactory
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */ #endif /* BSP_LINUX_OBJECTFACTORY_H_ */

3
bsp_hosted/boardconfig/gcov.h
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@ -7,7 +7,8 @@ extern "C" void __gcov_flush();
#else #else
void __gcov_flush() { void __gcov_flush() {
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if " sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
"coverage information is desired.\n" << std::flush; "coverage information is desired.\n"
<< std::flush;
} }
#endif #endif

6
bsp_hosted/boardconfig/print.c
View File

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

179
bsp_hosted/comIF/ArduinoComIF.cpp
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@ -1,32 +1,31 @@
#include "ArduinoComIF.h" #include "ArduinoComIF.h"
#include "ArduinoCookie.h"
#include <fsfw/globalfunctions/DleEncoder.h>
#include <fsfw/globalfunctions/CRC.h> #include <fsfw/globalfunctions/CRC.h>
#include <fsfw/globalfunctions/DleEncoder.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h> #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include "ArduinoCookie.h"
// This only works on Linux // This only works on Linux
#ifdef LINUX #ifdef LINUX
#include <termios.h>
#include <fcntl.h> #include <fcntl.h>
#include <termios.h>
#include <unistd.h> #include <unistd.h>
#elif WIN32 #elif WIN32
#include <windows.h>
#include <strsafe.h> #include <strsafe.h>
#include <windows.h>
#endif #endif
#include <cstring> #include <cstring>
ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF, ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF, const char *serialDevice)
const char *serialDevice): : rxBuffer(MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES * 10, true), SystemObject(setObjectId) {
rxBuffer(MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true),
SystemObject(setObjectId) {
#ifdef LINUX #ifdef LINUX
initialized = false; initialized = false;
serialPort = ::open("/dev/ttyUSB0", O_RDWR); serialPort = ::open("/dev/ttyUSB0", O_RDWR);
if (serialPort < 0) { if (serialPort < 0) {
//configuration error // configuration error
printf("Error %i from open: %s\n", errno, strerror(errno)); printf("Error %i from open: %s\n", errno, strerror(errno));
return; return;
} }
@ -44,73 +43,64 @@ ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF,
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
tty.c_cflag |= CS8; // 8 bits per byte tty.c_cflag |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_lflag &= ~ICANON; //Disable Canonical Mode tty.c_lflag &= ~ICANON; // Disable Canonical Mode
tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars) tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
tty.c_cc[VTIME] = 0; // Non Blocking tty.c_cc[VTIME] = 0; // Non Blocking
tty.c_cc[VMIN] = 0; tty.c_cc[VMIN] = 0;
cfsetispeed(&tty, B9600); //Baudrate cfsetispeed(&tty, B9600); // Baudrate
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
//printf("Error %i from tcsetattr: %s\n", errno, strerror(errno)); // printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
return; return;
} }
initialized = true; initialized = true;
#elif WIN32 #elif WIN32
DCB serialParams = { 0 }; DCB serialParams = {0};
// we need to ask the COM port from the user. // we need to ask the COM port from the user.
if(promptComIF) { if (promptComIF) {
sif::info << "Please enter the COM port (c to cancel): " << std::flush; sif::info << "Please enter the COM port (c to cancel): " << std::flush;
std::string comPort; std::string comPort;
while(hCom == INVALID_HANDLE_VALUE) { while (hCom == INVALID_HANDLE_VALUE) {
std::getline(std::cin, comPort); std::getline(std::cin, comPort);
if(comPort[0] == 'c') { if (comPort[0] == 'c') {
break; break;
} }
const TCHAR *pcCommPort = comPort.c_str(); const TCHAR *pcCommPort = comPort.c_str();
hCom = CreateFileA(pcCommPort, //port name hCom = CreateFileA(pcCommPort, // port name
GENERIC_READ | GENERIC_WRITE, //Read/Write GENERIC_READ | GENERIC_WRITE, // Read/Write
0, // No Sharing 0, // No Sharing
NULL, // No Security NULL, // No Security
OPEN_EXISTING,// Open existing port only OPEN_EXISTING, // Open existing port only
0, // Non Overlapped I/O 0, // Non Overlapped I/O
NULL); // Null for Comm Devices NULL); // Null for Comm Devices
if (hCom == INVALID_HANDLE_VALUE) if (hCom == INVALID_HANDLE_VALUE) {
{ if (GetLastError() == 2) {
if(GetLastError() == 2) {
sif::error << "COM Port does not found!" << std::endl; sif::error << "COM Port does not found!" << std::endl;
} } else {
else {
TCHAR err[128]; TCHAR err[128];
FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, GetLastError(),
GetLastError(), MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), err, sizeof(err), NULL);
MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
err, sizeof(err), NULL);
// Handle the error. // Handle the error.
sif::info << "CreateFileA Error code: " << GetLastError() sif::info << "CreateFileA Error code: " << GetLastError() << std::endl;
<< std::endl;
sif::error << err << std::flush; sif::error << err << std::flush;
} }
sif::info << "Please enter a valid COM port: " << std::flush; sif::info << "Please enter a valid COM port: " << std::flush;
} }
} }
} }
serialParams.DCBlength = sizeof(serialParams); serialParams.DCBlength = sizeof(serialParams);
if(baudRate == 9600) { if (baudRate == 9600) {
serialParams.BaudRate = CBR_9600; serialParams.BaudRate = CBR_9600;
} }
if(baudRate == 115200) { if (baudRate == 115200) {
serialParams.BaudRate = CBR_115200; serialParams.BaudRate = CBR_115200;
} } else {
else {
serialParams.BaudRate = baudRate; serialParams.BaudRate = baudRate;
} }
@ -119,7 +109,7 @@ ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF,
serialParams.StopBits = ONESTOPBIT; serialParams.StopBits = ONESTOPBIT;
SetCommState(hCom, &serialParams); SetCommState(hCom, &serialParams);
COMMTIMEOUTS timeout = { 0 }; COMMTIMEOUTS timeout = {0};
// This will set the read operation to be blocking until data is received // This will set the read operation to be blocking until data is received
// and then read continuously until there is a gap of one millisecond. // and then read continuously until there is a gap of one millisecond.
timeout.ReadIntervalTimeout = 1; timeout.ReadIntervalTimeout = 1;
@ -139,36 +129,29 @@ ArduinoComIF::~ArduinoComIF() {
CloseHandle(hCom); CloseHandle(hCom);
#endif #endif
} }
ReturnValue_t ArduinoComIF::initializeInterface(CookieIF * cookie) { ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, size_t len) {
size_t len) { ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
if (arduinoCookie == nullptr) { if (arduinoCookie == nullptr) {
return INVALID_COOKIE_TYPE; return INVALID_COOKIE_TYPE;
} }
return sendMessage(arduinoCookie->command, arduinoCookie->address, data, return sendMessage(arduinoCookie->command, arduinoCookie->address, data, len);
len);
} }
ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { return RETURN_OK; }
ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie, ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
size_t requestLen) {
return RETURN_OK;
}
ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) {
handleSerialPortRx(); handleSerialPortRx();
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie); ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
if (arduinoCookie == nullptr) { if (arduinoCookie == nullptr) {
return INVALID_COOKIE_TYPE; return INVALID_COOKIE_TYPE;
} }
@ -178,13 +161,13 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const uint8_t *data,
uint8_t address, const uint8_t *data, size_t dataLen) { size_t dataLen) {
if (dataLen > UINT16_MAX) { if (dataLen > UINT16_MAX) {
return TOO_MUCH_DATA; return TOO_MUCH_DATA;
} }
//being conservative here // being conservative here
uint8_t sendBuffer[(dataLen + 6) * 2 + 2]; uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
sendBuffer[0] = DleEncoder::STX_CHAR; sendBuffer[0] = DleEncoder::STX_CHAR;
@ -193,61 +176,59 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
size_t remainingLen = sizeof(sendBuffer) - 1; size_t remainingLen = sizeof(sendBuffer) - 1;
size_t encodedLen = 0; size_t encodedLen = 0;
ReturnValue_t result = DleEncoder::encode(&command, 1, currentPosition, ReturnValue_t result =
remainingLen, &encodedLen, false); DleEncoder::encode(&command, 1, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
currentPosition += encodedLen; currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, &encodedLen, false);
&encodedLen, false);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
currentPosition += encodedLen; currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
uint8_t temporaryBuffer[2]; uint8_t temporaryBuffer[2];
//note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much... // note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
temporaryBuffer[0] = dataLen >> 8; //we checked dataLen above temporaryBuffer[0] = dataLen >> 8; // we checked dataLen above
temporaryBuffer[1] = dataLen; temporaryBuffer[1] = dataLen;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition, result =
remainingLen, &encodedLen, false); DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
currentPosition += encodedLen; currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
//encoding the actual data // encoding the actual data
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen, result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen, &encodedLen, false);
&encodedLen, false);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
currentPosition += encodedLen; currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
uint16_t crc = CRC::crc16ccitt(&command, 1); uint16_t crc = CRC::crc16ccitt(&command, 1);
crc = CRC::crc16ccitt(&address, 1, crc); crc = CRC::crc16ccitt(&address, 1, crc);
//fortunately the length is still there // fortunately the length is still there
crc = CRC::crc16ccitt(temporaryBuffer, 2, crc); crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
crc = CRC::crc16ccitt(data, dataLen, crc); crc = CRC::crc16ccitt(data, dataLen, crc);
temporaryBuffer[0] = crc >> 8; temporaryBuffer[0] = crc >> 8;
temporaryBuffer[1] = crc; temporaryBuffer[1] = crc;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition, result =
remainingLen, &encodedLen, false); DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
currentPosition += encodedLen; currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
if (remainingLen > 0) { if (remainingLen > 0) {
*currentPosition = DleEncoder::ETX_CHAR; *currentPosition = DleEncoder::ETX_CHAR;
@ -259,12 +240,12 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
#ifdef LINUX #ifdef LINUX
ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen); ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen);
if (writtenlen < 0) { if (writtenlen < 0) {
//we could try to find out what happened... // we could try to find out what happened...
return RETURN_FAILED; return RETURN_FAILED;
} }
if (writtenlen != encodedLen) { if (writtenlen != encodedLen) {
//the OS failed us, we do not try to block until everything is written, as // the OS failed us, we do not try to block until everything is written, as
//we can not block the whole system here // we can not block the whole system here
return RETURN_FAILED; return RETURN_FAILED;
} }
return RETURN_OK; return RETURN_OK;
@ -279,8 +260,7 @@ void ArduinoComIF::handleSerialPortRx() {
uint8_t dataFromSerial[availableSpace]; uint8_t dataFromSerial[availableSpace];
ssize_t bytesRead = read(serialPort, dataFromSerial, ssize_t bytesRead = read(serialPort, dataFromSerial, sizeof(dataFromSerial));
sizeof(dataFromSerial));
if (bytesRead < 0) { if (bytesRead < 0) {
return; return;
@ -292,18 +272,17 @@ void ArduinoComIF::handleSerialPortRx() {
uint32_t dataLenReceivedSoFar = 0; uint32_t dataLenReceivedSoFar = 0;
rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true, rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true, &dataLenReceivedSoFar);
&dataLenReceivedSoFar);
//look for STX // look for STX
size_t firstSTXinRawData = 0; size_t firstSTXinRawData = 0;
while ((firstSTXinRawData < dataLenReceivedSoFar) while ((firstSTXinRawData < dataLenReceivedSoFar) &&
&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) { (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) {
firstSTXinRawData++; firstSTXinRawData++;
} }
if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR) { if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR) {
//there is no STX in our data, throw it away... // there is no STX in our data, throw it away...
rxBuffer.deleteData(dataLenReceivedSoFar); rxBuffer.deleteData(dataLenReceivedSoFar);
return; return;
} }
@ -313,10 +292,9 @@ void ArduinoComIF::handleSerialPortRx() {
size_t readSize = 0; size_t readSize = 0;
ReturnValue_t result = DleEncoder::decode( ReturnValue_t result = DleEncoder::decode(dataReceivedSoFar + firstSTXinRawData,
dataReceivedSoFar + firstSTXinRawData, dataLenReceivedSoFar - firstSTXinRawData, &readSize,
dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet, packet, sizeof(packet), &packetLen);
sizeof(packet), &packetLen);
size_t toDelete = firstSTXinRawData; size_t toDelete = firstSTXinRawData;
if (result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
@ -327,20 +305,18 @@ void ArduinoComIF::handleSerialPortRx() {
toDelete += readSize; toDelete += readSize;
} }
//remove Data which was processed // remove Data which was processed
rxBuffer.deleteData(toDelete); rxBuffer.deleteData(toDelete);
#elif WIN32 #elif WIN32
#endif #endif
} }
void ArduinoComIF::setBaudrate(uint32_t baudRate) { void ArduinoComIF::setBaudrate(uint32_t baudRate) { this->baudRate = baudRate; }
this->baudRate = baudRate;
}
void ArduinoComIF::handlePacket(uint8_t *packet, size_t packetLen) { void ArduinoComIF::handlePacket(uint8_t *packet, size_t packetLen) {
uint16_t crc = CRC::crc16ccitt(packet, packetLen); uint16_t crc = CRC::crc16ccitt(packet, packetLen);
if (crc != 0) { if (crc != 0) {
//CRC error // CRC error
return; return;
} }
@ -350,26 +326,25 @@ void ArduinoComIF::handlePacket(uint8_t *packet, size_t packetLen) {
uint16_t size = (packet[2] << 8) + packet[3]; uint16_t size = (packet[2] << 8) + packet[3];
if (size != packetLen - 6) { if (size != packetLen - 6) {
//Invalid Length // Invalid Length
return; return;
} }
switch (command) { switch (command) {
case ArduinoCookie::SPI: { case ArduinoCookie::SPI: {
//ArduinoCookie **itsComplicated; // ArduinoCookie **itsComplicated;
auto findIter = spiMap.find(address); auto findIter = spiMap.find(address);
if (findIter == spiMap.end()) { if (findIter == spiMap.end()) {
//we do no know this address // we do no know this address
return; return;
} }
ArduinoCookie& cookie = findIter->second; ArduinoCookie &cookie = findIter->second;
if (packetLen > cookie.maxReplySize + 6) { if (packetLen > cookie.maxReplySize + 6) {
packetLen = cookie.maxReplySize + 6; packetLen = cookie.maxReplySize + 6;
} }
std::memcpy(cookie.replyBuffer.data(), packet + 4, packetLen - 6); std::memcpy(cookie.replyBuffer.data(), packet + 4, packetLen - 6);
cookie.receivedDataLen = packetLen - 6; cookie.receivedDataLen = packetLen - 6;
} } break;
break;
default: default:
return; return;
} }

29
bsp_hosted/comIF/ArduinoComIF.h
View File

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

12
bsp_hosted/comIF/ArduinoCookie.cpp
View File

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

15
bsp_hosted/comIF/ArduinoCookie.h
View File

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

18
bsp_hosted/main.cpp
View File

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

93
bsp_linux_board/InitMission.cpp
View File

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

15
bsp_linux_board/InitMission.h
View File

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

151
bsp_linux_board/ObjectFactory.cpp
View File

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

9
bsp_linux_board/ObjectFactory.h
View File

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

3
bsp_linux_board/boardconfig/gcov.h
View File

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

6
bsp_linux_board/boardconfig/print.c
View File

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

18
bsp_linux_board/main.cpp
View File

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

116
bsp_q7s/boardconfig/busConf.h
View File

@ -8,69 +8,69 @@ static constexpr char SPI_RW_DEV[] = "/dev/spidev3.0";
static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-1"; static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-1";
static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL3"; static constexpr char UART_GNSS_DEV[] = "/dev/ttyUL0";
static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL4"; static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL2";
static constexpr char UART_SYRLINKS_DEV[] = "/dev/ttyUL5"; static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL3";
static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL8"; static constexpr char UART_SYRLINKS_DEV[] = "/dev/ttyUL4";
static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL7";
static constexpr char UART_GNSS_0_DEV[] = "/dev/ttyUL0";
static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL2";
static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0"; static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2"; static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
static constexpr char UIO_PDEC_RAM[] = "/dev/uio3"; static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
namespace gpioNames { namespace gpioNames {
static constexpr char GYRO_0_ADIS_CS[] = "gyro_0_adis_chip_select"; static constexpr char GYRO_0_ADIS_CS[] = "gyro_0_adis_chip_select";
static constexpr char GYRO_1_L3G_CS[] = "gyro_1_l3g_chip_select"; static constexpr char GYRO_1_L3G_CS[] = "gyro_1_l3g_chip_select";
static constexpr char GYRO_2_ADIS_CS[] = "gyro_2_adis_chip_select"; static constexpr char GYRO_2_ADIS_CS[] = "gyro_2_adis_chip_select";
static constexpr char GYRO_3_L3G_CS[] = "gyro_3_l3g_chip_select"; static constexpr char GYRO_3_L3G_CS[] = "gyro_3_l3g_chip_select";
static constexpr char MGM_0_CS[] = "mgm_0_lis3_chip_select"; static constexpr char MGM_0_CS[] = "mgm_0_lis3_chip_select";
static constexpr char MGM_1_CS[] = "mgm_1_rm3100_chip_select"; static constexpr char MGM_1_CS[] = "mgm_1_rm3100_chip_select";
static constexpr char MGM_2_CS[] = "mgm_2_lis3_chip_select"; static constexpr char MGM_2_CS[] = "mgm_2_lis3_chip_select";
static constexpr char MGM_3_CS[] = "mgm_3_rm3100_chip_select"; static constexpr char MGM_3_CS[] = "mgm_3_rm3100_chip_select";
static constexpr char RESET_GNSS_0[] = "reset_gnss_0"; static constexpr char RESET_GNSS_0[] = "reset_gnss_0";
static constexpr char RESET_GNSS_1[] = "reset_gnss_1"; static constexpr char RESET_GNSS_1[] = "reset_gnss_1";
static constexpr char GYRO_0_ENABLE[] = "gyro_0_enable"; static constexpr char GNSS_0_ENABLE[] = "enable_gnss_0";
static constexpr char GYRO_2_ENABLE[] = "gyro_2_enable"; static constexpr char GNSS_1_ENABLE[] = "enable_gnss_1";
static constexpr char HEATER_0[] = "heater0"; static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0";
static constexpr char HEATER_1[] = "heater1"; static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2";
static constexpr char HEATER_2[] = "heater2"; static constexpr char HEATER_0[] = "heater0";
static constexpr char HEATER_3[] = "heater3"; static constexpr char HEATER_1[] = "heater1";
static constexpr char HEATER_4[] = "heater4"; static constexpr char HEATER_2[] = "heater2";
static constexpr char HEATER_5[] = "heater5"; static constexpr char HEATER_3[] = "heater3";
static constexpr char HEATER_6[] = "heater6"; static constexpr char HEATER_4[] = "heater4";
static constexpr char HEATER_7[] = "heater7"; static constexpr char HEATER_5[] = "heater5";
static constexpr char SA_DPL_PIN_0[] = "sa_dpl_0"; static constexpr char HEATER_6[] = "heater6";
static constexpr char SA_DPL_PIN_1[] = "sa_dpl_1"; static constexpr char HEATER_7[] = "heater7";
static constexpr char SPI_MUX_BIT_1_PIN[] = "spi_mux_bit_1"; static constexpr char SA_DPL_PIN_0[] = "sa_dpl_0";
static constexpr char SPI_MUX_BIT_2_PIN[] = "spi_mux_bit_2"; static constexpr char SA_DPL_PIN_1[] = "sa_dpl_1";
static constexpr char SPI_MUX_BIT_3_PIN[] = "spi_mux_bit_3"; static constexpr char SPI_MUX_BIT_1_PIN[] = "spi_mux_bit_1";
static constexpr char SPI_MUX_BIT_4_PIN[] = "spi_mux_bit_4"; static constexpr char SPI_MUX_BIT_2_PIN[] = "spi_mux_bit_2";
static constexpr char SPI_MUX_BIT_5_PIN[] = "spi_mux_bit_5"; static constexpr char SPI_MUX_BIT_3_PIN[] = "spi_mux_bit_3";
static constexpr char SPI_MUX_BIT_6_PIN[] = "spi_mux_bit_6"; static constexpr char SPI_MUX_BIT_4_PIN[] = "spi_mux_bit_4";
static constexpr char EN_RW_CS[] = "en_rw_cs"; static constexpr char SPI_MUX_BIT_5_PIN[] = "spi_mux_bit_5";
static constexpr char EN_RW_1[] = "enable_rw_1"; static constexpr char SPI_MUX_BIT_6_PIN[] = "spi_mux_bit_6";
static constexpr char EN_RW_2[] = "enable_rw_2"; static constexpr char EN_RW_CS[] = "en_rw_cs";
static constexpr char EN_RW_3[] = "enable_rw_3"; static constexpr char EN_RW_1[] = "enable_rw_1";
static constexpr char EN_RW_4[] = "enable_rw_4"; static constexpr char EN_RW_2[] = "enable_rw_2";
static constexpr char SPI_MUX_SELECT[] = "spi_mux_select"; static constexpr char EN_RW_3[] = "enable_rw_3";
static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select"; static constexpr char EN_RW_4[] = "enable_rw_4";
static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0"; static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select";
static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0"; static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1"; static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1"; static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";
static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2"; static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1";
static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2"; static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1";
static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3"; static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3"; static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872"; static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872"; static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
static constexpr char RS485_EN_RX_CLOCK[] = "rx_clock_enable_ltc2872"; static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872";
static constexpr char RS485_EN_RX_DATA[] = "rx_data_enable_ltc2872"; static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872";
static constexpr char PDEC_RESET[] = "pdec_reset"; static constexpr char RS485_EN_RX_CLOCK[] = "rx_clock_enable_ltc2872";
static constexpr char BIT_RATE_SEL[] = "bit_rate_sel"; static constexpr char RS485_EN_RX_DATA[] = "rx_data_enable_ltc2872";
} static constexpr char PDEC_RESET[] = "pdec_reset";
} static constexpr char BIT_RATE_SEL[] = "bit_rate_sel";
} // namespace gpioNames
} // namespace q7s
#endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */ #endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */

3
bsp_q7s/boardconfig/gcov.h
View File

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

6
bsp_q7s/boardconfig/print.c
View File

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

23
bsp_q7s/boardtest/FileSystemTest.cpp
View File

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

9
bsp_q7s/boardtest/FileSystemTest.h
View File

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

229
bsp_q7s/boardtest/Q7STestTask.cpp
View File

@ -1,41 +1,57 @@
#include "Q7STestTask.h"
#include <bsp_q7s/core/CoreController.h> #include <bsp_q7s/core/CoreController.h>
#include <bsp_q7s/memory/FileSystemHandler.h> #include <bsp_q7s/memory/FileSystemHandler.h>
#include <fsfw/objectmanager/ObjectManager.h> #include <fsfw/objectmanager/ObjectManager.h>
#include "Q7STestTask.h" #include <gps.h>
#include <libgpsmm.h>
#include <cstdio>
#include <ctime>
#include <fstream>
#include <iomanip>
#include <iostream>
#include <nlohmann/json.hpp>
#include "bsp_q7s/memory/SdCardManager.h" #include "bsp_q7s/memory/SdCardManager.h"
#include "bsp_q7s/memory/scratchApi.h" #include "bsp_q7s/memory/scratchApi.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/tasks/TaskFactory.h" #include "fsfw/tasks/TaskFactory.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "test/DummyParameter.h" #include "test/DummyParameter.h"
#include <nlohmann/json.hpp> Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
doTestSdCard = false;
#include <iostream> doTestScratchApi = false;
#include <fstream> doTestGps = false;
#include <cstdio>
Q7STestTask::Q7STestTask(object_id_t objectId): TestTask(objectId) {
} }
ReturnValue_t Q7STestTask::performOneShotAction() { ReturnValue_t Q7STestTask::performOneShotAction() {
//testSdCard(); if (doTestSdCard) {
//testScratchApi(); testSdCard();
//testJsonLibDirect(); }
//testDummyParams(); if (doTestScratchApi) {
//testProtHandler(); testScratchApi();
}
// testJsonLibDirect();
// testDummyParams();
// testProtHandler();
FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE; FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
testFileSystemHandlerDirect(opCode); testFileSystemHandlerDirect(opCode);
return TestTask::performOneShotAction(); return TestTask::performOneShotAction();
} }
ReturnValue_t Q7STestTask::performPeriodicAction() {
if (doTestGps) {
testGpsDaemon();
}
return TestTask::performPeriodicAction();
}
void Q7STestTask::testSdCard() { void Q7STestTask::testSdCard() {
using namespace std; using namespace std;
Stopwatch stopwatch; Stopwatch stopwatch;
int result = std::system("q7hw sd info all > /tmp/sd_status.txt"); int result = std::system("q7hw sd info all > /tmp/sd_status.txt");
if(result != 0) { if (result != 0) {
sif::debug << "system call failed with " << result << endl; sif::debug << "system call failed with " << result << endl;
} }
ifstream sdStatus("/tmp/sd_status.txt"); ifstream sdStatus("/tmp/sd_status.txt");
@ -44,11 +60,10 @@ void Q7STestTask::testSdCard() {
while (std::getline(sdStatus, line)) { while (std::getline(sdStatus, line)) {
std::istringstream iss(line); std::istringstream iss(line);
string word; string word;
while(iss >> word) { while (iss >> word) {
if(word == "on") { if (word == "on") {
sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl; sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl;
} } else if (word == "off") {
else if(word == "off") {
sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl; sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl;
} }
} }
@ -69,23 +84,23 @@ void Q7STestTask::fileTests() {
void Q7STestTask::testScratchApi() { void Q7STestTask::testScratchApi() {
ReturnValue_t result = scratch::writeNumber("TEST", 1); ReturnValue_t result = scratch::writeNumber("TEST", 1);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Writing number failed" << std::endl; sif::debug << "Q7STestTask::scratchApiTest: Writing number failed" << std::endl;
} }
int number = 0; int number = 0;
result = scratch::readNumber("TEST", number); result = scratch::readNumber("TEST", number);
sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST\": " << number << std::endl; sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST\": " << number << std::endl;
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl; sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
} }
result = scratch::writeString("TEST2", "halloWelt"); result = scratch::writeString("TEST2", "halloWelt");
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Writing string failed" << std::endl; sif::debug << "Q7STestTask::scratchApiTest: Writing string failed" << std::endl;
} }
std::string string; std::string string;
result = scratch::readString("TEST2", string); result = scratch::readString("TEST2", string);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl; sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
} }
sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST2\": " << string << std::endl; sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST2\": " << string << std::endl;
@ -112,13 +127,12 @@ void Q7STestTask::testDummyParams() {
DummyParameter param(mntPrefix, "dummy_json.txt"); DummyParameter param(mntPrefix, "dummy_json.txt");
param.printKeys(); param.printKeys();
param.print(); param.print();
if(not param.getJsonFileExists()) { if (not param.getJsonFileExists()) {
param.writeJsonFile(); param.writeJsonFile();
} }
ReturnValue_t result = param.readJsonFile(); ReturnValue_t result = param.readJsonFile();
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
} }
param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3); param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
@ -127,17 +141,27 @@ void Q7STestTask::testDummyParams() {
param.writeJsonFile(); param.writeJsonFile();
param.print(); param.print();
int test = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1); int test = 0;
std::string test2 = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2); result = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1, &test);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
<< " does not exist" << std::endl;
}
std::string test2;
result = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2, &test2);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
<< " does not exist" << std::endl;
}
sif::info << "Test value (3 expected): " << test << std::endl; sif::info << "Test value (3 expected): " << test << std::endl;
sif::info << "Test value 2 (\"blirb\" expected): " << test2 << std::endl; sif::info << "Test value 2 (\"blirb\" expected): " << test2 << std::endl;
} }
ReturnValue_t Q7STestTask::initialize() { ReturnValue_t Q7STestTask::initialize() {
coreController = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER); coreController = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
if(coreController == nullptr) { if (coreController == nullptr) {
sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object" << sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object"
std::endl; << std::endl;
} }
return TestTask::initialize(); return TestTask::initialize();
} }
@ -147,77 +171,91 @@ void Q7STestTask::testProtHandler() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// If any chips are unlocked, lock them here // If any chips are unlocked, lock them here
result = coreController->setBootCopyProtection( result = coreController->setBootCopyProtection(
CoreController::Chip::ALL_CHIP, CoreController::Copy::ALL_COPY, true, CoreController::Chip::ALL_CHIP, CoreController::Copy::ALL_COPY, true, opPerformed, true);
opPerformed, true); if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
} }
// unlock own copy // unlock own copy
result = coreController->setBootCopyProtection( result = coreController->setBootCopyProtection(
CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, false, CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, false, opPerformed, true);
opPerformed, true); if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
} }
if(not opPerformed) { if (not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
} }
int retval = std::system("print-chip-prot-status.sh"); int retval = std::system("print-chip-prot-status.sh");
if(retval != 0) { if (retval != 0) {
utility::handleSystemError(retval, "Q7STestTask::testProtHandler"); utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
} }
// lock own copy // lock own copy
result = coreController->setBootCopyProtection( result = coreController->setBootCopyProtection(
CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, true, CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, true, opPerformed, true);
opPerformed, true); if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
} }
if(not opPerformed) { if (not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
} }
retval = std::system("print-chip-prot-status.sh"); retval = std::system("print-chip-prot-status.sh");
if(retval != 0) { if (retval != 0) {
utility::handleSystemError(retval, "Q7STestTask::testProtHandler"); utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
} }
// unlock specific copy // unlock specific copy
result = coreController->setBootCopyProtection( result = coreController->setBootCopyProtection(
CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, false, CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, false, opPerformed, true);
opPerformed, true); if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
} }
if(not opPerformed) { if (not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
} }
retval = std::system("print-chip-prot-status.sh"); retval = std::system("print-chip-prot-status.sh");
if(retval != 0) { if (retval != 0) {
utility::handleSystemError(retval, "Q7STestTask::testProtHandler"); utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
} }
// lock specific copy // lock specific copy
result = coreController->setBootCopyProtection( result = coreController->setBootCopyProtection(
CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, true, CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, true, opPerformed, true);
opPerformed, true); if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
} }
if(not opPerformed) { if (not opPerformed) {
sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl; sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
} }
retval = std::system("print-chip-prot-status.sh"); retval = std::system("print-chip-prot-status.sh");
if(retval != 0) { if (retval != 0) {
utility::handleSystemError(retval, "Q7STestTask::testProtHandler"); utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
} }
} }
void Q7STestTask::testGpsDaemon() {
gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
gps_data_t* gps;
gps = gpsmm.read();
if (gps == nullptr) {
sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
}
sif::info << "-- Q7STestTask: GPS shared memory read test --" << std::endl;
time_t timeRaw = gps->fix.time.tv_sec;
std::tm* time = gmtime(&timeRaw);
sif::info << "Time: " << std::put_time(time, "%c %Z") << std::endl;
sif::info << "Visible satellites: " << gps->satellites_visible << std::endl;
sif::info << "Satellites used: " << gps->satellites_used << std::endl;
sif::info << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
sif::info << "Latitude: " << gps->fix.latitude << std::endl;
sif::info << "Longitude: " << gps->fix.longitude << std::endl;
sif::info << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
}
void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) { void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
auto fsHandler = ObjectManager::instance()-> auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER); if (fsHandler == nullptr) {
if(fsHandler == nullptr) {
sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.." sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
<< std::endl; << std::endl;
} }
@ -226,28 +264,27 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
// Lambda for common code // Lambda for common code
auto createNonEmptyTmpDir = [&]() { auto createNonEmptyTmpDir = [&]() {
if(not std::filesystem::exists("/tmp/test")) { if (not std::filesystem::exists("/tmp/test")) {
result = fsHandler->createDirectory("/tmp", "test", false, &cfg); result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
} }
// Creating sample files // Creating sample files
sif::info << "Creating sample files in directory" << std::endl; sif::info << "Creating sample files in directory" << std::endl;
result = fsHandler->createFile("/tmp/test", "test1.txt", nullptr, 0, &cfg); result = fsHandler->createFile("/tmp/test", "test1.txt", nullptr, 0, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
result = fsHandler->createFile("/tmp/test", "test2.txt", nullptr, 0, &cfg); result = fsHandler->createFile("/tmp/test", "test2.txt", nullptr, 0, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
return result; return result;
}; };
switch (opCode) {
switch(opCode) { case (FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
case(FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
// No mount prefix, cause file is created in tmp // No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false; cfg.useMountPrefix = false;
sif::info << "Creating empty file in /tmp folder" << std::endl; sif::info << "Creating empty file in /tmp folder" << std::endl;
@ -255,89 +292,83 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg); fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
break; break;
} }
case(FsOpCodes::REMOVE_TMP_FILE): { case (FsOpCodes::REMOVE_TMP_FILE): {
sif::info << "Deleting /tmp/test.txt sample file" << std::endl; sif::info << "Deleting /tmp/test.txt sample file" << std::endl;
// No mount prefix, cause file is created in tmp // No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false; cfg.useMountPrefix = false;
if(not std::filesystem::exists("/tmp/test.txt")) { if (not std::filesystem::exists("/tmp/test.txt")) {
// Creating sample file // Creating sample file
sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl; sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl;
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg); fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
} }
result = fsHandler->removeFile("/tmp", "test.txt", &cfg); result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "File removed successfully" << std::endl; sif::info << "File removed successfully" << std::endl;
} } else {
else {
sif::warning << "File removal failed!" << std::endl; sif::warning << "File removal failed!" << std::endl;
} }
break; break;
} }
case(FsOpCodes::CREATE_DIR_IN_TMP): { case (FsOpCodes::CREATE_DIR_IN_TMP): {
// No mount prefix, cause file is created in tmp // No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false; cfg.useMountPrefix = false;
sif::info << "Creating empty file in /tmp folder" << std::endl; sif::info << "Creating empty file in /tmp folder" << std::endl;
// Do not delete file, user can check existence in shell // Do not delete file, user can check existence in shell
ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg); ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory created successfully" << std::endl; sif::info << "Directory created successfully" << std::endl;
} } else {
else {
sif::warning << "Directory creation failed!" << std::endl; sif::warning << "Directory creation failed!" << std::endl;
} }
break; break;
} }
case(FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): { case (FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): {
// No mount prefix, cause file is created in tmp // No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false; cfg.useMountPrefix = false;
if(not std::filesystem::exists("/tmp/test")) { if (not std::filesystem::exists("/tmp/test")) {
result = fsHandler->createDirectory("/tmp", "test", false, &cfg); result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
} } else {
else {
// Delete any leftover files to regular dir removal works // Delete any leftover files to regular dir removal works
std::remove("/tmp/test/*"); std::remove("/tmp/test/*");
} }
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg); result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed successfully" << std::endl; sif::info << "Directory removed successfully" << std::endl;
} } else {
else {
sif::warning << "Directory removal failed!" << std::endl; sif::warning << "Directory removal failed!" << std::endl;
} }
break; break;
} }
case(FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): { case (FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
result = createNonEmptyTmpDir(); result = createNonEmptyTmpDir();
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return; return;
} }
result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg); result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed recursively successfully" << std::endl; sif::info << "Directory removed recursively successfully" << std::endl;
} } else {
else {
sif::warning << "Recursive directory removal failed!" << std::endl; sif::warning << "Recursive directory removal failed!" << std::endl;
} }
break; break;
} }
case(FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): { case (FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): {
result = createNonEmptyTmpDir(); result = createNonEmptyTmpDir();
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return; return;
} }
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg); result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removal attempt failed as expected" << std::endl; sif::info << "Directory removal attempt failed as expected" << std::endl;
} } else {
else {
sif::warning << "Directory removal worked when it should not have!" << std::endl; sif::warning << "Directory removal worked when it should not have!" << std::endl;
} }
break; break;
} }
case(FsOpCodes::RENAME_FILE): { case (FsOpCodes::RENAME_FILE): {
// No mount prefix, cause file is created in tmp // No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false; cfg.useMountPrefix = false;
if(std::filesystem::exists("/tmp/test.txt")) { if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg); fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
} }
sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl; sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl;
@ -346,21 +377,21 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg); fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg);
break; break;
} }
case(FsOpCodes::APPEND_TO_FILE): { case (FsOpCodes::APPEND_TO_FILE): {
// No mount prefix, cause file is created in tmp // No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false; cfg.useMountPrefix = false;
if(std::filesystem::exists("/tmp/test.txt")) { if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg); fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
} }
if(std::filesystem::exists("/tmp/test.txt")) { if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg); fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
} }
sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl; sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl;
std::string content = "Hello World\n"; std::string content = "Hello World\n";
// Do not delete file, user can check existence in shell // Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg); fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>( fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>(content.data()),
content.data()), content.size(), 0, &cfg); content.size(), 0, &cfg);
} }
} }
} }

17
bsp_q7s/boardtest/Q7STestTask.h
View File

@ -3,14 +3,24 @@
#include "test/testtasks/TestTask.h" #include "test/testtasks/TestTask.h"
class Q7STestTask: public TestTask { class CoreController;
public:
class Q7STestTask : public TestTask {
public:
Q7STestTask(object_id_t objectId); Q7STestTask(object_id_t objectId);
ReturnValue_t initialize() override; ReturnValue_t initialize() override;
private:
private:
bool doTestSdCard = false;
bool doTestScratchApi = false;
bool doTestGps = false;
CoreController* coreController = nullptr; CoreController* coreController = nullptr;
ReturnValue_t performOneShotAction() override; ReturnValue_t performOneShotAction() override;
ReturnValue_t performPeriodicAction() override;
void testGpsDaemon();
void testSdCard(); void testSdCard();
void fileTests(); void fileTests();
@ -33,5 +43,4 @@ private:
void testFileSystemHandlerDirect(FsOpCodes opCode); void testFileSystemHandlerDirect(FsOpCodes opCode);
}; };
#endif /* BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ */ #endif /* BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ */

11
bsp_q7s/callbacks/gnssCallback.cpp
View File

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

2
bsp_q7s/callbacks/gnssCallback.h
View File

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

78
bsp_q7s/callbacks/rwSpiCallback.cpp
View File

@ -1,22 +1,20 @@
#include "rwSpiCallback.h" #include "rwSpiCallback.h"
#include "devices/gpioIds.h"
#include "mission/devices/RwHandler.h"
#include "fsfw_hal/linux/spi/SpiCookie.h" #include "devices/gpioIds.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "mission/devices/RwHandler.h"
namespace rwSpiCallback { namespace rwSpiCallback {
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData, ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
size_t sendLen, void* args) { size_t sendLen, void* args) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
RwHandler* handler = reinterpret_cast<RwHandler*>(args); RwHandler* handler = reinterpret_cast<RwHandler*>(args);
if(handler == nullptr) { if (handler == nullptr) {
sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid" sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid" << std::endl;
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -28,7 +26,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0; uint32_t timeoutMs = 0;
MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs); MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
if(mutex == nullptr or gpioIF == nullptr) { if (mutex == nullptr or gpioIF == nullptr) {
sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl; sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -36,7 +34,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
int fileDescriptor = 0; int fileDescriptor = 0;
std::string device = cookie->getSpiDevice(); std::string device = cookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback"); UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl; sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
return SpiComIF::OPENING_FILE_FAILED; return SpiComIF::OPENING_FILE_FAILED;
} }
@ -51,18 +49,13 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
return result; return result;
} }
/** Disconnect PS SPI peripheral and select AXI SPI core */
if(gpioIF->pullHigh(gpioIds::SPI_MUX) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull spi mux gpio high" << std::endl;
}
/** Sending frame start sign */ /** Sending frame start sign */
writeBuffer[0] = 0x7E; writeBuffer[0] = 0x7E;
writeSize = 1; writeSize = 1;
// Pull SPI CS low. For now, no support for active high given // Pull SPI CS low. For now, no support for active high given
if(gpioId != gpio::NO_GPIO) { if (gpioId != gpio::NO_GPIO) {
if(gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) { if (gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl; sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
} }
} }
@ -75,8 +68,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
/** Encoding and sending command */ /** Encoding and sending command */
size_t idx = 0; size_t idx = 0;
while(idx < sendLen) { while (idx < sendLen) {
switch(*(sendData + idx)) { switch (*(sendData + idx)) {
case 0x7E: case 0x7E:
writeBuffer[0] = 0x7D; writeBuffer[0] = 0x7D;
writeBuffer[1] = 0x5E; writeBuffer[1] = 0x5E;
@ -112,7 +105,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
uint8_t* rxBuf = nullptr; uint8_t* rxBuf = nullptr;
result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf); result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
closeSpi(gpioId, gpioIF, mutex); closeSpi(gpioId, gpioIF, mutex);
return result; return result;
} }
@ -128,13 +121,13 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
*/ */
uint8_t byteRead = 0; uint8_t byteRead = 0;
for (int idx = 0; idx < 10; idx++) { for (int idx = 0; idx < 10; idx++) {
if(read(fileDescriptor, &byteRead, 1) != 1) { if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl; sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
closeSpi(gpioId, gpioIF, mutex); closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_READ_FAILURE; return RwHandler::SPI_READ_FAILURE;
} }
if(idx == 0) { if (idx == 0) {
if(byteRead != FLAG_BYTE) { if (byteRead != FLAG_BYTE) {
sif::error << "Invalid data, expected start marker" << std::endl; sif::error << "Invalid data, expected start marker" << std::endl;
closeSpi(gpioId, gpioIF, mutex); closeSpi(gpioId, gpioIF, mutex);
return RwHandler::NO_START_MARKER; return RwHandler::NO_START_MARKER;
@ -157,12 +150,11 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
#endif #endif
size_t decodedFrameLen = 0; size_t decodedFrameLen = 0;
while(decodedFrameLen < replyBufferSize) { while (decodedFrameLen < replyBufferSize) {
/** First byte already read in */ /** First byte already read in */
if (decodedFrameLen != 0) { if (decodedFrameLen != 0) {
byteRead = 0; byteRead = 0;
if(read(fileDescriptor, &byteRead, 1) != 1) { if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl; sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE; result = RwHandler::SPI_READ_FAILURE;
break; break;
@ -172,9 +164,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
if (byteRead == FLAG_BYTE) { if (byteRead == FLAG_BYTE) {
/** Reached end of frame */ /** Reached end of frame */
break; break;
} } else if (byteRead == 0x7D) {
else if (byteRead == 0x7D) { if (read(fileDescriptor, &byteRead, 1) != 1) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl; sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE; result = RwHandler::SPI_READ_FAILURE;
break; break;
@ -183,20 +174,17 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
*(rxBuf + decodedFrameLen) = 0x7E; *(rxBuf + decodedFrameLen) = 0x7E;
decodedFrameLen++; decodedFrameLen++;
continue; continue;
} } else if (byteRead == 0x5D) {
else if (byteRead == 0x5D) {
*(rxBuf + decodedFrameLen) = 0x7D; *(rxBuf + decodedFrameLen) = 0x7D;
decodedFrameLen++; decodedFrameLen++;
continue; continue;
} } else {
else {
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl; sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
closeSpi(gpioId, gpioIF, mutex); closeSpi(gpioId, gpioIF, mutex);
result = RwHandler::INVALID_SUBSTITUTE; result = RwHandler::INVALID_SUBSTITUTE;
break; break;
} }
} } else {
else {
*(rxBuf + decodedFrameLen) = byteRead; *(rxBuf + decodedFrameLen) = byteRead;
decodedFrameLen++; decodedFrameLen++;
continue; continue;
@ -208,7 +196,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
* Otherwise there might be something wrong. * Otherwise there might be something wrong.
*/ */
if (decodedFrameLen == replyBufferSize) { if (decodedFrameLen == replyBufferSize) {
if(read(fileDescriptor, &byteRead, 1) != 1) { if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl; sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
result = RwHandler::SPI_READ_FAILURE; result = RwHandler::SPI_READ_FAILURE;
break; break;
@ -230,19 +218,15 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
return result; return result;
} }
void closeSpi (gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) { void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
if(gpioId != gpio::NO_GPIO) { if (gpioId != gpio::NO_GPIO) {
if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "closeSpi: Failed to pull chip select high" << std::endl; sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
} }
} }
if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { if (mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;; sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;
} ;
/** Route SPI interface again to PS SPI peripheral */
if(gpioIF->pullLow(gpioIds::SPI_MUX) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull spi mux gpio low" << std::endl;
} }
} }
} } // namespace rwSpiCallback

7
bsp_q7s/callbacks/rwSpiCallback.h
View File

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

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

52
bsp_q7s/core/CoreController.h
View File

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

150
bsp_q7s/core/InitMission.cpp
View File

@ -1,22 +1,21 @@
#include "InitMission.h" #include "InitMission.h"
#include "ObjectFactory.h"
#include "OBSWConfig.h"
#include "pollingsequence/pollingSequenceFactory.h"
#include "mission/utility/InitMission.h"
#include "fsfw/platform.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include <iostream> #include <iostream>
#include <vector> #include <vector>
#include "OBSWConfig.h"
#include "ObjectFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/platform.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include "mission/utility/InitMission.h"
#include "pollingsequence/pollingSequenceFactory.h"
/* This is configured for linux without CR */ /* This is configured for linux without CR */
#ifdef PLATFORM_UNIX #ifdef PLATFORM_UNIX
ServiceInterfaceStream sif::debug("DEBUG"); ServiceInterfaceStream sif::debug("DEBUG");
@ -30,10 +29,9 @@ ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true); ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif #endif
ObjectManagerIF *objectManager = nullptr; ObjectManagerIF* objectManager = nullptr;
void initmission::initMission() { void initmission::initMission() {
sif::info << "Building global objects.." << std::endl; sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */ /* Instantiate global object manager and also create all objects */
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr); ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
@ -47,21 +45,21 @@ void initmission::initMission() {
void initmission::initTasks() { void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance(); TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(factory == nullptr) { if (factory == nullptr) {
/* Should never happen ! */ /* Should never happen ! */
return; return;
} }
#if OBSW_PRINT_MISSED_DEADLINES == 1 #if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline; void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else #else
void (*missedDeadlineFunc) (void) = nullptr; void (*missedDeadlineFunc)(void) = nullptr;
#endif #endif
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
PeriodicTaskIF* coreController = factory->createPeriodicTask( PeriodicTaskIF* coreController = factory->createPeriodicTask(
"CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc); "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = coreController->addComponent(objects::CORE_CONTROLLER); result = coreController->addComponent(objects::CORE_CONTROLLER);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER); initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
} }
#endif #endif
@ -70,15 +68,15 @@ void initmission::initTasks() {
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR); result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR); initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
} }
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR); result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR); initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
} }
result = tmTcDistributor->addComponent(objects::TM_FUNNEL); result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL); initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
} }
@ -87,13 +85,13 @@ void initmission::initTasks() {
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask( PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE); result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UDP_BRIDGE", objects::TMTC_BRIDGE); initmission::printAddObjectError("UDP_BRIDGE", objects::TMTC_BRIDGE);
} }
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask( PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK); result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK); initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
} }
#endif #endif
@ -102,7 +100,7 @@ void initmission::initTasks() {
PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask( PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
"CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER); result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER); initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
} }
@ -112,27 +110,44 @@ void initmission::initTasks() {
PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask( PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
"PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc); "PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER); result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER); initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
} }
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */ #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
# if BOARD_TE0720 == 0 PeriodicTaskIF* acsCtrl = factory->createPeriodicTask(
"ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = acsCtrl->addComponent(objects::GPS_CONTROLLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER);
}
#if BOARD_TE0720 == 0
// FS task, task interval does not matter because it runs in permanent loop, priority low // FS task, task interval does not matter because it runs in permanent loop, priority low
// because it is a non-essential background task // because it is a non-essential background task
PeriodicTaskIF* fsTask = factory->createPeriodicTask( PeriodicTaskIF* fsTask = factory->createPeriodicTask(
"FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc); "FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER); result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER); initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
} }
#if OBSW_ADD_STAR_TRACKER == 1
PeriodicTaskIF* strImgLoaderTask = factory->createPeriodicTask(
"FILE_SYSTEM_TASK", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = strImgLoaderTask->addComponent(objects::STR_HELPER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::STR_HELPER);
}
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#endif /* BOARD_TE0720 */ #endif /* BOARD_TE0720 */
#if OBSW_TEST_CCSDS_BRIDGE == 1 #if OBSW_TEST_CCSDS_BRIDGE == 1
PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask( PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
"PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE); result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE); initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
} }
#endif #endif
@ -148,11 +163,10 @@ void initmission::initTasks() {
#endif #endif
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) { auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
for(const auto& task: taskVector) { for (const auto& task : taskVector) {
if(task != nullptr) { if (task != nullptr) {
task->startTask(); task->startTask();
} } else {
else {
sif::error << "Task in vector " << name << " is invalid!" << std::endl; sif::error << "Task in vector " << name << " is invalid!" << std::endl;
} }
} }
@ -187,47 +201,51 @@ void initmission::initTasks() {
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
fsTask->startTask(); fsTask->startTask();
#if OBSW_ADD_STAR_TRACKER == 1
strImgLoaderTask->startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#endif #endif
acsCtrl->startTask();
sif::info << "Tasks started.." << std::endl; sif::info << "Tasks started.." << std::endl;
} }
void initmission::createPstTasks(TaskFactory& factory, void initmission::createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) { TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
/* Polling Sequence Table Default */ /* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0 #if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
missedDeadlineFunc);
result = pst::pstSpi(spiPst); result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
} }
} } else {
else {
taskVec.push_back(spiPst); taskVec.push_back(spiPst);
} }
#endif #endif
FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc); "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
result = pst::pstUart(uartPst); result = pst::pstUart(uartPst);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
} }
taskVec.push_back(uartPst); taskVec.push_back(uartPst);
FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc); "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
result = pst::pstGpio(gpioPst); result = pst::pstGpio(gpioPst);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
} }
taskVec.push_back(gpioPst); taskVec.push_back(gpioPst);
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc); "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
result = pst::pstI2c(i2cPst); result = pst::pstI2c(i2cPst);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
@ -236,14 +254,13 @@ void initmission::createPstTasks(TaskFactory& factory,
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc); "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
result = pst::pstGompaceCan(gomSpacePstTask); result = pst::pstGompaceCan(gomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl; sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
} }
taskVec.push_back(gomSpacePstTask); taskVec.push_back(gomSpacePstTask);
#else /* BOARD_TE7020 == 0 */ #else /* BOARD_TE7020 == 0 */
FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask(
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, "PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, missedDeadlineFunc);
missedDeadlineFunc);
result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720); result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl; sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
@ -252,14 +269,15 @@ void initmission::createPstTasks(TaskFactory& factory,
#endif /* BOARD_TE7020 == 1 */ #endif /* BOARD_TE7020 == 1 */
} }
void initmission::createPusTasks(TaskFactory &factory, void initmission::createPusTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) { TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
/* PUS Services */ /* PUS Services */
PeriodicTaskIF* pusVerification = factory.createPeriodicTask( PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION); result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION); initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
} }
taskVec.push_back(pusVerification); taskVec.push_back(pusVerification);
@ -267,11 +285,11 @@ void initmission::createPusTasks(TaskFactory &factory,
PeriodicTaskIF* pusEvents = factory.createPeriodicTask( PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING); result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING); initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
} }
result = pusEvents->addComponent(objects::EVENT_MANAGER); result = pusEvents->addComponent(objects::EVENT_MANAGER);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER); initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
} }
taskVec.push_back(pusEvents); taskVec.push_back(pusEvents);
@ -279,11 +297,11 @@ void initmission::createPusTasks(TaskFactory &factory,
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask( PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS); result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS); initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
} }
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT); result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT); initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
} }
taskVec.push_back(pusHighPrio); taskVec.push_back(pusHighPrio);
@ -291,19 +309,19 @@ void initmission::createPusTasks(TaskFactory &factory,
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask( PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc); "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT); result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT); initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING); result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if(result!=HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT); result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT); initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS); result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS); initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
} }
taskVec.push_back(pusMedPrio); taskVec.push_back(pusMedPrio);
@ -311,39 +329,41 @@ void initmission::createPusTasks(TaskFactory &factory,
PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask( PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc); "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST); result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST); initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
} }
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER); result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER); initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
} }
taskVec.push_back(pusLowPrio); taskVec.push_back(pusLowPrio);
} }
void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, void initmission::createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) { std::vector<PeriodicTaskIF*>& taskVec) {
#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1) #if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || \
(BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#endif #endif
PeriodicTaskIF* testTask = factory.createPeriodicTask( PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc); "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
#if OBSW_ADD_TEST_TASK == 1 #if OBSW_ADD_TEST_TASK == 1
result = testTask->addComponent(objects::TEST_TASK); result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK); initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
} }
#endif /* OBSW_ADD_TEST_TASK == 1 */ #endif /* OBSW_ADD_TEST_TASK == 1 */
#if OBSW_ADD_SPI_TEST_CODE == 1 #if OBSW_ADD_SPI_TEST_CODE == 1
result = testTask->addComponent(objects::SPI_TEST); result = testTask->addComponent(objects::SPI_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST); initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
} }
#endif #endif
#if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 #if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
result = testTask->addComponent(objects::LIBGPIOD_TEST); result = testTask->addComponent(objects::LIBGPIOD_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST); initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
} }
#endif /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */ #endif /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */

5
bsp_q7s/core/InitMission.h
View File

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

700
bsp_q7s/core/ObjectFactory.cpp
View File

File diff suppressed because it is too large Load Diff

4
bsp_q7s/core/ObjectFactory.h
View File

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

7
bsp_q7s/core/ParameterHandler.cpp
View File

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

8
bsp_q7s/core/ParameterHandler.h
View File

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

31
bsp_q7s/core/obsw.cpp
View File

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

2
bsp_q7s/devices/CMakeLists.txt
View File

@ -3,3 +3,5 @@ target_sources(${TARGET_NAME} PRIVATE
PlocUpdater.cpp PlocUpdater.cpp
PlocMemoryDumper.cpp PlocMemoryDumper.cpp
) )
add_subdirectory(startracker)

60
bsp_q7s/devices/PlocMemoryDumper.cpp
View File

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

23
bsp_q7s/devices/PlocMemoryDumper.h
View File

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

425
bsp_q7s/devices/PlocSupervisorHandler.cpp
View File

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

65
bsp_q7s/devices/PlocSupervisorHandler.h
View File

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

135
bsp_q7s/devices/PlocUpdater.cpp
View File

@ -1,17 +1,17 @@
#include "fsfw/ipc/QueueFactory.h"
#include "PlocUpdater.h" #include "PlocUpdater.h"
#include <fstream>
#include <filesystem> #include <filesystem>
#include <fstream>
#include <string> #include <string>
PlocUpdater::PlocUpdater(object_id_t objectId) : #include "fsfw/ipc/QueueFactory.h"
SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
PlocUpdater::PlocUpdater(object_id_t objectId)
: SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE); commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
} }
PlocUpdater::~PlocUpdater() { PlocUpdater::~PlocUpdater() {}
}
ReturnValue_t PlocUpdater::initialize() { ReturnValue_t PlocUpdater::initialize() {
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
@ -39,8 +39,8 @@ ReturnValue_t PlocUpdater::performOperation(uint8_t operationCode) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId, ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) { const uint8_t* data, size_t size) {
ReturnValue_t result = RETURN_FAILED; ReturnValue_t result = RETURN_FAILED;
if (state != State::IDLE) { if (state != State::IDLE) {
@ -99,13 +99,9 @@ ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId,
return EXECUTION_FINISHED; return EXECUTION_FINISHED;
} }
MessageQueueId_t PlocUpdater::getCommandQueue() const { MessageQueueId_t PlocUpdater::getCommandQueue() const { return commandQueue->getId(); }
return commandQueue->getId();
}
MessageQueueIF* PlocUpdater::getCommandQueuePtr() { MessageQueueIF* PlocUpdater::getCommandQueuePtr() { return commandQueue; }
return commandQueue;
}
void PlocUpdater::readCommandQueue() { void PlocUpdater::readCommandQueue() {
CommandMessage message; CommandMessage message;
@ -167,74 +163,37 @@ ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
// Check if file is stored on SD card and if associated SD card is mounted // Check if file is stored on SD card and if associated SD card is mounted
if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_0_MOUNT_POINT)) { if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
if (!isSdCardMounted(sd::SLOT_0)) { std::string(SdCardManager::SD_0_MOUNT_POINT)) {
sif::warning << "PlocUpdater::prepareNvm0AUpdate: SD card 0 not mounted" << std::endl; if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::getImageLocation: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED; return SD_NOT_MOUNTED;
} }
} } else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_1_MOUNT_POINT)) { std::string(SdCardManager::SD_1_MOUNT_POINT)) {
if (!isSdCardMounted(sd::SLOT_0)) { if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::prepareNvm0AUpdate: SD card 1 not mounted" << std::endl; sif::warning << "PlocUpdater::getImageLocation: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED; return SD_NOT_MOUNTED;
} }
} } else {
else { // update image not stored on SD card
//update image not stored on SD card
} }
#endif /* BOARD_TE0720 == 0 */ #endif /* BOARD_TE0720 == 0 */
updateFile = std::string(reinterpret_cast<const char*>(data), size); updateFile = std::string(reinterpret_cast<const char*>(data), size);
// Check if file exists // Check if file exists
if(not std::filesystem::exists(updateFile)) { if (not std::filesystem::exists(updateFile)) {
return FILE_NOT_EXISTS; return FILE_NOT_EXISTS;
} }
return RETURN_OK; return RETURN_OK;
} }
#if BOARD_TE0720 == 0 void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
bool PlocUpdater::isSdCardMounted(sd::SdCard sdCard) {
SdCardManager::SdStatePair active;
ReturnValue_t result = sdcMan->getSdCardActiveStatus(active);
if (result != RETURN_OK) {
sif::debug << "PlocUpdater::isSdCardMounted: Failed to get SD card active state";
return false;
}
if (sdCard == sd::SLOT_0) {
if (active.first == sd::MOUNTED) {
return true;
}
else {
return false;
}
}
else if (sdCard == sd::SLOT_1) {
if (active.second == sd::MOUNTED) {
return true;
}
else {
return false;
}
}
else {
sif::debug << "PlocUpdater::isSdCardMounted: Unknown SD card specified" << std::endl;
}
return false;
}
#endif /* #if BOARD_TE0720 == 0 */
void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId, void PlocUpdater::stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) {}
uint8_t step) {
}
void PlocUpdater::stepFailedReceived(ActionId_t actionId, uint8_t step, void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
ReturnValue_t returnCode) {
}
void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
}
void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) { void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
switch (pendingCommand) { switch (pendingCommand) {
@ -245,8 +204,7 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
if (remainingPackets == 0) { if (remainingPackets == 0) {
packetsSent = 0; // Reset packets sent variable for next update sequence packetsSent = 0; // Reset packets sent variable for next update sequence
state = State::UPDATE_VERIFY; state = State::UPDATE_VERIFY;
} } else {
else {
state = State::UPDATE_TRANSFER; state = State::UPDATE_TRANSFER;
} }
break; break;
@ -263,24 +221,22 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
} }
} }
void PlocUpdater::completionFailedReceived(ActionId_t actionId, void PlocUpdater::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
ReturnValue_t returnCode) { switch (pendingCommand) {
switch(pendingCommand) { case (PLOC_SPV::UPDATE_AVAILABLE): {
case(PLOC_SPV::UPDATE_AVAILABLE): {
triggerEvent(UPDATE_AVAILABLE_FAILED); triggerEvent(UPDATE_AVAILABLE_FAILED);
break; break;
} }
case(PLOC_SPV::UPDATE_IMAGE_DATA): { case (PLOC_SPV::UPDATE_IMAGE_DATA): {
triggerEvent(UPDATE_TRANSFER_FAILED, packetsSent); triggerEvent(UPDATE_TRANSFER_FAILED, packetsSent);
break; break;
} }
case(PLOC_SPV::UPDATE_VERIFY): { case (PLOC_SPV::UPDATE_VERIFY): {
triggerEvent(UPDATE_VERIFY_FAILED); triggerEvent(UPDATE_VERIFY_FAILED);
break; break;
} }
default: default:
sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command " sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command " << std::endl;
<< std::endl;
break; break;
} }
state = State::IDLE; state = State::IDLE;
@ -300,7 +256,7 @@ void PlocUpdater::commandUpdateAvailable() {
imageSize = static_cast<size_t>(file.tellg()); imageSize = static_cast<size_t>(file.tellg());
file.close(); file.close();
numOfUpdatePackets = imageSize / MAX_SP_DATA ; numOfUpdatePackets = imageSize / MAX_SP_DATA;
if (imageSize % MAX_SP_DATA) { if (imageSize % MAX_SP_DATA) {
numOfUpdatePackets++; numOfUpdatePackets++;
} }
@ -311,10 +267,12 @@ void PlocUpdater::commandUpdateAvailable() {
calcImageCrc(); calcImageCrc();
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image), PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets); static_cast<uint8_t>(partition), imageSize, imageCrc,
numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(), packet.getFullSize()); PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(),
packet.getFullSize());
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available" sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
<< " packet to supervisor handler" << std::endl; << " packet to supervisor handler" << std::endl;
@ -344,8 +302,7 @@ void PlocUpdater::commandUpdatePacket() {
if (remainingPackets == 1) { if (remainingPackets == 1) {
payloadLength = imageSize - static_cast<uint16_t>(file.tellg()); payloadLength = imageSize - static_cast<uint16_t>(file.tellg());
} } else {
else {
payloadLength = MAX_SP_DATA; payloadLength = MAX_SP_DATA;
} }
@ -360,7 +317,8 @@ void PlocUpdater::commandUpdatePacket() {
packet.makeCrc(); packet.makeCrc();
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(), packet.getFullSize()); PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(),
packet.getFullSize());
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update" sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
@ -382,10 +340,12 @@ void PlocUpdater::commandUpdateVerify() {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_VERIFY, static_cast<uint8_t>(image), PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets); static_cast<uint8_t>(partition), imageSize, imageCrc,
numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, result =
PLOC_SPV::UPDATE_VERIFY, packet.getWholeData(), packet.getFullSize()); commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, PLOC_SPV::UPDATE_VERIFY,
packet.getWholeData(), packet.getFullSize());
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available" sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
<< " packet to supervisor handler" << std::endl; << " packet to supervisor handler" << std::endl;
@ -425,12 +385,9 @@ void PlocUpdater::calcImageCrc() {
void PlocUpdater::adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet) { void PlocUpdater::adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet) {
if (packetsSent == 0) { if (packetsSent == 0) {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT)); packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT));
} } else if (remainingPackets == 1) {
else if (remainingPackets == 1) {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT)); packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT));
} } else {
else {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT)); packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT));
} }
} }

54
bsp_q7s/devices/PlocUpdater.h
View File

@ -2,27 +2,25 @@
#define MISSION_DEVICES_PLOCUPDATER_H_ #define MISSION_DEVICES_PLOCUPDATER_H_
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "devicedefinitions/PlocSupervisorDefinitions.h" #include "devicedefinitions/PlocSupervisorDefinitions.h"
#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/ActionHelper.h" #include "fsfw/action/ActionHelper.h"
#include "fsfw/action/HasActionsIF.h" #include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/CommandsActionsIF.h" #include "fsfw/action/CommandsActionsIF.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h" #include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "linux/fsfwconfig/objects/systemObjectList.h"
#include "fsfw/tmtcpacket/SpacePacket.h" #include "fsfw/tmtcpacket/SpacePacket.h"
#include "linux/fsfwconfig/objects/systemObjectList.h"
/** /**
* @brief An object of this class can be used to perform the software updates of the PLOC. The * @brief An object of this class can be used to perform the software updates of the PLOC. The
* software update will be read from one of the SD cards, split into multiple space * software update will be read from one of the SD cards, split into multiple space
* packets and sent to the PlocSupervisorHandler. * packets and sent to the PlocSupervisorHandler.
* *
* @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition A * @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition
* and Partition B) * A and Partition B)
* *
* @author J. Meier * @author J. Meier
*/ */
@ -31,8 +29,7 @@ class PlocUpdater : public SystemObject,
public ExecutableObjectIF, public ExecutableObjectIF,
public HasReturnvaluesIF, public HasReturnvaluesIF,
public CommandsActionsIF { public CommandsActionsIF {
public: public:
static const ActionId_t UPDATE_A_UBOOT = 0; static const ActionId_t UPDATE_A_UBOOT = 0;
static const ActionId_t UPDATE_A_BITSTREAM = 1; static const ActionId_t UPDATE_A_BITSTREAM = 1;
static const ActionId_t UPDATE_A_LINUX = 2; static const ActionId_t UPDATE_A_LINUX = 2;
@ -57,15 +54,15 @@ public:
void completionSuccessfulReceived(ActionId_t actionId) override; void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override; void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
private: private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_UPDATER; static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_UPDATER;
//! [EXPORT] : [COMMENT] Updater is already performing an update //! [EXPORT] : [COMMENT] Updater is already performing an update
static const ReturnValue_t UPDATER_BUSY = MAKE_RETURN_CODE(0xA0); static const ReturnValue_t UPDATER_BUSY = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Received update command with invalid path string (too long). //! [EXPORT] : [COMMENT] Received update command with invalid path string (too long).
static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA1); static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Received command to initiate update but SD card with update image not mounted. //! [EXPORT] : [COMMENT] Received command to initiate update but SD card with update image not
//! mounted.
static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA2); static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Update file received with update command does not exist. //! [EXPORT] : [COMMENT] Update file received with update command does not exist.
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA3); static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA3);
@ -74,13 +71,15 @@ private:
//! [EXPORT] : [COMMENT] Try to read update file but the file does not exist. //! [EXPORT] : [COMMENT] Try to read update file but the file does not exist.
//! P1: Indicates in which state the file read fails //! P1: Indicates in which state the file read fails
//! P2: During the update transfer the second parameter gives information about the number of already sent packets //! P2: During the update transfer the second parameter gives information about the number of
//! already sent packets
static const Event UPDATE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW); static const Event UPDATE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to send command to supervisor handler //! [EXPORT] : [COMMENT] Failed to send command to supervisor handler
//! P1: Return value of CommandActionHelper::commandAction //! P1: Return value of CommandActionHelper::commandAction
//! P2: Action ID of command to send //! P2: Action ID of command to send
static const Event ACTION_COMMANDING_FAILED = MAKE_EVENT(1, severity::LOW); static const Event ACTION_COMMANDING_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor handler replied action message indicating a command execution failure of the update available command //! [EXPORT] : [COMMENT] Supervisor handler replied action message indicating a command execution
//! failure of the update available command
static const Event UPDATE_AVAILABLE_FAILED = MAKE_EVENT(2, severity::LOW); static const Event UPDATE_AVAILABLE_FAILED = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor handler failed to transfer an update space packet. //! [EXPORT] : [COMMENT] Supervisor handler failed to transfer an update space packet.
//! P1: Parameter holds the number of update packets already sent (inclusive the failed packet) //! P1: Parameter holds the number of update packets already sent (inclusive the failed packet)
@ -110,7 +109,7 @@ private:
ActionHelper actionHelper; ActionHelper actionHelper;
enum class State: uint8_t { enum class State : uint8_t {
IDLE, IDLE,
UPDATE_AVAILABLE, UPDATE_AVAILABLE,
UPDATE_TRANSFER, UPDATE_TRANSFER,
@ -122,21 +121,11 @@ private:
ActionId_t pendingCommand = PLOC_SPV::NONE; ActionId_t pendingCommand = PLOC_SPV::NONE;
enum class Image: uint8_t { enum class Image : uint8_t { NONE, A, B };
NONE,
A,
B
};
Image image = Image::NONE; Image image = Image::NONE;
enum class Partition: uint8_t { enum class Partition : uint8_t { NONE, UBOOT, BITSTREAM, LINUX_OS, APP_SW };
NONE,
UBOOT,
BITSTREAM,
LINUX_OS,
APP_SW
};
Partition partition = Partition::NONE; Partition partition = Partition::NONE;
@ -174,13 +163,6 @@ private:
*/ */
void commandUpdateVerify(); void commandUpdateVerify();
#if BOARD_TE0720 == 0
/**
* @brief Checks whether the SD card to read from is mounted or not.
*/
bool isSdCardMounted(sd::SdCard sdCard);
#endif
void calcImageCrc(); void calcImageCrc();
void adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet); void adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet);

15
bsp_q7s/devices/devicedefinitions/PlocMemDumpDefinitions.h
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@ -3,20 +3,19 @@
#include <fsfw/src/fsfw/serialize/SerialLinkedListAdapter.h> #include <fsfw/src/fsfw/serialize/SerialLinkedListAdapter.h>
class MemoryParams: public SerialLinkedListAdapter<SerializeIF> { class MemoryParams : public SerialLinkedListAdapter<SerializeIF> {
public: public:
/** /**
* @brief Constructor * @brief Constructor
* @param startAddress Start of address range to dump * @param startAddress Start of address range to dump
* @param endAddress End of address range to dump * @param endAddress End of address range to dump
*/ */
MemoryParams(uint32_t startAddress, uint32_t endAddress) : MemoryParams(uint32_t startAddress, uint32_t endAddress)
startAddress(startAddress), endAddress(endAddress) { : startAddress(startAddress), endAddress(endAddress) {
setLinks(); setLinks();
} }
private:
private:
void setLinks() { void setLinks() {
setStart(&startAddress); setStart(&startAddress);
startAddress.setNext(&endAddress); startAddress.setNext(&endAddress);
@ -24,10 +23,6 @@ private:
SerializeElement<uint32_t> startAddress; SerializeElement<uint32_t> startAddress;
SerializeElement<uint32_t> endAddress; SerializeElement<uint32_t> endAddress;
}; };
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_ */ #endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_ */

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62
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#include "ArcsecDatalinkLayer.h"
ArcsecDatalinkLayer::ArcsecDatalinkLayer() { slipInit(); }
ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {}
void ArcsecDatalinkLayer::slipInit() {
slipInfo.buffer = rxBuffer;
slipInfo.maxlength = StarTracker::MAX_FRAME_SIZE;
slipInfo.length = 0;
slipInfo.unescape_next = 0;
slipInfo.prev_state = SLIP_COMPLETE;
}
ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t rawDataSize,
size_t* bytesLeft) {
size_t bytePos = 0;
for (bytePos = 0; bytePos < rawDataSize; bytePos++) {
enum arc_dec_result decResult =
arc_transport_decode_body(*(rawData + bytePos), &slipInfo, decodedFrame, &decFrameSize);
*bytesLeft = rawDataSize - bytePos - 1;
switch (decResult) {
case ARC_DEC_INPROGRESS: {
if (bytePos == rawDataSize - 1) {
return DEC_IN_PROGRESS;
}
continue;
}
case ARC_DEC_ERROR_FRAME_SHORT:
return REPLY_TOO_SHORT;
case ARC_DEC_ERROR_CHECKSUM:
return CRC_FAILURE;
case ARC_DEC_ASYNC:
case ARC_DEC_SYNC: {
// Reset length of SLIP struct for next frame
slipInfo.length = 0;
return RETURN_OK;
}
default:
sif::debug << "ArcsecDatalinkLayer::decodeFrame: Unknown result code" << std::endl;
break;
return RETURN_FAILED;
}
}
return RETURN_FAILED;
}
uint8_t ArcsecDatalinkLayer::getReplyFrameType() { return decodedFrame[0]; }
const uint8_t* ArcsecDatalinkLayer::getReply() { return &decodedFrame[1]; }
void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, uint32_t length) {
arc_transport_encode_body(data, length, encBuffer, &encFrameSize);
}
uint8_t* ArcsecDatalinkLayer::getEncodedFrame() { return encBuffer; }
uint32_t ArcsecDatalinkLayer::getEncodedLength() { return encFrameSize; }
uint8_t ArcsecDatalinkLayer::getStatusField() { return *(decodedFrame + STATUS_OFFSET); }
uint8_t ArcsecDatalinkLayer::getId() { return *(decodedFrame + ID_OFFSET); }

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#ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
#define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
#include "StarTrackerDefinitions.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
extern "C" {
#include "common/misc.h"
}
/**
* @brief Helper class to handle the datalinklayer of replies from the star tracker of arcsec.
*/
class ArcsecDatalinkLayer : public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] More data required to complete frame
static const ReturnValue_t DEC_IN_PROGRESS = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Data too short to represent a valid frame
static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Detected CRC failure in received frame
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA2);
static const uint8_t STATUS_OK = 0;
ArcsecDatalinkLayer();
virtual ~ArcsecDatalinkLayer();
/**
* @brief Applies decoding to data referenced by rawData pointer
*
* @param rawData Pointer to raw data received from star tracker
* @param rawDataSize Size of raw data stream
* @param remainingBytes Number of bytes left
*/
ReturnValue_t decodeFrame(const uint8_t* rawData, size_t rawDataSize, size_t* bytesLeft);
/**
* @brief SLIP encodes data pointed to by data pointer.
*
* @param data Pointer to data to encode
* @param length Length of buffer to encode
*/
void encodeFrame(const uint8_t* data, uint32_t length);
/**
* @brief Returns the frame type field of a decoded frame.
*/
uint8_t getReplyFrameType();
/**
* @brief Returns pointer to reply packet (first entry normally action ID, telemetry ID etc.)
*/
const uint8_t* getReply();
/**
* @brief Returns size of encoded frame
*/
uint32_t getEncodedLength();
/**
* @brief Returns pointer to encoded frame
*/
uint8_t* getEncodedFrame();
/**
* @brief Returns status of reply
*/
uint8_t getStatusField();
/**
* @brief Returns ID of reply
*/
uint8_t getId();
private:
static const uint8_t ID_OFFSET = 1;
static const uint8_t STATUS_OFFSET = 2;
// Used by arcsec slip decoding function process received data
uint8_t rxBuffer[StarTracker::MAX_FRAME_SIZE];
// Decoded frame will be copied to this buffer
uint8_t decodedFrame[StarTracker::MAX_FRAME_SIZE];
// Buffer where encoded frames will be stored. First byte of encoded frame represents type of
// reply
uint8_t encBuffer[StarTracker::MAX_FRAME_SIZE * 2 + 2];
// Size of decoded frame
uint32_t decFrameSize = 0;
// Size of encoded frame
uint32_t encFrameSize = 0;
slip_decode_state slipInfo;
void slipInit();
};
#endif /* BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_ */

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

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#include "ArcsecJsonParamBase.h"
#include "ArcsecJsonKeys.h"
ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {}
ReturnValue_t ArcsecJsonParamBase::create(std::string fullname, uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
result = init(fullname);
if (result != RETURN_OK) {
return result;
}
result = createCommand(buffer);
return result;
}
ReturnValue_t ArcsecJsonParamBase::getParam(const std::string name, std::string& value) {
for (json::iterator it = set.begin(); it != set.end(); ++it) {
if ((*it)[arcseckeys::NAME] == name) {
value = (*it)[arcseckeys::VALUE];
convertEmpty(value);
return RETURN_OK;
}
}
return PARAM_NOT_EXISTS;
}
void ArcsecJsonParamBase::convertEmpty(std::string& value) {
if (value == "") {
value = "0";
}
}
void ArcsecJsonParamBase::addfloat(const std::string value, uint8_t* buffer) {
float param = std::stof(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::adduint8(const std::string value, uint8_t* buffer) {
uint8_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::addint16(const std::string value, uint8_t* buffer) {
int16_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::adduint16(const std::string value, uint8_t* buffer) {
uint16_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::adduint32(const std::string value, uint8_t* buffer) {
uint32_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::addSetParamHeader(uint8_t* buffer, uint8_t setId) {
*buffer = static_cast<uint8_t>(TMTC_SETPARAMREQ);
*(buffer + 1) = setId;
}
ReturnValue_t ArcsecJsonParamBase::init(const std::string filename) {
ReturnValue_t result = RETURN_OK;
if (not std::filesystem::exists(filename)) {
sif::warning << "ArcsecJsonParamBase::init: JSON file " << filename << " does not exist"
<< std::endl;
return JSON_FILE_NOT_EXISTS;
}
createJsonObject(filename);
result = initSet();
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
void ArcsecJsonParamBase::createJsonObject(const std::string fullname) {
json j;
std::ifstream file(fullname);
file >> j;
file.close();
properties = j[arcseckeys::PROPERTIES];
}
ReturnValue_t ArcsecJsonParamBase::initSet() {
for (json::iterator it = properties.begin(); it != properties.end(); ++it) {
if ((*it)["name"] == setName) {
set = (*it)["fields"];
return RETURN_OK;
}
}
return SET_NOT_EXISTS;
}

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#ifndef BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_
#define BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_
#include <filesystem>
#include <fstream>
#include <nlohmann/json.hpp>
#include "StarTrackerDefinitions.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
extern "C" {
#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
#include "thirdparty/arcsec_star_tracker/common/genericstructs.h"
}
using json = nlohmann::json;
/**
* @brief Base class for creation of parameter configuration commands. Reads parameter set
* from a json file located on the filesystem and generates the appropriate command
* to apply the parameters to the star tracker software.
*
* @author J. Meier
*/
class ArcsecJsonParamBase : public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::ARCSEC_JSON_BASE;
//! [EXPORT] : [COMMENT] Specified json file does not exist
static const ReturnValue_t JSON_FILE_NOT_EXISTS = MAKE_RETURN_CODE(1);
//! [EXPORT] : [COMMENT] Requested set does not exist in json file
static const ReturnValue_t SET_NOT_EXISTS = MAKE_RETURN_CODE(2);
//! [EXPORT] : [COMMENT] Requested parameter does not exist in json file
static const ReturnValue_t PARAM_NOT_EXISTS = MAKE_RETURN_CODE(3);
/**
* @brief Constructor
*
* @param fullname Name with absolute path of json file containing the parameters to set.
*/
ArcsecJsonParamBase(std::string setName);
/**
* @brief Fills a buffer with a parameter set
*
* @param fullname The name including the absolute path of the json file containing the
* parameter set.
* @param buffer Pointer to the buffer the command will be written to
*/
ReturnValue_t create(std::string fullname, uint8_t* buffer);
/**
* @brief Returns the size of the parameter command.
*/
virtual size_t getSize() = 0;
protected:
/**
* @brief Reads the value of a parameter from a json set
*
* @param name The name of the parameter
* @param value The string representation of the read value
*
* @return RETURN_OK if successful, otherwise PARAM_NOT_EXISTS
*/
ReturnValue_t getParam(const std::string name, std::string& value);
/**
* @brief Converts empty string which is equal to define a value as zero.
*/
void convertEmpty(std::string& value);
/**
* @brief This function adds a float represented as string to a buffer
*
* @param value The float in string representation to add
* @param buffer Pointer to the buffer the float will be written to
*/
void addfloat(const std::string value, uint8_t* buffer);
/**
* @brief This function adds a uint8_t represented as string to a buffer
*
* @param value The uint8_t in string representation to add
* @param buffer Pointer to the buffer the uint8_t will be written to
*/
void adduint8(const std::string value, uint8_t* buffer);
/**
* @brief This function adds a int16_t represented as string to a buffer
*
* @param value The int16_t in string representation to add
* @param buffer Pointer to the buffer the int16_t will be written to
*/
void addint16(const std::string value, uint8_t* buffer);
/**
* @brief This function adds a uint16_t represented as string to a buffer
*
* @param value The uint16_t in string representation to add
* @param buffer Pointer to the buffer the uint16_t will be written to
*/
void adduint16(const std::string value, uint8_t* buffer);
/**
* @brief This function adds a uint32_t represented as string to a buffer
*
* @param value The uint32_t in string representation to add
* @param buffer Pointer to the buffer the uint32_t will be written to
*/
void adduint32(const std::string value, uint8_t* buffer);
void addSetParamHeader(uint8_t* buffer, uint8_t setId);
private:
json properties;
json set;
std::string setName;
/**
* @brief This function must be implemented by the derived class to define creation of a
* parameter command.
*/
virtual ReturnValue_t createCommand(uint8_t* buffer) = 0;
/**
* @brief Initializes the properties json object and the set json object
*
* @param fullname Name including absolute path to json file
* @param setName The name of the set to work on
*
* @param return JSON_FILE_NOT_EXISTS if specified file does not exist, otherwise
* RETURN_OK
*/
ReturnValue_t init(const std::string filename);
void createJsonObject(const std::string fullname);
/**
* @brief Extracts the json set object form the json file
*
* @param setName The name of the set to create the json object from
*/
ReturnValue_t initSet();
};
#endif /* BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_ */

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target_sources(${TARGET_NAME} PRIVATE
StarTrackerHandler.cpp
StarTrackerJsonCommands.cpp
ArcsecDatalinkLayer.cpp
ArcsecJsonParamBase.cpp
StrHelper.cpp
)

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#ifndef MISSION_DEVICES_STARTRACKERHANDLER_H_
#define MISSION_DEVICES_STARTRACKERHANDLER_H_
#include <fsfw/datapool/PoolReadGuard.h>
#include "ArcsecDatalinkLayer.h"
#include "ArcsecJsonParamBase.h"
#include "StarTrackerDefinitions.h"
#include "StrHelper.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
#include "fsfw/timemanager/Countdown.h"
#include "thirdparty/arcsec_star_tracker/common/SLIP.h"
/**
* @brief This is the device handler for the star tracker from arcsec.
*
* @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
* Arbeitsdaten/08_Used%20Components/ArcSec_KULeuven_Startracker/
* Sagitta%201.0%20Datapack&fileid=659181
* @author J. Meier
*/
class StarTrackerHandler : public DeviceHandlerBase {
public:
/**
* @brief Constructor
*
* @param objectId
* @param comIF
* @param comCookie
* @param gpioComIF Pointer to gpio communication interface
* @param enablePin GPIO connected to the enable pin of the reaction wheels. Must be pulled
* to high to enable the device.
*/
StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
StrHelper* strHelper);
virtual ~StarTrackerHandler();
ReturnValue_t initialize() override;
/**
* @brief Overwrite this function from DHB to handle commands executed by the str image
* loader task.
*/
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
void performOperationHook() override;
protected:
void doStartUp() override;
void doShutDown() override;
void doOffActivity() 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;
/**
* @brief Overwritten here to always read all available data from the UartComIF.
*/
virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
virtual ReturnValue_t doSendReadHook() override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] Received reply is too short
static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xB0);
//! [EXPORT] : [COMMENT] Received reply with invalid CRC
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xB1);
//! [EXPORT] : [COMMENT] Image loader executing
static const ReturnValue_t IMAGE_LOADER_EXECUTING = MAKE_RETURN_CODE(0xB2);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] Status in temperature reply signals error
static const ReturnValue_t TEMPERATURE_REQ_FAILED = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Ping command failed
static const ReturnValue_t PING_FAILED = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Status in version reply signals error
static const ReturnValue_t VERSION_REQ_FAILED = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Status in interface reply signals error
static const ReturnValue_t INTERFACE_REQ_FAILED = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Status in power reply signals error
static const ReturnValue_t POWER_REQ_FAILED = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Status of reply to parameter set command signals error
static const ReturnValue_t SET_PARAM_FAILED = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] Status of reply to action command signals error
static const ReturnValue_t ACTION_FAILED = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Received upload image command with invalid length
static const ReturnValue_t UPLOAD_TOO_SHORT = MAKE_RETURN_CODE(0xA8);
//! [EXPORT] : [COMMENT] Received upload image command with invalid position field
static const ReturnValue_t UPLOAD_INVALID_POSITION = MAKE_RETURN_CODE(0xA8);
//! [EXPORT] : [COMMENT] Position value in upload image reply not matching sent position
static const ReturnValue_t UPLOAD_IMAGE_FAILED = MAKE_RETURN_CODE(0xA9);
//! [EXPORT] : [COMMENT] Received upload image command with invalid length
static const ReturnValue_t INVALID_UPLOAD_COMMAND = MAKE_RETURN_CODE(0xAA);
//! [EXPORT] : [COMMENT] Received invalid path string. Exceeds allowed length
static const ReturnValue_t FILE_PATH_TOO_LONG = MAKE_RETURN_CODE(0xAB);
//! [EXPORT] : [COMMENT] Name of file received with command is too long
static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xAC);
//! [EXPORT] : [COMMENT] Received version reply with invalid program ID
static const ReturnValue_t INVALID_PROGRAM = MAKE_RETURN_CODE(0xAD);
//! [EXPORT] : [COMMENT] Status field reply signals error
static const ReturnValue_t REPLY_ERROR = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] Status field of contrast reply signals error
static const ReturnValue_t CONTRAST_REQ_FAILED = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] Received command which is too short (some data is missing for proper
//! execution)
static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAF);
//! [EXPORT] : [COMMENT] Received command with invalid length (too few or too many parameters)
static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xB0);
//! [EXPORT] : [COMMENT] Region mismatch between send and received data
static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xB1);
//! [EXPORT] : [COMMENT] Address mismatch between send and received data
static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xB2);
//! [EXPORT] : [COMMENT] Length field mismatch between send and received data
static const ReturnValue_t lENGTH_MISMATCH = MAKE_RETURN_CODE(0xB3);
//! [EXPORT] : [COMMENT] Specified file does not exist
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xB4);
//! [EXPORT] : [COMMENT] Reply to upload centroid does not match commanded centroid id
static const ReturnValue_t UPLOAD_CENTROID_ID_MISMATCH = MAKE_RETURN_CODE(0xB5);
//! [EXPORT] : [COMMENT] Download blob pixel command has invalid type field
static const ReturnValue_t INVALID_TYPE = MAKE_RETURN_CODE(0xB6);
//! [EXPORT] : [COMMENT] Received FPGA action command with invalid ID
static const ReturnValue_t INVALID_ID = MAKE_RETURN_CODE(0xB7);
static const size_t MAX_PATH_SIZE = 50;
static const size_t MAX_FILE_NAME = 30;
// position (uint32) + 1024 image data
static const size_t UPLOAD_COMMAND_LEN = 1028;
// Max valid position value in upload image command
static const uint16_t MAX_POSITION = 4095;
static const uint8_t STATUS_OFFSET = 1;
static const uint8_t TICKS_OFFSET = 2;
static const uint8_t TIME_OFFSET = 6;
static const uint8_t TM_DATA_FIELD_OFFSET = 14;
static const uint8_t PARAMETER_ID_OFFSET = 0;
static const uint8_t ACTION_ID_OFFSET = 0;
static const uint8_t ACTION_DATA_OFFSET = 2;
// Ping request will reply ping with this ID (data field)
static const uint32_t PING_ID = 0x55;
static const uint32_t BOOT_REGION_ID = 1;
static const MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
static const uint32_t MUTEX_TIMEOUT = 20;
static const uint32_t BOOT_TIMEOUT = 1000;
class WriteCmd {
public:
static const uint8_t ADDRESS_OFFSET = 1;
static const uint8_t FILE_OFFSET = 5;
// Minimum length of a write command (region, address and filename)
static const size_t MIN_LENGTH = 7;
};
class ReadCmd {
public:
static const uint8_t ADDRESS_OFFSET = 1;
static const uint8_t LENGTH_OFFSET = 5;
static const uint8_t FILE_OFFSET = 9;
// Minimum length of a read command (region, address, length and filename)
static const size_t MIN_LENGTH = 11;
};
class EraseCmd {
public:
static const uint8_t LENGTH = 1;
uint8_t rememberRegion = 0;
};
EraseCmd eraseCmd;
class UnlockCmd {
public:
static const uint8_t CODE_OFFSET = 1;
};
class ChecksumCmd {
public:
static const uint8_t ADDRESS_OFFSET = 1;
static const uint8_t LENGTH_OFFSET = 5;
// Length of checksum command
static const size_t LENGTH = 9;
uint8_t rememberRegion = 0;
uint32_t rememberAddress = 0;
uint32_t rememberLength = 0;
};
ChecksumCmd checksumCmd;
class SetTimeCmd {
public:
static const uint8_t LENGTH = 8;
};
class DownloadCentroidCmd {
public:
static const uint8_t LENGTH = 1;
};
class UploadCentroid {
public:
uint8_t rememberId = 0;
};
UploadCentroid uploadCentroid;
class DownloadMatchedStarCmd {
public:
static const uint8_t LENGTH = 1;
};
class DownloadDbImageCmd {
public:
static const uint8_t LENGTH = 1;
};
class DownloadBlobPixCmd {
public:
static const uint8_t LENGTH = 2;
static const uint8_t NORMAL = 0;
static const uint8_t FAST = 1;
};
class FpgaDownloadCmd {
public:
static const uint8_t MIN_LENGTH = 10;
};
class FpgaActionCmd {
public:
static const uint8_t LENGTH = 1;
static const uint8_t ID = 3;
};
MessageQueueIF* eventQueue = nullptr;
ArcsecDatalinkLayer dataLinkLayer;
StarTracker::TemperatureSet temperatureSet;
StarTracker::VersionSet versionSet;
StarTracker::PowerSet powerSet;
StarTracker::InterfaceSet interfaceSet;
StarTracker::TimeSet timeSet;
StarTracker::SolutionSet solutionSet;
StarTracker::HistogramSet histogramSet;
StarTracker::ContrastSet contrastSet;
StarTracker::ChecksumSet checksumSet;
StarTracker::DownloadCentroidSet downloadCentroidSet;
StarTracker::DownloadMatchedStar downloadMatchedStar;
StarTracker::DownloadDBImage downloadDbImage;
StarTracker::DownloadBlobPixel downloadBlobPixel;
// Pointer to object responsible for uploading and downloading images to/from the star tracker
StrHelper* strHelper = nullptr;
uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
// Countdown to insert delay for star tracker to switch from bootloader to firmware program
Countdown bootCountdown;
std::string paramJsonFile = "/mnt/sd0/startracker/full.json";
enum class InternalState { TEMPERATURE_REQUEST };
InternalState internalState = InternalState::TEMPERATURE_REQUEST;
enum class StartupState {
IDLE,
CHECK_BOOT_STATE,
BOOT,
BOOT_DELAY,
LIMITS,
TRACKING,
MOUNTING,
CAMERA,
BLOB,
CENTROIDING,
LISA,
MATCHING,
VALIDATION,
ALGO,
WAIT_FOR_EXECUTION,
DONE
};
StartupState startupState = StartupState::IDLE;
bool strHelperExecuting = false;
/**
* @brief Handles internal state
*/
void handleInternalState();
/**
* @brief Checks mode for commands requiring MODE_ON of MODE_NORMAL for execution.
*
* @param actionId Action id of command to execute
*/
ReturnValue_t checkMode(ActionId_t actionId);
/**
* @brief This function initializes the serial link ip protocol struct slipInfo.
*/
void slipInit();
ReturnValue_t scanForActionReply(DeviceCommandId_t* foundId);
ReturnValue_t scanForParameterReply(DeviceCommandId_t* foundId);
ReturnValue_t scanForTmReply(DeviceCommandId_t* foundId);
/**
* @brief Fills command buffer with data to ping the star tracker
*/
void preparePingRequest();
/**
* @brief Fills command buffer with data to request the time telemetry.
*/
void prepareTimeRequest();
/**
* @brief Handles all received event messages
*/
void handleEvent(EventMessage* eventMessage);
/**
* @brief Executes the write command
*
* @param commandData Pointer to received command data
* @param commandDataLen Size of received command data
*
* @return RETURN_OK if start of execution was successful, otherwise error return value
*/
ReturnValue_t executeWriteCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Starts the execution of the fpga download command
*
* @param commandData Pointer to buffer with command data
* @param commandDataLen Size of received command
*/
ReturnValue_t executeFpgaDownloadCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Extracts information for flash-read-command from TC data and starts execution of
* flash-read-procedure
*
* @param commandData Pointer to received command data
* @param commandDataLen Size of received command data
*
* @return RETURN_OK if start of execution was successful, otherwise error return value
*/
ReturnValue_t executeReadCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with data to boot image (works only when star tracker is
* in bootloader mode).
*/
void prepareBootCommand();
/**
* @brief Fills command buffer with command to erase a flash region
*/
ReturnValue_t prepareEraseCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with command to unlock flash region
*/
ReturnValue_t prepareUnlockCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with command to get the checksum of a flash part
*/
ReturnValue_t prepareChecksumCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with command to set the unix time
*/
ReturnValue_t prepareSetTimeCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with command to request a centroid
*/
ReturnValue_t prepareDownloadCentroidCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with command to upload a centroid for testing purpose
*/
ReturnValue_t prepareUploadCentroidCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills the command buffer with the command to take an image.
*/
void prepareTakeImageCommand(const uint8_t* commandData);
/**
* @brief Fills command buffer with data to request the version telemetry packet
*/
void prepareVersionRequest();
/**
* @brief Fills the command buffer with data to request the interface telemetry packet.
*/
void prepareInterfaceRequest();
/**
* @brief Fills the command buffer with data to request the power telemetry packet.
*/
void preparePowerRequest();
/**
* @brief Fills command buffer with data to reboot star tracker.
*/
void prepareRebootCommand();
/**
* @brief Fills command buffer with data to subscribe to a telemetry packet.
*
* @param tmId The ID of the telemetry packet to subscribe to
*/
void prepareSubscriptionCommand(const uint8_t* tmId);
/**
* @brief Fills command buffer with data to request solution telemtry packet (contains
* attitude information)
*/
void prepareSolutionRequest();
/**
* @brief Fills command buffer with data to request temperature from star tracker
*/
void prepareTemperatureRequest();
/**
* @brief Fills command buffer with data to request histogram
*/
void prepareHistogramRequest();
void prepareContrastRequest();
/**
* @brief Fills command buffer with command to reset the error signal of the star tracker
*/
void prepareErrorResetRequest();
/**
* @brief Reads parameters from json file specified by string in commandData and
* prepares the command to apply the parameter set to the star tracker
*
* @param commandData Contains string with file name
* @param commandDataLen Length of command
* @param paramSet The object defining the command generation
*
* @return RETURN_OK if successful, otherwise error return Value
*/
ReturnValue_t prepareParamCommand(const uint8_t* commandData, size_t commandDataLen,
ArcsecJsonParamBase& paramSet);
/**
* @brief Fills command buffer with data to request matched star.
*/
ReturnValue_t prepareDownloadMatchedStarCommand(const uint8_t* commandData,
size_t commandDataLen);
/**
* @brief Fills command buffer with data to request matched star coordinates.
*/
ReturnValue_t prepareDownloadDbImageCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with data to request output of the blob filter algorithm.
*/
ReturnValue_t prepareDownloadBlobPixelCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief With this command the FPGA update will be applied to the star tracker
*/
ReturnValue_t prepareFpgaActionCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Handles action replies with datasets.
*/
ReturnValue_t handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size);
/**
* @brief Default function to handle action replies
*/
ReturnValue_t handleActionReply();
/**
* @brief Handles reply to upload centroid command
*/
ReturnValue_t handleUploadCentroidReply();
/**
* @brief Handles reply to erase command
*/
ReturnValue_t handleEraseReply();
/**
* @brief Handles reply to checksum command
*/
ReturnValue_t handleChecksumReply();
/**
* @brief Handles all set parameter replies
*/
ReturnValue_t handleSetParamReply();
ReturnValue_t handlePingReply();
/**
* @brief Checks the loaded program by means of the version set
*/
ReturnValue_t checkProgram();
/**
* @brief Handles the startup state machine
*/
void handleStartup(const uint8_t* parameterId);
/**
* @brief Handles telemtry replies and fills the appropriate dataset
*
* @param dataset Dataset where reply data will be written to
* @param size Size of the dataset
*
* @return RETURN_OK if successful, otherwise error return value
*/
ReturnValue_t handleTm(LocalPoolDataSetBase& dataset, size_t size);
};
#endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */

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bsp_q7s/devices/startracker/StarTrackerJsonCommands.cpp Normal file
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#include "StarTrackerJsonCommands.h"
#include "ArcsecJsonKeys.h"
Limits::Limits() : ArcsecJsonParamBase(arcseckeys::LIMITS) {}
size_t Limits::getSize() { return COMMAND_SIZE; }
ReturnValue_t Limits::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::LIMITS);
offset = 2;
result = getParam(arcseckeys::ACTION, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::FPGA18CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FPGA25CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FPGA10CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MCUCURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOS21CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOSPIXCURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOS33CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOSVRESCURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOS_TEMPERATURE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MCU_TEMPERATURE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
return RETURN_OK;
}
Tracking::Tracking() : ArcsecJsonParamBase(arcseckeys::TRACKING) {}
size_t Tracking::getSize() { return COMMAND_SIZE; }
ReturnValue_t Tracking::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::TRACKING);
offset = 2;
result = getParam(arcseckeys::THIN_LIMIT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::OUTLIER_THRESHOLD, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::OUTLIER_THRESHOLD_QUEST, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRACKER_CHOICE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
return RETURN_OK;
}
Mounting::Mounting() : ArcsecJsonParamBase(arcseckeys::MOUNTING) {}
size_t Mounting::getSize() { return COMMAND_SIZE; }
ReturnValue_t Mounting::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::MOUNTING);
offset = 2;
result = getParam(arcseckeys::qw, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::qx, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::qy, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::qz, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
return RETURN_OK;
}
Camera::Camera() : ArcsecJsonParamBase(arcseckeys::CAMERA) {}
size_t Camera::getSize() { return COMMAND_SIZE; }
ReturnValue_t Camera::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::CAMERA);
offset = 2;
result = getParam(arcseckeys::MODE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::FOCALLENGTH, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::EXPOSURE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::INTERVAL, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::OFFSET, param);
if (result != RETURN_OK) {
return result;
}
addint16(param, buffer + offset);
offset += sizeof(int16_t);
result = getParam(arcseckeys::PGAGAIN, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::ADCGAIN, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_1, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_1, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_2, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_2, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_3, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_3, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_4, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_4, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_5, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_5, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_6, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_6, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_7, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_7, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_8, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_8, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::FREQ_1, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FREQ_2, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
return RETURN_OK;
}
Blob::Blob() : ArcsecJsonParamBase(arcseckeys::BLOB) {}
size_t Blob::getSize() { return COMMAND_SIZE; }
ReturnValue_t Blob::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::BLOB);
offset = 2;
result = getParam(arcseckeys::MODE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MIN_VALUE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MIN_DISTANCE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::NEIGHBOUR_DISTANCE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::NEIGHBOUR_BRIGHT_PIXELS, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MIN_TOTAL_VALUE, param);
if (result != RETURN_OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::MAX_TOTAL_VALUE, param);
if (result != RETURN_OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::MIN_BRIGHT_NEIGHBOURS, param);
if (result != RETURN_OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::MAX_BRIGHT_NEIGHBOURS, param);
if (result != RETURN_OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::MAX_PIXEL_TO_CONSIDER, param);
if (result != RETURN_OK) {
return result;
}
adduint32(param, buffer + offset);
offset += sizeof(uint32_t);
result = getParam(arcseckeys::SIGNAL_THRESHOLD, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::DARK_THRESHOLD, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::ENABLE_HISTOGRAM, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::ENABLE_CONTRAST, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::BIN_MODE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
return RETURN_OK;
}
Centroiding::Centroiding() : ArcsecJsonParamBase(arcseckeys::CENTROIDING) {}
size_t Centroiding::getSize() { return COMMAND_SIZE; }
ReturnValue_t Centroiding::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::CENTROIDING);
offset = 2;
result = getParam(arcseckeys::ENABLE_FILTER, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MAX_QUALITY, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MIN_QUALITY, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MAX_INTENSITY, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MIN_INTENSITY, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MAX_MAGNITUDE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::GAUSSIAN_CMAX, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::GAUSSIAN_CMIN, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRANSMATRIX_00, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRANSMATRIX_01, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRANSMATRIX_10, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRANSMATRIX_11, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
return RETURN_OK;
}
Lisa::Lisa() : ArcsecJsonParamBase(arcseckeys::LISA) {}
size_t Lisa::getSize() { return COMMAND_SIZE; }
ReturnValue_t Lisa::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::LISA);
offset = 2;
result = getParam(arcseckeys::PREFILTER_DIST_THRESHOLD, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::PREFILTER_ANGLE_THRESHOLD, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FOV_WIDTH, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FOV_HEIGHT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FLOAT_STAR_LIMIT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CLOSE_STAR_LIMIT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::RATING_WEIGHT_CLOSE_STAR_COUNT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::RATING_WEIGHT_FRACTION_CLOSE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::RATING_WEIGHT_DB_STAR_COUNT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MAX_COMBINATIONS, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::NR_STARS_STOP, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::FRACTION_CLOSE_STOP, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
return RETURN_OK;
}
Matching::Matching() : ArcsecJsonParamBase(arcseckeys::MATCHING) {}
size_t Matching::getSize() { return COMMAND_SIZE; }
ReturnValue_t Matching::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::MATCHING);
offset = 2;
result = getParam(arcseckeys::SQUARED_DISTANCE_LIMIT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::SQUARED_SHIFT_LIMIT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
return RETURN_OK;
}
Validation::Validation() : ArcsecJsonParamBase(arcseckeys::VALIDATION) {}
size_t Validation::getSize() { return COMMAND_SIZE; }
ReturnValue_t Validation::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::VALIDATION);
offset = 2;
result = getParam(arcseckeys::STABLE_COUNT, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MAX_DIFFERENCE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MIN_TRACKER_CONFIDENCE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MIN_MATCHED_STARS, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
return RETURN_OK;
}
Algo::Algo() : ArcsecJsonParamBase(arcseckeys::ALGO) {}
size_t Algo::getSize() { return COMMAND_SIZE; }
ReturnValue_t Algo::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::ALGO);
offset = 2;
result = getParam(arcseckeys::MODE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::L2T_MIN_CONFIDENCE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::L2T_MIN_MATCHED, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::T2L_MIN_CONFIDENCE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::T2L_MIN_MATCHED, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
return RETURN_OK;
}

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#ifndef BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_
#define BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_
/**
* @brief This file defines a few helper classes to generate commands by means of the parameters
* defined in the arcsec json files.
* @author J. Meier
*/
#include <string>
#include "ArcsecJsonParamBase.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
/**
* @brief Generates command to set the limit parameters
*
*/
class Limits : public ArcsecJsonParamBase {
public:
Limits();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 43;
virtual ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the tracking algorithm.
*
*/
class Tracking : public ArcsecJsonParamBase {
public:
Tracking();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 15;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to set the mounting quaternion
*
*/
class Mounting : public ArcsecJsonParamBase {
public:
Mounting();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 18;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to set the mounting quaternion
*
*/
class Camera : public ArcsecJsonParamBase {
public:
Camera();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 43;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the blob algorithm
*
*/
class Blob : public ArcsecJsonParamBase {
public:
Blob();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 24;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the centroiding algorithm
*
*/
class Centroiding : public ArcsecJsonParamBase {
public:
Centroiding();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 47;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the LISA (lost in space algorithm)
*
*/
class Lisa : public ArcsecJsonParamBase {
public:
Lisa();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 48;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the matching algorithm
*
*/
class Matching : public ArcsecJsonParamBase {
public:
Matching();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 10;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the validation parameters
*
*/
class Validation : public ArcsecJsonParamBase {
public:
Validation();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 12;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates command to configure the mechanism of automatically switching between the
* LISA and other algorithms.
*
*/
class Algo : public ArcsecJsonParamBase {
public:
Algo();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 13;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_ */

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bsp_q7s/devices/startracker/StrHelper.cpp Normal file
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#include "StrHelper.h"
#include <filesystem>
#include <fstream>
#include "mission/utility/Timestamp.h"
StrHelper::StrHelper(object_id_t objectId) : SystemObject(objectId) {}
StrHelper::~StrHelper() {}
ReturnValue_t StrHelper::initialize() {
sdcMan = SdCardManager::instance();
if (sdcMan == nullptr) {
sif::warning << "StrHelper::initialize: Invalid SD Card Manager" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
ReturnValue_t result = RETURN_OK;
semaphore.acquire();
while (true) {
switch (internalState) {
case InternalState::IDLE: {
semaphore.acquire();
break;
}
case InternalState::UPLOAD_IMAGE: {
result = performImageUpload();
if (result == RETURN_OK) {
triggerEvent(IMAGE_UPLOAD_SUCCESSFUL);
} else {
triggerEvent(IMAGE_UPLOAD_FAILED);
}
internalState = InternalState::IDLE;
break;
}
case InternalState::DOWNLOAD_IMAGE: {
result = performImageDownload();
if (result == RETURN_OK) {
triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL);
} else {
triggerEvent(IMAGE_DOWNLOAD_FAILED);
}
internalState = InternalState::IDLE;
break;
}
case InternalState::FLASH_WRITE: {
result = performFlashWrite();
if (result == RETURN_OK) {
triggerEvent(FLASH_WRITE_SUCCESSFUL);
} else {
triggerEvent(FLASH_WRITE_FAILED);
}
internalState = InternalState::IDLE;
break;
}
case InternalState::FLASH_READ: {
result = performFlashRead();
if (result == RETURN_OK) {
triggerEvent(FLASH_READ_SUCCESSFUL);
} else {
triggerEvent(FLASH_READ_FAILED);
}
internalState = InternalState::IDLE;
break;
}
case InternalState::DOWNLOAD_FPGA_IMAGE: {
result = performFpgaDownload();
if (result == RETURN_OK) {
triggerEvent(FPGA_DOWNLOAD_SUCCESSFUL);
} else {
triggerEvent(FPGA_DOWNLOAD_FAILED);
}
internalState = InternalState::IDLE;
break;
}
case InternalState::UPLOAD_FPGA_IMAGE: {
result = performFpgaUpload();
if (result == RETURN_OK) {
triggerEvent(FPGA_UPLOAD_SUCCESSFUL);
} else {
triggerEvent(FPGA_UPLOAD_FAILED);
}
internalState = InternalState::IDLE;
break;
}
default:
sif::debug << "StrHelper::performOperation: Invalid state" << std::endl;
break;
}
}
}
ReturnValue_t StrHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
uartComIF = dynamic_cast<UartComIF*>(communicationInterface_);
if (uartComIF == nullptr) {
sif::warning << "StrHelper::initialize: Invalid uart com if" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
void StrHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
ReturnValue_t StrHelper::startImageUpload(std::string fullname) {
ReturnValue_t result = checkPath(fullname);
if (result != RETURN_OK) {
return result;
}
uploadImage.uploadFile = fullname;
if (not std::filesystem::exists(fullname)) {
return FILE_NOT_EXISTS;
}
internalState = InternalState::UPLOAD_FPGA_IMAGE;
semaphore.release();
terminate = false;
return RETURN_OK;
}
ReturnValue_t StrHelper::startImageDownload(std::string path) {
ReturnValue_t result = checkPath(path);
if (result != RETURN_OK) {
return result;
}
if (not std::filesystem::exists(path)) {
return PATH_NOT_EXISTS;
}
downloadImage.path = path;
internalState = InternalState::DOWNLOAD_IMAGE;
terminate = false;
semaphore.release();
return RETURN_OK;
}
void StrHelper::stopProcess() { terminate = true; }
void StrHelper::setDownloadImageName(std::string filename) { downloadImage.filename = filename; }
void StrHelper::setFlashReadFilename(std::string filename) { flashRead.filename = filename; }
void StrHelper::setDownloadFpgaImage(std::string filename) { fpgaDownload.fileName = filename; }
ReturnValue_t StrHelper::startFlashWrite(std::string fullname, uint8_t region, uint32_t address) {
ReturnValue_t result = checkPath(fullname);
if (result != RETURN_OK) {
return result;
}
flashWrite.fullname = fullname;
if (not std::filesystem::exists(flashWrite.fullname)) {
return FILE_NOT_EXISTS;
}
flashWrite.address = address;
flashWrite.region = region;
internalState = InternalState::FLASH_WRITE;
semaphore.release();
terminate = false;
return RETURN_OK;
}
ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t region, uint32_t address,
uint32_t length) {
ReturnValue_t result = checkPath(path);
if (result != RETURN_OK) {
return result;
}
flashRead.path = path;
if (not std::filesystem::exists(flashRead.path)) {
return FILE_NOT_EXISTS;
}
flashRead.address = address;
flashRead.region = region;
flashRead.size = length;
internalState = InternalState::FLASH_READ;
semaphore.release();
terminate = false;
return RETURN_OK;
}
ReturnValue_t StrHelper::startFpgaDownload(std::string path, uint32_t startPosition,
uint32_t length) {
fpgaDownload.path = path;
fpgaDownload.startPosition = startPosition;
fpgaDownload.length = length;
internalState = InternalState::DOWNLOAD_FPGA_IMAGE;
semaphore.release();
terminate = false;
return RETURN_OK;
}
ReturnValue_t StrHelper::startFpgaUpload(std::string uploadFile) {
fpgaUpload.uploadFile = uploadFile;
internalState = InternalState::UPLOAD_FPGA_IMAGE;
semaphore.release();
terminate = false;
return RETURN_OK;
}
ReturnValue_t StrHelper::performImageDownload() {
ReturnValue_t result;
struct DownloadActionRequest downloadReq;
uint32_t size = 0;
uint32_t retries = 0;
Timestamp timestamp;
std::string image = downloadImage.path + "/" + timestamp.str() + downloadImage.filename;
std::ofstream file(image, std::ios_base::app | std::ios_base::out);
if (not std::filesystem::exists(image)) {
return FILE_CREATION_FAILED;
}
downloadReq.position = 0;
while (downloadReq.position < ImageDownload::LAST_POSITION) {
if (terminate) {
return RETURN_OK;
}
arc_pack_download_action_req(&downloadReq, commandBuffer, &size);
result = sendAndRead(size, downloadReq.position);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
result = checkActionReply();
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
result = checkReplyPosition(downloadReq.position);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + IMAGE_DATA_OFFSET),
IMAGE_DATA_SIZE);
downloadReq.position++;
retries = 0;
}
file.close();
return RETURN_OK;
}
ReturnValue_t StrHelper::performImageUpload() {
ReturnValue_t result = RETURN_OK;
uint32_t size = 0;
uint32_t imageSize = 0;
struct UploadActionRequest uploadReq;
uploadReq.position = 0;
std::memset(&uploadReq.data, 0, sizeof(uploadReq.data));
if (not std::filesystem::exists(uploadImage.uploadFile)) {
triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
internalState = InternalState::IDLE;
return RETURN_FAILED;
}
std::ifstream file(uploadImage.uploadFile, std::ifstream::binary);
// Set position of next character to end of file input stream
file.seekg(0, file.end);
// tellg returns position of character in input stream
imageSize = file.tellg();
while ((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) {
if (terminate) {
return RETURN_OK;
}
file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
file.read(reinterpret_cast<char*>(uploadReq.data), SIZE_IMAGE_PART);
arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
result = sendAndRead(size, uploadReq.position);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
result = checkActionReply();
if (result != RETURN_OK) {
return result;
}
uploadReq.position++;
}
std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
uint32_t remainder = imageSize - uploadReq.position * SIZE_IMAGE_PART;
file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
file.close();
uploadReq.position++;
arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
result = sendAndRead(size, uploadReq.position);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
result = checkActionReply();
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::performFlashWrite() {
ReturnValue_t result = RETURN_OK;
uint32_t size = 0;
uint32_t remainingBytes = 0;
uint32_t fileSize = 0;
struct WriteActionRequest req;
if (not std::filesystem::exists(flashWrite.fullname)) {
triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
internalState = InternalState::IDLE;
return RETURN_FAILED;
}
std::ifstream file(flashWrite.fullname, std::ifstream::binary);
file.seekg(0, file.end);
fileSize = file.tellg();
remainingBytes = fileSize;
req.region = flashWrite.region;
req.address = flashWrite.address;
req.length = MAX_FLASH_DATA;
while (remainingBytes >= MAX_FLASH_DATA) {
if (terminate) {
return RETURN_OK;
}
file.seekg(fileSize - remainingBytes, file.beg);
file.read(reinterpret_cast<char*>(req.data), MAX_FLASH_DATA);
arc_pack_write_action_req(&req, commandBuffer, &size);
result = sendAndRead(size, req.address);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
result = checkFlashActionReply(req.region, req.address, req.length);
if (result != RETURN_OK) {
return result;
}
remainingBytes = remainingBytes - MAX_FLASH_DATA;
}
file.seekg(fileSize - remainingBytes, file.beg);
file.read(reinterpret_cast<char*>(req.data), remainingBytes);
file.close();
arc_pack_write_action_req(&req, commandBuffer, &size);
result = sendAndRead(size, req.address);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
result = checkFlashActionReply(req.region, req.address, req.length);
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::performFlashRead() {
ReturnValue_t result;
struct ReadActionRequest req;
uint32_t bytesRead = 0;
uint32_t size = 0;
uint32_t retries = 0;
Timestamp timestamp;
std::string fullname = flashRead.path + "/" + timestamp.str() + flashRead.filename;
std::ofstream file(fullname, std::ios_base::app | std::ios_base::out);
if (not std::filesystem::exists(fullname)) {
return FILE_CREATION_FAILED;
}
req.region = flashRead.region;
while (bytesRead < flashRead.size) {
if (terminate) {
return RETURN_OK;
}
if ((flashRead.size - bytesRead) < MAX_FLASH_DATA) {
req.length = flashRead.size - bytesRead;
} else {
req.length = MAX_FLASH_DATA;
}
req.address = flashRead.address + bytesRead;
arc_pack_read_action_req(&req, commandBuffer, &size);
result = sendAndRead(size, req.address);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
result = checkActionReply();
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
result = checkFlashActionReply(req.region, req.address, req.length);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + FLASH_READ_DATA_OFFSET),
req.length);
bytesRead += req.length;
retries = 0;
}
file.close();
return RETURN_OK;
}
ReturnValue_t StrHelper::performFpgaDownload() {
ReturnValue_t result;
struct DownloadFPGAImageActionRequest req;
uint32_t size = 0;
uint32_t retries = 0;
Timestamp timestamp;
std::string image = fpgaDownload.path + "/" + timestamp.str() + fpgaDownload.fileName;
std::ofstream file(image, std::ios_base::app | std::ios_base::out);
if (not std::filesystem::exists(image)) {
return FILE_CREATION_FAILED;
}
req.pos = fpgaDownload.startPosition;
while (req.pos < fpgaDownload.length) {
if (terminate) {
return RETURN_OK;
}
if (fpgaDownload.length - req.pos >= FpgaDownload::MAX_DATA) {
req.length = FpgaDownload::MAX_DATA;
} else {
req.length = fpgaDownload.length - req.pos;
}
arc_pack_downloadfpgaimage_action_req(&req, commandBuffer, &size);
result = sendAndRead(size, req.pos);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
result = checkFpgaActionReply(req.pos, req.length);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + FpgaDownload::DATA_OFFSET),
req.length);
req.pos += req.length;
retries = 0;
}
file.close();
return RETURN_OK;
}
ReturnValue_t StrHelper::performFpgaUpload() {
ReturnValue_t result = RETURN_OK;
uint32_t commandSize = 0;
uint32_t bytesUploaded = 0;
uint32_t fileSize = 0;
struct UploadFPGAImageActionRequest req;
if (not std::filesystem::exists(fpgaUpload.uploadFile)) {
triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
internalState = InternalState::IDLE;
return RETURN_FAILED;
}
std::ifstream file(flashWrite.fullname, std::ifstream::binary);
file.seekg(0, file.end);
fileSize = file.tellg();
req.pos = 0;
while (bytesUploaded <= fileSize) {
if (terminate) {
return RETURN_OK;
}
if (fileSize - bytesUploaded > FpgaUpload::MAX_DATA) {
req.length = FpgaUpload::MAX_DATA;
} else {
req.length = fileSize - bytesUploaded;
}
file.seekg(bytesUploaded, file.beg);
file.read(reinterpret_cast<char*>(req.data), req.length);
arc_pack_uploadfpgaimage_action_req(&req, commandBuffer, &commandSize);
result = sendAndRead(commandSize, req.pos);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
result = checkFpgaActionReply(req.pos, req.length);
if (result != RETURN_OK) {
return result;
}
bytesUploaded += req.length;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter) {
ReturnValue_t result = RETURN_OK;
ReturnValue_t decResult = RETURN_OK;
size_t receivedDataLen = 0;
uint8_t* receivedData = nullptr;
size_t bytesLeft = 0;
uint32_t missedReplies = 0;
datalinkLayer.encodeFrame(commandBuffer, size);
result = uartComIF->sendMessage(comCookie, datalinkLayer.getEncodedFrame(),
datalinkLayer.getEncodedLength());
if (result != RETURN_OK) {
sif::warning << "StrHelper::sendAndRead: Failed to send packet" << std::endl;
triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, parameter);
return RETURN_FAILED;
}
decResult = ArcsecDatalinkLayer::DEC_IN_PROGRESS;
while (decResult == ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
result = uartComIF->requestReceiveMessage(comCookie, StarTracker::MAX_FRAME_SIZE * 2 + 2);
if (result != RETURN_OK) {
sif::warning << "StrHelper::sendAndRead: Failed to request reply" << std::endl;
triggerEvent(STR_HELPER_REQUESTING_MSG_FAILED, result, parameter);
return RETURN_FAILED;
}
result = uartComIF->readReceivedMessage(comCookie, &receivedData, &receivedDataLen);
if (result != RETURN_OK) {
sif::warning << "StrHelper::sendAndRead: Failed to read received message" << std::endl;
triggerEvent(STR_HELPER_READING_REPLY_FAILED, result, parameter);
return RETURN_FAILED;
}
if (receivedDataLen == 0 && missedReplies < MAX_POLLS) {
missedReplies++;
continue;
} else if ((receivedDataLen == 0) && (missedReplies >= MAX_POLLS)) {
triggerEvent(STR_HELPER_NO_REPLY, parameter);
return RETURN_FAILED;
} else {
missedReplies = 0;
}
decResult = datalinkLayer.decodeFrame(receivedData, receivedDataLen, &bytesLeft);
if (bytesLeft != 0) {
// This should never happen
sif::warning << "StrHelper::sendAndRead: Bytes left after decoding" << std::endl;
triggerEvent(STR_HELPER_COM_ERROR, result, parameter);
return RETURN_FAILED;
}
}
if (decResult != RETURN_OK) {
triggerEvent(STR_HELPER_DEC_ERROR, decResult, parameter);
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::checkActionReply() {
uint8_t type = datalinkLayer.getReplyFrameType();
if (type != TMTC_ACTIONREPLY) {
sif::warning << "StrHelper::checkActionReply: Received reply with invalid type ID" << std::endl;
return INVALID_TYPE_ID;
}
uint8_t status = datalinkLayer.getStatusField();
if (status != ArcsecDatalinkLayer::STATUS_OK) {
sif::warning << "StrHelper::checkActionReply: Status failure: "
<< static_cast<unsigned int>(status) << std::endl;
return STATUS_ERROR;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) {
uint32_t receivedPosition = 0;
std::memcpy(&receivedPosition, datalinkLayer.getReply() + POS_OFFSET, sizeof(receivedPosition));
if (receivedPosition != expectedPosition) {
triggerEvent(POSITION_MISMATCH, receivedPosition);
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::checkFlashActionReply(uint8_t region_, uint32_t address_,
uint16_t length_) {
ReturnValue_t result = RETURN_OK;
result = checkActionReply();
if (result != RETURN_OK) {
return result;
}
const uint8_t* data = datalinkLayer.getReply();
uint8_t region = *(data + REGION_OFFSET);
uint32_t address;
const uint8_t* addressData = data + ADDRESS_OFFSET;
size_t size = sizeof(address);
result =
SerializeAdapter::deSerialize(&address, &addressData, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFlashActionReply: Deserialization of address failed"
<< std::endl;
return result;
}
uint16_t length = 0;
size = sizeof(length);
const uint8_t* lengthData = data + LENGTH_OFFSET;
result =
SerializeAdapter::deSerialize(&length, lengthData, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFlashActionReply: Deserialization of length failed"
<< std::endl;
}
if (region != region_) {
return REGION_MISMATCH;
}
if (address != address_) {
return ADDRESS_MISMATCH;
}
if (length != length_) {
return LENGTH_MISMATCH;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::checkFpgaActionReply(uint32_t expectedPosition, uint32_t expectedLength) {
ReturnValue_t result = RETURN_OK;
result = checkActionReply();
if (result != RETURN_OK) {
return result;
}
const uint8_t* data = datalinkLayer.getReply() + ACTION_DATA_OFFSET;
uint32_t position;
size_t size = sizeof(position);
result = SerializeAdapter::deSerialize(&position, &data, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFpgaActionReply: Deserialization of position failed"
<< std::endl;
return result;
}
uint32_t length;
size = sizeof(length);
result = SerializeAdapter::deSerialize(&length, &data, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFpgaActionReply: Deserialization of length failed"
<< std::endl;
return result;
}
return result;
}
ReturnValue_t StrHelper::checkPath(std::string name) {
if (name.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT)) ==
std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "StrHelper::checkPath: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
} else if (name.substr(0, sizeof(SdCardManager::SD_1_MOUNT_POINT)) ==
std::string(SdCardManager::SD_1_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "StrHelper::checkPath: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
}
return RETURN_OK;
}

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bsp_q7s/devices/startracker/StrHelper.h Normal file
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#ifndef BSP_Q7S_DEVICES_STRHELPER_H_
#define BSP_Q7S_DEVICES_STRHELPER_H_
#include <string>
#include "ArcsecDatalinkLayer.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "fsfw/devicehandlers/CookieIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/osal/linux/BinarySemaphore.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
extern "C" {
#include "thirdparty/arcsec_star_tracker/client/generated/actionreq.h"
#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
}
/**
* @brief Helper class for the star tracker handler to accelerate large data transfers.
*/
class StrHelper : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER;
//! [EXPORT] : [COMMENT] Image upload failed
static const Event IMAGE_UPLOAD_FAILED = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Image download failed
static const Event IMAGE_DOWNLOAD_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Uploading image to star tracker was successfulop
static const Event IMAGE_UPLOAD_SUCCESSFUL = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Image download was successful
static const Event IMAGE_DOWNLOAD_SUCCESSFUL = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Finished flash write procedure successfully
static const Event FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Finished flash read procedure successfully
static const Event FLASH_READ_SUCCESSFUL = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Flash write procedure failed
static const Event FLASH_WRITE_FAILED = MAKE_EVENT(6, severity::LOW);
//! [EXPORT] : [COMMENT] Flash read procedure failed
static const Event FLASH_READ_FAILED = MAKE_EVENT(7, severity::LOW);
//! [EXPORT] : [COMMENT] Download of FPGA image successful
static const Event FPGA_DOWNLOAD_SUCCESSFUL = MAKE_EVENT(8, severity::LOW);
//! [EXPORT] : [COMMENT] Download of FPGA image failed
static const Event FPGA_DOWNLOAD_FAILED = MAKE_EVENT(9, severity::LOW);
//! [EXPORT] : [COMMENT] Upload of FPGA image successful
static const Event FPGA_UPLOAD_SUCCESSFUL = MAKE_EVENT(10, severity::LOW);
//! [EXPORT] : [COMMENT] Upload of FPGA image failed
static const Event FPGA_UPLOAD_FAILED = MAKE_EVENT(11, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to read communication interface reply data
//! P1: Return code of failed communication interface read call
//! P1: Upload/download position for which the read call failed
static const Event STR_HELPER_READING_REPLY_FAILED = MAKE_EVENT(12, severity::LOW);
//! [EXPORT] : [COMMENT] Unexpected stop of decoding sequence
//! P1: Return code of failed communication interface read call
//! P1: Upload/download position for which the read call failed
static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(13, severity::LOW);
//! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off)
//! P1: Position of upload or download packet for which no reply was sent
static const Event STR_HELPER_NO_REPLY = MAKE_EVENT(14, severity::LOW);
//! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
// P1: Return value of decoding function
// P2: Position of upload/download packet, or address of flash write/read request
static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(15, severity::LOW);
//! [EXPORT] : [COMMENT] Position mismatch
//! P1: The expected position and thus the position for which the image upload/download failed
static const Event POSITION_MISMATCH = MAKE_EVENT(16, severity::LOW);
//! [EXPORT] : [COMMENT] Specified file does not exist
//! P1: Internal state of str helper
static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(17, severity::LOW);
//! [EXPORT] : [COMMENT] Sending packet to star tracker failed
//! P1: Return code of communication interface sendMessage function
//! P2: Position of upload/download packet, or address of flash write/read request for which
//! sending failed
static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(18, severity::LOW);
//! [EXPORT] : [COMMENT] Communication interface requesting reply failed
//! P1: Return code of failed request
//! P1: Upload/download position, or address of flash write/read request for which transmission
//! failed
static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(19, severity::LOW);
StrHelper(object_id_t objectId);
virtual ~StrHelper();
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
void setComCookie(CookieIF* comCookie_);
/**
* @brief Starts sequence to upload image to star tracker
*
* @param uploadImage_ Name including absolute path of the image to upload. Must be previously
* transferred to the OBC with the CFDP protocol.
*/
ReturnValue_t startImageUpload(std::string uploadImage_);
/**
* @brief Calling this function initiates the download of an image from the star tracker.
*
* @param path Path where downloaded image will be stored
*/
ReturnValue_t startImageDownload(std::string path);
/**
* @brief Starts the flash write procedure
*
* @param fullname Full name including absolute path of file to write to flash
* @param region Region ID of flash region to write to
* @param address Start address of flash write procedure
*/
ReturnValue_t startFlashWrite(std::string fullname, uint8_t region, uint32_t address);
/**
* @brief Starts the flash read procedure
*
* @param path Path where file with read flash data will be created
* @param region Region ID of flash region to read from
* @param address Start address of flash section to read
* @param length Number of bytes to read from flash
*/
ReturnValue_t startFlashRead(std::string path, uint8_t region, uint32_t address, uint32_t length);
/**
* @brief Starts the download of the FPGA image
*
* @param path The path where the file with the downloaded data will be created
* @param startPosition Offset in fpga image to read from
* @param length Number of bytes to dwonload from the FPGA image
*
*/
ReturnValue_t startFpgaDownload(std::string path, uint32_t startPosition, uint32_t length);
/**
* @brief Starts upload of new image to FPGA
*
* @param uploadFile Full name of file containing FPGA image data
*/
ReturnValue_t startFpgaUpload(std::string uploadFile);
/**
* @brief Can be used to interrupt a running data transfer.
*/
void stopProcess();
/**
* @brief Changes the dafault name of downloaded images
*/
void setDownloadImageName(std::string filename);
/**
* @brief Sets the name of the file which will be created to store the data read from flash
*/
void setFlashReadFilename(std::string filename);
/**
* @brief Set download FPGA image name
*/
void setDownloadFpgaImage(std::string filename);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
//! [EXPORT] : [COMMENT] SD card specified in path string not mounted
static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Specified path does not exist
static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Failed to create download image or read flash file
static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region
static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address
static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length
static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] Status field in reply signals error
static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type)
static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(0xA8);
// Size of one image part which can be sent per action request
static const size_t SIZE_IMAGE_PART = 1024;
class ImageDownload {
public:
static const uint32_t LAST_POSITION = 4095;
};
class FpgaDownload {
public:
static const uint16_t MAX_DATA = 1024;
static const uint8_t DATA_OFFSET = 10;
// Start position of fpga image part to download
uint32_t startPosition = 0;
// Length of image part to download
uint32_t length = 0;
// Path where downloaded FPGA image will be stored
std::string path;
// Name of file containing downloaded FPGA image
std::string fileName = "fpgaimage.bin";
};
FpgaDownload fpgaDownload;
class FpgaUpload {
public:
static const uint32_t MAX_DATA = 1024;
// Full name of file to upload
std::string uploadFile;
};
FpgaUpload fpgaUpload;
static const uint32_t MAX_POLLS = 10000;
static const uint8_t ACTION_DATA_OFFSET = 2;
static const uint8_t POS_OFFSET = 2;
static const uint8_t IMAGE_DATA_OFFSET = 5;
static const uint8_t FLASH_READ_DATA_OFFSET = 8;
static const uint8_t REGION_OFFSET = 2;
static const uint8_t ADDRESS_OFFSET = 3;
static const uint8_t LENGTH_OFFSET = 7;
static const size_t IMAGE_DATA_SIZE = 1024;
static const size_t MAX_FLASH_DATA = 1024;
static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3;
enum class InternalState {
IDLE,
UPLOAD_IMAGE,
DOWNLOAD_IMAGE,
FLASH_WRITE,
FLASH_READ,
DOWNLOAD_FPGA_IMAGE,
UPLOAD_FPGA_IMAGE
};
InternalState internalState = InternalState::IDLE;
ArcsecDatalinkLayer datalinkLayer;
BinarySemaphore semaphore;
class UploadImage {
public:
// Name including absolute path of image to upload
std::string uploadFile;
};
UploadImage uploadImage;
class DownloadImage {
public:
// Path where the downloaded image will be stored
std::string path;
// Default name of downloaded image, can be changed via command
std::string filename = "image.bin";
};
DownloadImage downloadImage;
class FlashWrite {
public:
// File which contains data to write when executing the flash write command
std::string fullname;
// Will be set with the flash write command
uint8_t region = 0;
// Will be set with the flash write command and specifies the start address where to write the
// flash data to
uint32_t address = 0;
};
FlashWrite flashWrite;
class FlashRead {
public:
// Path where the file containing the read data will be stored
std::string path = "";
// Default name of file containing the data read from flash, can be changed via command
std::string filename = "flashread.bin";
// Will be set with the flash read command
uint8_t region = 0;
// Will be set with the flash read command and specifies the start address of the flash section
// to read
uint32_t address = 0;
// Number of bytes to read from flash
uint32_t size = 0;
};
FlashRead flashRead;
SdCardManager* sdcMan = nullptr;
uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
bool terminate = false;
/**
* UART communication object responsible for low level access of star tracker
* Must be set by star tracker handler
*/
UartComIF* uartComIF = nullptr;
// Communication cookie. Must be set by the star tracker handler
CookieIF* comCookie = nullptr;
// Queue id of raw data receiver
MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE;
/**
* @brief Performs image uploading
*/
ReturnValue_t performImageUpload();
/**
* @brief Performs download of last taken image from the star tracker.
*
* @details Download is split over multiple packets transporting each a maximum of 1024 bytes.
* In case the download of one position fails, the same packet will be again
* requested. If the download of the packet fails CONFIG_MAX_DOWNLOAD_RETRIES times,
* the download will be stopped.
*/
ReturnValue_t performImageDownload();
/**
* @brief Handles flash write procedure
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t performFlashWrite();
/**
* @brief Sends a sequence of commands to the star tracker to read larger parts from the
* flash memory.
*/
ReturnValue_t performFlashRead();
/**
* @brief Performs the download of the FPGA image which requires to be slip over multiple
* action requests.
*/
ReturnValue_t performFpgaDownload();
/**
* @brief Performs upload of new FPGA image. Upload sequence split over multiple commands
* because one command can only transport 1024 bytes of image data.
*/
ReturnValue_t performFpgaUpload();
/**
* @brief Sends packet to the star tracker and reads reply by using the communication
* interface
*
* @param size Size of data beforehand written to the commandBuffer
* @param parameter Parameter 2 of trigger event function
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t sendAndRead(size_t size, uint32_t parameter);
/**
* @brief Checks the header (type id and status fields) of the action reply
*
* @return RETURN_OK if reply confirms success of packet transfer, otherwise REUTRN_FAILED
*/
ReturnValue_t checkActionReply();
/**
* @brief Checks the position field in a star tracker upload/download reply.
*
* @param expectedPosition Value of expected position
*
* @return RETURN_OK if received position matches expected position, otherwise RETURN_FAILED
*/
ReturnValue_t checkReplyPosition(uint32_t expectedPosition);
/**
* @brief Checks the region, address and length value of a flash write or read reply.
*
* @return RETURN_OK if values match expected values, otherwise appropriate error return
* value.
*/
ReturnValue_t checkFlashActionReply(uint8_t region_, uint32_t address_, uint16_t length_);
/**
* @brief Checks the reply to the fpga download and upload request
*
* @param expectedPosition The expected position value in the reply
* @param expectedLength The expected length field in the reply
*/
ReturnValue_t checkFpgaActionReply(uint32_t expectedPosition, uint32_t expectedLength);
/**
* @brief Checks if a path points to an sd card and whether the SD card is monuted.
*
* @return SD_NOT_MOUNTED id SD card is not mounted, otherwise RETURN_OK
*/
ReturnValue_t checkPath(std::string name);
};
#endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */

180
bsp_q7s/gpio/gpioCallbacks.cpp
View File

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

67
bsp_q7s/gpio/gpioCallbacks.h
View File

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

3
bsp_q7s/main.cpp
View File

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

170
bsp_q7s/memory/FileSystemHandler.cpp
View File

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

50
bsp_q7s/memory/FileSystemHandler.h
View File

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

259
bsp_q7s/memory/SdCardManager.cpp
View File

@ -1,28 +1,25 @@
#include "SdCardManager.h" #include "SdCardManager.h"
#include "scratchApi.h"
#include "linux/utility/utility.h"
#include "fsfw/ipc/MutexFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <unistd.h> #include <unistd.h>
#include <cstring>
#include <filesystem>
#include <fstream> #include <fstream>
#include <memory> #include <memory>
#include <filesystem>
#include <cstring> #include "fsfw/ipc/MutexFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "linux/utility/utility.h"
#include "scratchApi.h"
SdCardManager* SdCardManager::factoryInstance = nullptr; SdCardManager* SdCardManager::factoryInstance = nullptr;
SdCardManager::SdCardManager(): cmdExecutor(256) { SdCardManager::SdCardManager() : cmdExecutor(256) {}
}
SdCardManager::~SdCardManager() { SdCardManager::~SdCardManager() {}
}
void SdCardManager::create() { void SdCardManager::create() {
if(factoryInstance == nullptr) { if (factoryInstance == nullptr) {
factoryInstance = new SdCardManager(); factoryInstance = new SdCardManager();
} }
} }
@ -35,62 +32,57 @@ SdCardManager* SdCardManager::instance() {
ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard, ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
SdStatePair* statusPair) { SdStatePair* statusPair) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(doMountSdCard) { if (doMountSdCard) {
if(not blocking) { if (not blocking) {
sif::warning << "SdCardManager::switchOnSdCard: Two-step command but manager is" sif::warning << "SdCardManager::switchOnSdCard: Two-step command but manager is"
" not configured for blocking operation. " " not configured for blocking operation. "
"Forcing blocking mode.." << std::endl; "Forcing blocking mode.."
<< std::endl;
blocking = true; blocking = true;
} }
} }
std::unique_ptr<SdStatePair> sdStatusPtr; std::unique_ptr<SdStatePair> sdStatusPtr;
if(statusPair == nullptr) { if (statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>(); sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get(); statusPair = sdStatusPtr.get();
result = getSdCardActiveStatus(*statusPair); result = getSdCardActiveStatus(*statusPair);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
} }
// Not allowed, this function turns on one SD card // Not allowed, this function turns on one SD card
if(sdCard == sd::SdCard::BOTH) { if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH" sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl; << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
sd::SdState currentState; sd::SdState currentState;
if(sdCard == sd::SdCard::SLOT_0) { if (sdCard == sd::SdCard::SLOT_0) {
currentState = statusPair->first; currentState = statusPair->first;
} } else if (sdCard == sd::SdCard::SLOT_1) {
else if(sdCard == sd::SdCard::SLOT_1) {
currentState = statusPair->second; currentState = statusPair->second;
} } else {
else {
// Should not happen // Should not happen
currentState = sd::SdState::OFF; currentState = sd::SdState::OFF;
} }
if(currentState == sd::SdState::ON) { if (currentState == sd::SdState::ON) {
if(not doMountSdCard) { if (not doMountSdCard) {
return ALREADY_ON; return ALREADY_ON;
} } else {
else {
return mountSdCard(sdCard); return mountSdCard(sdCard);
} }
} } else if (currentState == sd::SdState::MOUNTED) {
else if(currentState == sd::SdState::MOUNTED) {
result = ALREADY_MOUNTED; result = ALREADY_MOUNTED;
} } else if (currentState == sd::SdState::OFF) {
else if(currentState == sd::SdState::OFF) {
result = setSdCardState(sdCard, true); result = setSdCardState(sdCard, true);
} } else {
else {
result = HasReturnvaluesIF::RETURN_FAILED; result = HasReturnvaluesIF::RETURN_FAILED;
} }
if(result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) { if (result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) {
return result; return result;
} }
@ -101,36 +93,36 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
SdStatePair* statusPair) { SdStatePair* statusPair) {
std::pair<sd::SdState, sd::SdState> active; std::pair<sd::SdState, sd::SdState> active;
ReturnValue_t result = getSdCardActiveStatus(active); ReturnValue_t result = getSdCardActiveStatus(active);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
if(doUnmountSdCard) { if (doUnmountSdCard) {
if(not blocking) { if (not blocking) {
sif::warning << "SdCardManager::switchOffSdCard: Two-step command but manager is" sif::warning << "SdCardManager::switchOffSdCard: Two-step command but manager is"
" not configured for blocking operation. Forcing blocking mode.." << std::endl; " not configured for blocking operation. Forcing blocking mode.."
<< std::endl;
blocking = true; blocking = true;
} }
} }
// Not allowed, this function turns off one SD card // Not allowed, this function turns off one SD card
if(sdCard == sd::SdCard::BOTH) { if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH" sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl; << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
if(sdCard == sd::SdCard::SLOT_0) { if (sdCard == sd::SdCard::SLOT_0) {
if(active.first == sd::SdState::OFF) { if (active.first == sd::SdState::OFF) {
return ALREADY_OFF; return ALREADY_OFF;
} }
} } else if (sdCard == sd::SdCard::SLOT_1) {
else if(sdCard == sd::SdCard::SLOT_1) { if (active.second == sd::SdState::OFF) {
if(active.second == sd::SdState::OFF) {
return ALREADY_OFF; return ALREADY_OFF;
} }
} }
if(doUnmountSdCard) { if (doUnmountSdCard) {
result = unmountSdCard(sdCard); result = unmountSdCard(sdCard);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
} }
@ -140,22 +132,20 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) { ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
using namespace std; using namespace std;
if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) { if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING; return CommandExecutor::COMMAND_PENDING;
} }
string sdstring = ""; string sdstring = "";
string statestring = ""; string statestring = "";
if(sdCard == sd::SdCard::SLOT_0) { if (sdCard == sd::SdCard::SLOT_0) {
sdstring = "0"; sdstring = "0";
} } else if (sdCard == sd::SdCard::SLOT_1) {
else if(sdCard == sd::SdCard::SLOT_1) {
sdstring = "1"; sdstring = "1";
} }
if(on) { if (on) {
currentOp = Operations::SWITCHING_ON; currentOp = Operations::SWITCHING_ON;
statestring = "on"; statestring = "on";
} } else {
else {
currentOp = Operations::SWITCHING_OFF; currentOp = Operations::SWITCHING_OFF;
statestring = "off"; statestring = "off";
} }
@ -163,7 +153,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
command << "q7hw sd set " << sdstring << " " << statestring; command << "q7hw sd set " << sdstring << " " << statestring;
cmdExecutor.load(command.str(), blocking, printCmdOutput); cmdExecutor.load(command.str(), blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute(); ReturnValue_t result = cmdExecutor.execute();
if(blocking and result != HasReturnvaluesIF::RETURN_OK) { if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState"); utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState");
} }
return result; return result;
@ -171,7 +161,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) { ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) {
using namespace std; using namespace std;
if(not filesystem::exists(SD_STATE_FILE)) { if (not filesystem::exists(SD_STATE_FILE)) {
return STATUS_FILE_NEXISTS; return STATUS_FILE_NEXISTS;
} }
@ -192,76 +182,75 @@ ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) {
ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) { ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
using namespace std; using namespace std;
if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) { if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING; return CommandExecutor::COMMAND_PENDING;
} }
if(sdCard == sd::SdCard::BOTH) { if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::mountSdCard: API does not allow sd::SdStatus::BOTH" sif::warning << "SdCardManager::mountSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl; << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
string mountDev; string mountDev;
string mountPoint; string mountPoint;
if(sdCard == sd::SdCard::SLOT_0) { if (sdCard == sd::SdCard::SLOT_0) {
mountDev = SD_0_DEV_NAME; mountDev = SD_0_DEV_NAME;
mountPoint = SD_0_MOUNT_POINT; mountPoint = SD_0_MOUNT_POINT;
} } else if (sdCard == sd::SdCard::SLOT_1) {
else if(sdCard == sd::SdCard::SLOT_1) {
mountDev = SD_1_DEV_NAME; mountDev = SD_1_DEV_NAME;
mountPoint = SD_1_MOUNT_POINT; mountPoint = SD_1_MOUNT_POINT;
} }
if(not filesystem::exists(mountDev)) { if (not filesystem::exists(mountDev)) {
sif::warning << "SdCardManager::mountSdCard: Device file does not exists. Make sure to" sif::warning << "SdCardManager::mountSdCard: Device file does not exists. Make sure to"
" turn on the SD card" << std::endl; " turn on the SD card"
<< std::endl;
return MOUNT_ERROR; return MOUNT_ERROR;
} }
if(not blocking) { if (not blocking) {
currentOp = Operations::MOUNTING; currentOp = Operations::MOUNTING;
} }
string sdMountCommand = "mount " + mountDev + " " + mountPoint; string sdMountCommand = "mount " + mountDev + " " + mountPoint;
cmdExecutor.load(sdMountCommand, blocking, printCmdOutput); cmdExecutor.load(sdMountCommand, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute(); ReturnValue_t result = cmdExecutor.execute();
if(blocking and result != HasReturnvaluesIF::RETURN_OK) { if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard"); utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
} }
return result; return result;
} }
ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) { ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) { if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING; return CommandExecutor::COMMAND_PENDING;
} }
using namespace std; using namespace std;
if(sdCard == sd::SdCard::BOTH) { if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::unmountSdCard: API does not allow sd::SdStatus::BOTH" sif::warning << "SdCardManager::unmountSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl; << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
string mountPoint; string mountPoint;
if(sdCard == sd::SdCard::SLOT_0) { if (sdCard == sd::SdCard::SLOT_0) {
mountPoint = SD_0_MOUNT_POINT; mountPoint = SD_0_MOUNT_POINT;
} } else if (sdCard == sd::SdCard::SLOT_1) {
else if(sdCard == sd::SdCard::SLOT_1) {
mountPoint = SD_1_MOUNT_POINT; mountPoint = SD_1_MOUNT_POINT;
} }
if(not filesystem::exists(mountPoint)) { if (not filesystem::exists(mountPoint)) {
sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint << sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint
"does not exist" << std::endl; << "does not exist" << std::endl;
return UNMOUNT_ERROR; return UNMOUNT_ERROR;
} }
if(filesystem::is_empty(mountPoint)) { if (filesystem::is_empty(mountPoint)) {
// The mount point will always exist, but if it is empty, that is strong hint that // The mount point will always exist, but if it is empty, that is strong hint that
// the SD card was not mounted properly. Still proceed with operation. // the SD card was not mounted properly. Still proceed with operation.
sif::warning << "SdCardManager::unmountSdCard: Mount point is empty!" << std::endl; sif::warning << "SdCardManager::unmountSdCard: Mount point is empty!" << std::endl;
} }
string sdUnmountCommand = "umount " + mountPoint; string sdUnmountCommand = "umount " + mountPoint;
if(not blocking) { if (not blocking) {
currentOp = Operations::UNMOUNTING; currentOp = Operations::UNMOUNTING;
} }
cmdExecutor.load(sdUnmountCommand, blocking, printCmdOutput); cmdExecutor.load(sdUnmountCommand, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute(); ReturnValue_t result = cmdExecutor.execute();
if(blocking and result != HasReturnvaluesIF::RETURN_OK) { if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::unmountSdCard"); utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::unmountSdCard");
} }
return result; return result;
@ -272,26 +261,27 @@ ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard p
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// Enforce blocking operation for now. Be careful to reset it when returning prematurely! // Enforce blocking operation for now. Be careful to reset it when returning prematurely!
bool resetNonBlockingState = false; bool resetNonBlockingState = false;
if(not this->blocking) { if (not this->blocking) {
blocking = true; blocking = true;
resetNonBlockingState = true; resetNonBlockingState = true;
} }
if(prefSdCard == sd::SdCard::NONE) { if (prefSdCard == sd::SdCard::NONE) {
result = getPreferredSdCard(prefSdCard); result = getPreferredSdCard(prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {} if (result != HasReturnvaluesIF::RETURN_OK) {
} }
if(statusPair == nullptr) { }
if (statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>(); sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get(); statusPair = sdStatusPtr.get();
getSdCardActiveStatus(*statusPair); getSdCardActiveStatus(*statusPair);
} }
if(statusPair->first == sd::SdState::ON) { if (statusPair->first == sd::SdState::ON) {
result = mountSdCard(prefSdCard); result = mountSdCard(prefSdCard);
} }
result = switchOnSdCard(prefSdCard, true, statusPair); result = switchOnSdCard(prefSdCard, true, statusPair);
if(resetNonBlockingState) { if (resetNonBlockingState) {
blocking = false; blocking = false;
} }
return result; return result;
@ -302,56 +292,53 @@ void SdCardManager::resetState() {
currentOp = Operations::IDLE; currentOp = Operations::IDLE;
} }
void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState> &active, void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& active,
std::string& line, uint8_t& idx, sd::SdCard& currentSd) { std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
using namespace std; using namespace std;
istringstream iss(line); istringstream iss(line);
string word; string word;
bool slotLine = false; bool slotLine = false;
bool mountLine = false; bool mountLine = false;
while(iss >> word) { while (iss >> word) {
if (word == "Slot") { if (word == "Slot") {
slotLine = true; slotLine = true;
} }
if(word == "Mounted") { if (word == "Mounted") {
mountLine = true; mountLine = true;
} }
if(slotLine) { if (slotLine) {
if (word == "1:") { if (word == "1:") {
currentSd = sd::SdCard::SLOT_1; currentSd = sd::SdCard::SLOT_1;
} }
if(word == "on") { if (word == "on") {
if(currentSd == sd::SdCard::SLOT_0) { if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::ON; active.first = sd::SdState::ON;
} } else {
else {
active.second = sd::SdState::ON; active.second = sd::SdState::ON;
} }
} } else if (word == "off") {
else if (word == "off") { if (currentSd == sd::SdCard::SLOT_0) {
if(currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::OFF; active.first = sd::SdState::OFF;
} } else {
else {
active.second = sd::SdState::OFF; active.second = sd::SdState::OFF;
} }
} }
} }
if(mountLine) { if (mountLine) {
if(currentSd == sd::SdCard::SLOT_0) { if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::MOUNTED; active.first = sd::SdState::MOUNTED;
} } else {
else {
active.second = sd::SdState::MOUNTED; active.second = sd::SdState::MOUNTED;
} }
} }
if(idx > 5) { if (idx > 5) {
sif::warning << "SdCardManager::sdCardActive: /tmp/sd_status.txt has more than 6 " sif::warning << "SdCardManager::sdCardActive: /tmp/sd_status.txt has more than 6 "
"lines and might be invalid!" << std::endl; "lines and might be invalid!"
<< std::endl;
} }
} }
idx++; idx++;
@ -360,7 +347,7 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState> &act
ReturnValue_t SdCardManager::getPreferredSdCard(sd::SdCard& sdCard) const { ReturnValue_t SdCardManager::getPreferredSdCard(sd::SdCard& sdCard) const {
uint8_t prefSdCard = 0; uint8_t prefSdCard = 0;
ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdCard); ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
sdCard = static_cast<sd::SdCard>(prefSdCard); sdCard = static_cast<sd::SdCard>(prefSdCard);
@ -368,44 +355,43 @@ ReturnValue_t SdCardManager::getPreferredSdCard(sd::SdCard& sdCard) const {
} }
ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) { ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
if(sdCard == sd::SdCard::BOTH) { if (sdCard == sd::SdCard::BOTH) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard)); return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard));
} }
ReturnValue_t SdCardManager::updateSdCardStateFile() { ReturnValue_t SdCardManager::updateSdCardStateFile() {
if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) { if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING; return CommandExecutor::COMMAND_PENDING;
} }
// Use q7hw utility and pipe the command output into the state file // Use q7hw utility and pipe the command output into the state file
std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE); std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
cmdExecutor.load(updateCmd, blocking, printCmdOutput); cmdExecutor.load(updateCmd, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute(); ReturnValue_t result = cmdExecutor.execute();
if(blocking and result != HasReturnvaluesIF::RETURN_OK) { if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard"); utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
} }
return result; return result;
} }
std::string SdCardManager::getCurrentMountPrefix(sd::SdCard prefSdCard) { std::string SdCardManager::getCurrentMountPrefix(sd::SdCard prefSdCard) {
if(prefSdCard == sd::SdCard::NONE) { if (prefSdCard == sd::SdCard::NONE) {
ReturnValue_t result = getPreferredSdCard(prefSdCard); ReturnValue_t result = getPreferredSdCard(prefSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return SD_0_MOUNT_POINT; return SD_0_MOUNT_POINT;
} }
} }
if(prefSdCard == sd::SdCard::SLOT_0) { if (prefSdCard == sd::SdCard::SLOT_0) {
return SD_0_MOUNT_POINT; return SD_0_MOUNT_POINT;
} } else {
else {
return SD_1_MOUNT_POINT; return SD_1_MOUNT_POINT;
} }
} }
SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations &currentOp) { SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
CommandExecutor::States state = cmdExecutor.getCurrentState(); CommandExecutor::States state = cmdExecutor.getCurrentState();
if(state == CommandExecutor::States::IDLE or state == CommandExecutor::States::COMMAND_LOADED) { if (state == CommandExecutor::States::IDLE or state == CommandExecutor::States::COMMAND_LOADED) {
return OpStatus::IDLE; return OpStatus::IDLE;
} }
currentOp = this->currentOp; currentOp = this->currentOp;
@ -416,27 +402,27 @@ SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations &currentOp) {
timer.setTimer(100); timer.setTimer(100);
uint32_t remainingTimeMs = 0; uint32_t remainingTimeMs = 0;
#endif #endif
while(true) { while (true) {
ReturnValue_t result = cmdExecutor.check(bytesRead); ReturnValue_t result = cmdExecutor.check(bytesRead);
// This timer can prevent deadlocks due to missconfigurations // This timer can prevent deadlocks due to missconfigurations
#if OBSW_ENABLE_TIMERS == 1 #if OBSW_ENABLE_TIMERS == 1
timer.getTimer(&remainingTimeMs); timer.getTimer(&remainingTimeMs);
if(remainingTimeMs == 0) { if (remainingTimeMs == 0) {
sif::error << "SdCardManager::checkCurrentOp: Timeout!" << std::endl; sif::error << "SdCardManager::checkCurrentOp: Timeout!" << std::endl;
return OpStatus::FAIL; return OpStatus::FAIL;
} }
#endif #endif
switch(result) { switch (result) {
case(CommandExecutor::BYTES_READ): { case (CommandExecutor::BYTES_READ): {
continue; continue;
} }
case(CommandExecutor::EXECUTION_FINISHED): { case (CommandExecutor::EXECUTION_FINISHED): {
return OpStatus::SUCCESS; return OpStatus::SUCCESS;
} }
case(HasReturnvaluesIF::RETURN_OK): { case (HasReturnvaluesIF::RETURN_OK): {
return OpStatus::ONGOING; return OpStatus::ONGOING;
} }
case(HasReturnvaluesIF::RETURN_FAILED): { case (HasReturnvaluesIF::RETURN_FAILED): {
return OpStatus::FAIL; return OpStatus::FAIL;
} }
default: { default: {
@ -446,12 +432,31 @@ SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations &currentOp) {
} }
} }
void SdCardManager::setBlocking(bool blocking) { void SdCardManager::setBlocking(bool blocking) { this->blocking = blocking; }
this->blocking = blocking;
void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = print; }
bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
SdCardManager::SdStatePair active;
ReturnValue_t result = this->getSdCardActiveStatus(active);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "SdCardManager::isSdCardMounted: Failed to get SD card active state";
return false;
}
if (sdCard == sd::SLOT_0) {
if (active.first == sd::MOUNTED) {
return true;
} else {
return false;
}
} else if (sdCard == sd::SLOT_1) {
if (active.second == sd::MOUNTED) {
return true;
} else {
return false;
}
} else {
sif::debug << "SdCardManager::isSdCardMounted: Unknown SD card specified" << std::endl;
}
return false;
} }
void SdCardManager::setPrintCommandOutput(bool print) {
this->printCmdOutput = print;
}

66
bsp_q7s/memory/SdCardManager.h
View File

@ -1,21 +1,20 @@
#ifndef BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_ #ifndef BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_
#define BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_ #define BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_
#include "fsfw_hal/linux/CommandExecutor.h"
#include "definitions.h"
#include "returnvalues/classIds.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/events/Event.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <poll.h> #include <poll.h>
#include <cstdint>
#include <utility>
#include <string>
#include <optional>
#include <array> #include <array>
#include <cstdint>
#include <optional>
#include <string>
#include <utility>
#include "definitions.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/events/Event.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw_hal/linux/CommandExecutor.h"
#include "returnvalues/classIds.h"
class MutexIF; class MutexIF;
@ -25,41 +24,26 @@ class MutexIF;
*/ */
class SdCardManager { class SdCardManager {
friend class SdCardAccess; friend class SdCardAccess;
public:
enum class Operations {
SWITCHING_ON,
SWITCHING_OFF,
MOUNTING,
UNMOUNTING,
IDLE
};
enum class OpStatus { public:
IDLE, enum class Operations { SWITCHING_ON, SWITCHING_OFF, MOUNTING, UNMOUNTING, IDLE };
TIMEOUT,
ONGOING, enum class OpStatus { IDLE, TIMEOUT, ONGOING, SUCCESS, FAIL };
SUCCESS,
FAIL
};
using SdStatePair = std::pair<sd::SdState, sd::SdState>; using SdStatePair = std::pair<sd::SdState, sd::SdState>;
static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER; static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;
static constexpr ReturnValue_t OP_ONGOING = static constexpr ReturnValue_t OP_ONGOING = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0); static constexpr ReturnValue_t ALREADY_ON = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
static constexpr ReturnValue_t ALREADY_ON =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
static constexpr ReturnValue_t ALREADY_MOUNTED = static constexpr ReturnValue_t ALREADY_MOUNTED =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2); HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
static constexpr ReturnValue_t ALREADY_OFF = static constexpr ReturnValue_t ALREADY_OFF = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
static constexpr ReturnValue_t STATUS_FILE_NEXISTS = static constexpr ReturnValue_t STATUS_FILE_NEXISTS =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 10); HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 10);
static constexpr ReturnValue_t STATUS_FILE_FORMAT_INVALID = static constexpr ReturnValue_t STATUS_FILE_FORMAT_INVALID =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 11); HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 11);
static constexpr ReturnValue_t MOUNT_ERROR = static constexpr ReturnValue_t MOUNT_ERROR = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 12);
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 12);
static constexpr ReturnValue_t UNMOUNT_ERROR = static constexpr ReturnValue_t UNMOUNT_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 13); HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 13);
static constexpr ReturnValue_t SYSTEM_CALL_ERROR = static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
@ -195,7 +179,17 @@ public:
void setBlocking(bool blocking); void setBlocking(bool blocking);
void setPrintCommandOutput(bool print); void setPrintCommandOutput(bool print);
private:
/**
* @brief Checks if an SD card is mounted
*
* @param sdCard The SD crad to check
*
* @return true if mounted, otherwise false
*/
bool isSdCardMounted(sd::SdCard sdCard);
private:
CommandExecutor cmdExecutor; CommandExecutor cmdExecutor;
Operations currentOp = Operations::IDLE; Operations currentOp = Operations::IDLE;
bool blocking = false; bool blocking = false;

13
bsp_q7s/memory/definitions.h
View File

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

11
bsp_q7s/memory/scratchApi.cpp
View File

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

42
bsp_q7s/memory/scratchApi.h
View File

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

6
bsp_q7s/simple/simple.cpp
View File

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

8
bsp_q7s/spi/Q7sSpiComIF.cpp
View File

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

5
bsp_q7s/spi/Q7sSpiComIF.h
View File

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

5
common/config/commonClassIds.h
View File

@ -19,10 +19,13 @@ enum commonClassIds: uint8_t {
CCSDS_IP_CORE_BRIDGE, //IPCI CCSDS_IP_CORE_BRIDGE, //IPCI
PTME, //PTME PTME, //PTME
PLOC_UPDATER, //PLUD PLOC_UPDATER, //PLUD
STR_HELPER, //STRHLP
GOM_SPACE_HANDLER, //GOMS GOM_SPACE_HANDLER, //GOMS
PLOC_MEMORY_DUMPER, //PLMEMDUMP PLOC_MEMORY_DUMPER, //PLMEMDUMP
PDEC_HANDLER, //PDEC PDEC_HANDLER, //PDEC
CCSDS_HANDLER, //PDEC CCSDS_HANDLER, //CCSDS
ARCSEC_JSON_BASE, //JSONBASE
NVM_PARAM_BASE, //NVMB
COMMON_CLASS_ID_END // [EXPORT] : [END] COMMON_CLASS_ID_END // [EXPORT] : [END]
}; };

8
common/config/commonObjects.h
View File

@ -79,18 +79,18 @@ enum commonObjects: uint32_t {
SUS_12 = 0x44120043, SUS_12 = 0x44120043,
SUS_13 = 0x44120044, SUS_13 = 0x44120044,
GPS0_HANDLER = 0x44130045, GPS_CONTROLLER = 0x44130045,
GPS1_HANDLER = 0x44130146,
RW1 = 0x44120047, RW1 = 0x44120047,
RW2 = 0x44120148, RW2 = 0x44120148,
RW3 = 0x44120249, RW3 = 0x44120249,
RW4 = 0x44120350, RW4 = 0x44120350,
START_TRACKER = 0x44130001, STAR_TRACKER = 0x44130001,
PLOC_UPDATER = 0x44330000, PLOC_UPDATER = 0x44330000,
PLOC_MEMORY_DUMPER = 0x44330001 PLOC_MEMORY_DUMPER = 0x44330001,
STR_HELPER = 0x44330002
}; };
} }

1
common/config/commonSubsystemIds.h
View File

@ -18,6 +18,7 @@ enum: uint8_t {
PLOC_UPDATER = 117, PLOC_UPDATER = 117,
PLOC_MEMORY_DUMPER = 118, PLOC_MEMORY_DUMPER = 118,
PDEC_HANDLER = 119, PDEC_HANDLER = 119,
STR_HELPER = 120,
COMMON_SUBSYSTEM_ID_END COMMON_SUBSYSTEM_ID_END
}; };
} }

6
common/config/devConf.h
View File

@ -12,15 +12,15 @@ namespace spi {
// Default values, changing them is not supported for now // Default values, changing them is not supported for now
static constexpr uint32_t DEFAULT_LIS3_SPEED = 976'000; static constexpr uint32_t DEFAULT_LIS3_SPEED = 976'000;
static constexpr uint32_t LIS3_TRANSITION_DELAY = 10000; static constexpr uint32_t LIS3_TRANSITION_DELAY = 5000;
static constexpr spi::SpiModes DEFAULT_LIS3_MODE = spi::SpiModes::MODE_3; static constexpr spi::SpiModes DEFAULT_LIS3_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_RM3100_SPEED = 976'000; static constexpr uint32_t DEFAULT_RM3100_SPEED = 976'000;
static constexpr uint32_t RM3100_TRANSITION_DELAY = 10000; static constexpr uint32_t RM3100_TRANSITION_DELAY = 5000;
static constexpr spi::SpiModes DEFAULT_RM3100_MODE = spi::SpiModes::MODE_3; static constexpr spi::SpiModes DEFAULT_RM3100_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_L3G_SPEED = 976'000; static constexpr uint32_t DEFAULT_L3G_SPEED = 976'000;
static constexpr uint32_t L3G_TRANSITION_DELAY = 10000; static constexpr uint32_t L3G_TRANSITION_DELAY = 5000;
static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3; static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000; static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000;

2
fsfw

@ -1 +1 @@
Subproject commit a45fb1bb1ff839c487581e1b787db966a1cf80cb Subproject commit c1e0bcee6db652d6c474c87a4099e61ecf86b694

260
generators/bsp_q7s_events.csv
View File

@ -1,120 +1,140 @@
2200;STORE_SEND_WRITE_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h 2200;STORE_SEND_WRITE_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2201;STORE_WRITE_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h 2201;STORE_WRITE_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2202;STORE_SEND_READ_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h 2202;STORE_SEND_READ_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2203;STORE_READ_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h 2203;STORE_READ_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2204;UNEXPECTED_MSG;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h 2204;UNEXPECTED_MSG;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2205;STORING_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h 2205;STORING_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2206;TM_DUMP_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h 2206;TM_DUMP_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2207;STORE_INIT_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h 2207;STORE_INIT_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2208;STORE_INIT_EMPTY;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h 2208;STORE_INIT_EMPTY;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2209;STORE_CONTENT_CORRUPTED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h 2209;STORE_CONTENT_CORRUPTED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2210;STORE_INITIALIZE;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h 2210;STORE_INITIALIZE;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2211;INIT_DONE;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h 2211;INIT_DONE;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2212;DUMP_FINISHED;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h 2212;DUMP_FINISHED;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2213;DELETION_FINISHED;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h 2213;DELETION_FINISHED;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2214;DELETION_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h 2214;DELETION_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2215;AUTO_CATALOGS_SENDING_FAILED;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h 2215;AUTO_CATALOGS_SENDING_FAILED;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2600;GET_DATA_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h 2600;GET_DATA_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h
2601;STORE_DATA_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h 2601;STORE_DATA_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h
2800;DEVICE_BUILDING_COMMAND_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h 2800;DEVICE_BUILDING_COMMAND_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2801;DEVICE_SENDING_COMMAND_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h 2801;DEVICE_SENDING_COMMAND_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2802;DEVICE_REQUESTING_REPLY_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h 2802;DEVICE_REQUESTING_REPLY_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2803;DEVICE_READING_REPLY_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h 2803;DEVICE_READING_REPLY_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2804;DEVICE_INTERPRETING_REPLY_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h 2804;DEVICE_INTERPRETING_REPLY_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2805;DEVICE_MISSED_REPLY;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h 2805;DEVICE_MISSED_REPLY;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2806;DEVICE_UNKNOWN_REPLY;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h 2806;DEVICE_UNKNOWN_REPLY;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2807;DEVICE_UNREQUESTED_REPLY;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h 2807;DEVICE_UNREQUESTED_REPLY;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2808;INVALID_DEVICE_COMMAND;LOW;Indicates a SW bug in child class.;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h 2808;INVALID_DEVICE_COMMAND;LOW;Indicates a SW bug in child class.;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2809;MONITORING_LIMIT_EXCEEDED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h 2809;MONITORING_LIMIT_EXCEEDED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
2810;MONITORING_AMBIGUOUS;HIGH;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h 2810;MONITORING_AMBIGUOUS;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
4201;FUSE_CURRENT_HIGH;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/Fuse.h 4201;FUSE_CURRENT_HIGH;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
4202;FUSE_WENT_OFF;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/Fuse.h 4202;FUSE_WENT_OFF;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
4204;POWER_ABOVE_HIGH_LIMIT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/Fuse.h 4204;POWER_ABOVE_HIGH_LIMIT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
4205;POWER_BELOW_LOW_LIMIT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/Fuse.h 4205;POWER_BELOW_LOW_LIMIT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
4300;SWITCH_WENT_OFF;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/PowerSwitchIF.h 4300;SWITCH_WENT_OFF;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/PowerSwitchIF.h
5000;HEATER_ON;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h 5000;HEATER_ON;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
5001;HEATER_OFF;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h 5001;HEATER_OFF;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
5002;HEATER_TIMEOUT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h 5002;HEATER_TIMEOUT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
5003;HEATER_STAYED_ON;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h 5003;HEATER_STAYED_ON;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
5004;HEATER_STAYED_OFF;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h 5004;HEATER_STAYED_OFF;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
5200;TEMP_SENSOR_HIGH;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h 5200;TEMP_SENSOR_HIGH;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
5201;TEMP_SENSOR_LOW;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h 5201;TEMP_SENSOR_LOW;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
5202;TEMP_SENSOR_GRADIENT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h 5202;TEMP_SENSOR_GRADIENT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
5901;COMPONENT_TEMP_LOW;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h 5901;COMPONENT_TEMP_LOW;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
5902;COMPONENT_TEMP_HIGH;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h 5902;COMPONENT_TEMP_HIGH;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
5903;COMPONENT_TEMP_OOL_LOW;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h 5903;COMPONENT_TEMP_OOL_LOW;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
5904;COMPONENT_TEMP_OOL_HIGH;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h 5904;COMPONENT_TEMP_OOL_HIGH;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
5905;TEMP_NOT_IN_OP_RANGE;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h 5905;TEMP_NOT_IN_OP_RANGE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
7101;FDIR_CHANGED_STATE;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h 7101;FDIR_CHANGED_STATE;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
7102;FDIR_STARTS_RECOVERY;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h 7102;FDIR_STARTS_RECOVERY;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
7103;FDIR_TURNS_OFF_DEVICE;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h 7103;FDIR_TURNS_OFF_DEVICE;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
7201;MONITOR_CHANGED_STATE;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h 7201;MONITOR_CHANGED_STATE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
7202;VALUE_BELOW_LOW_LIMIT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h 7202;VALUE_BELOW_LOW_LIMIT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
7203;VALUE_ABOVE_HIGH_LIMIT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h 7203;VALUE_ABOVE_HIGH_LIMIT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
7204;VALUE_OUT_OF_RANGE;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h 7204;VALUE_OUT_OF_RANGE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
7301;SWITCHING_TM_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datapool/HkSwitchHelper.h 7301;SWITCHING_TM_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datapool/HkSwitchHelper.h
7400;CHANGING_MODE;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h 7400;CHANGING_MODE;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
7401;MODE_INFO;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h 7401;MODE_INFO;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
7402;FALLBACK_FAILED;HIGH;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h 7402;FALLBACK_FAILED;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
7403;MODE_TRANSITION_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h 7403;MODE_TRANSITION_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
7404;CANT_KEEP_MODE;HIGH;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h 7404;CANT_KEEP_MODE;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
7405;OBJECT_IN_INVALID_MODE;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h 7405;OBJECT_IN_INVALID_MODE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
7406;FORCING_MODE;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h 7406;FORCING_MODE;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
7407;MODE_CMD_REJECTED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h 7407;MODE_CMD_REJECTED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
7506;HEALTH_INFO;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h 7506;HEALTH_INFO;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
7507;CHILD_CHANGED_HEALTH;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h 7507;CHILD_CHANGED_HEALTH;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
7508;CHILD_PROBLEMS;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h 7508;CHILD_PROBLEMS;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
7509;OVERWRITING_HEALTH;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h 7509;OVERWRITING_HEALTH;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
7510;TRYING_RECOVERY;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h 7510;TRYING_RECOVERY;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
7511;RECOVERY_STEP;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h 7511;RECOVERY_STEP;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
7512;RECOVERY_DONE;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h 7512;RECOVERY_DONE;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
7900;RF_AVAILABLE;INFO;A RF available signal was detected. P1: raw RFA state, P2: 0;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h 7900;RF_AVAILABLE;INFO;A RF available signal was detected. P1: raw RFA state, P2: 0;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
7901;RF_LOST;INFO;A previously found RF available signal was lost. P1: raw RFA state, P2: 0;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h 7901;RF_LOST;INFO;A previously found RF available signal was lost. P1: raw RFA state, P2: 0;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
7902;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h 7902;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
7903;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h 7903;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
7905;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h 7905;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
8900;CLOCK_SET;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h 8900;CLOCK_SET;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h
8901;CLOCK_SET_FAILURE;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h 8901;CLOCK_SET_FAILURE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h
9700;TEST;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/pus/Service17Test.h 9700;TEST;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/pus/Service17Test.h
10600;CHANGE_OF_SETUP_PARAMETER;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h 10600;CHANGE_OF_SETUP_PARAMETER;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
10900;GPIO_PULL_HIGH_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h 10900;GPIO_PULL_HIGH_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
10901;GPIO_PULL_LOW_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h 10901;GPIO_PULL_LOW_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
10902;SWITCH_ALREADY_ON;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h 10902;SWITCH_ALREADY_ON;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
10903;SWITCH_ALREADY_OFF;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h 10903;SWITCH_ALREADY_OFF;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
10904;MAIN_SWITCH_TIMEOUT;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h 10904;MAIN_SWITCH_TIMEOUT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
11000;MAIN_SWITCH_ON_TIMEOUT;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h 11000;MAIN_SWITCH_ON_TIMEOUT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
11001;MAIN_SWITCH_OFF_TIMEOUT;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h 11001;MAIN_SWITCH_OFF_TIMEOUT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
11002;DEPLOYMENT_FAILED;HIGH;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h 11002;DEPLOYMENT_FAILED;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
11003;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h 11003;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
11004;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h 11004;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
11101;MEMORY_READ_RPT_CRC_FAILURE;LOW;;/home/eive/EIVE/Robin/eive-obsw/mission/devices/PlocMPSoCHandler.h 11101;MEMORY_READ_RPT_CRC_FAILURE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
11102;ACK_FAILURE;LOW;;/home/eive/EIVE/Robin/eive-obsw/mission/devices/PlocMPSoCHandler.h 11102;ACK_FAILURE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
11103;EXE_FAILURE;LOW;;/home/eive/EIVE/Robin/eive-obsw/mission/devices/PlocMPSoCHandler.h 11103;EXE_FAILURE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
11104;CRC_FAILURE_EVENT;LOW;;/home/eive/EIVE/Robin/eive-obsw/mission/devices/PlocMPSoCHandler.h 11104;CRC_FAILURE_EVENT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
11201;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h 11201;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
11202;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h 11202;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
11203;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h 11203;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
11204;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h 11204;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
11205;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h 11205;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
11206;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h 11206;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
11207;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h 11207;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
11208;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h 11208;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
11301;ERROR_STATE;HIGH;Reaction wheel signals an error state;/home/eive/EIVE/Robin/eive-obsw/mission/devices/RwHandler.h 11301;ERROR_STATE;HIGH;Reaction wheel signals an error state;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/RwHandler.h
11501;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h 11501;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
11502;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h 11502;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
11503;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h 11503;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
11504;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h 11504;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
11600;SANITIZATION_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/memory/SdCardManager.h 11600;SANITIZATION_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/memory/SdCardManager.h
11700;UPDATE_FILE_NOT_EXISTS;LOW;;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h 11700;UPDATE_FILE_NOT_EXISTS;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
11701;ACTION_COMMANDING_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h 11701;ACTION_COMMANDING_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
11702;UPDATE_AVAILABLE_FAILED;LOW;Supervisor handler replied action message indicating a command execution failure of the update available command;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h 11702;UPDATE_AVAILABLE_FAILED;LOW;Supervisor handler replied action message indicating a command execution failure of the update available command;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
11703;UPDATE_TRANSFER_FAILED;LOW;Supervisor handler failed to transfer an update space packet. P1: Parameter holds the number of update packets already sent (inclusive the failed packet);/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h 11703;UPDATE_TRANSFER_FAILED;LOW;Supervisor handler failed to transfer an update space packet. P1: Parameter holds the number of update packets already sent (inclusive the failed packet);C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
11704;UPDATE_VERIFY_FAILED;LOW;Supervisor failed to execute the update verify command.;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h 11704;UPDATE_VERIFY_FAILED;LOW;Supervisor failed to execute the update verify command.;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
11705;UPDATE_FINISHED;INFO;MPSoC update successful completed;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h 11705;UPDATE_FINISHED;INFO;MPSoC update successful completed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
11800;SEND_MRAM_DUMP_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocMemoryDumper.h 11800;SEND_MRAM_DUMP_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h
11801;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocMemoryDumper.h 11801;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h
11802;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocMemoryDumper.h 11802;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h
11901;INVALID_TC_FRAME;HIGH;;/home/eive/EIVE/Robin/eive-obsw/linux/obc/PdecHandler.h 11901;INVALID_TC_FRAME;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
11902;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;/home/eive/EIVE/Robin/eive-obsw/linux/obc/PdecHandler.h 11902;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
11903;CARRIER_LOCK;INFO;Carrier lock detected;/home/eive/EIVE/Robin/eive-obsw/linux/obc/PdecHandler.h 11903;CARRIER_LOCK;INFO;Carrier lock detected;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
11904;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);/home/eive/EIVE/Robin/eive-obsw/linux/obc/PdecHandler.h 11904;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
12000;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12001;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12002;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12003;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12004;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12005;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12006;FLASH_WRITE_FAILED;LOW;Flash write procedure failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12007;FLASH_READ_FAILED;LOW;Flash read procedure failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12008;FPGA_DOWNLOAD_SUCCESSFUL;LOW;Download of FPGA image successful;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12009;FPGA_DOWNLOAD_FAILED;LOW;Download of FPGA image failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12010;FPGA_UPLOAD_SUCCESSFUL;LOW;Upload of FPGA image successful;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12011;FPGA_UPLOAD_FAILED;LOW;Upload of FPGA image failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12012;STR_HELPER_READING_REPLY_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12013;STR_HELPER_COM_ERROR;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12014;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off)P1: Position of upload or download packet for which no reply was sent;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12015;STR_HELPER_DEC_ERROR;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12016;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12017;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not existP1: Internal state of str helper;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12018;STR_HELPER_SENDING_PACKET_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
12019;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h

1 2200 STORE_SEND_WRITE_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
2 2201 STORE_WRITE_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
3 2202 STORE_SEND_READ_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
4 2203 STORE_READ_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
5 2204 UNEXPECTED_MSG LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
6 2205 STORING_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
7 2206 TM_DUMP_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
8 2207 STORE_INIT_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
9 2208 STORE_INIT_EMPTY INFO C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
10 2209 STORE_CONTENT_CORRUPTED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
11 2210 STORE_INITIALIZE INFO C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
12 2211 INIT_DONE INFO C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
13 2212 DUMP_FINISHED INFO C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
14 2213 DELETION_FINISHED INFO C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
15 2214 DELETION_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
16 2215 AUTO_CATALOGS_SENDING_FAILED INFO C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
17 2600 GET_DATA_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h
18 2601 STORE_DATA_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h
19 2800 DEVICE_BUILDING_COMMAND_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
20 2801 DEVICE_SENDING_COMMAND_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
21 2802 DEVICE_REQUESTING_REPLY_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
22 2803 DEVICE_READING_REPLY_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
23 2804 DEVICE_INTERPRETING_REPLY_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
24 2805 DEVICE_MISSED_REPLY LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
25 2806 DEVICE_UNKNOWN_REPLY LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
26 2807 DEVICE_UNREQUESTED_REPLY LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
27 2808 INVALID_DEVICE_COMMAND LOW Indicates a SW bug in child class. C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
28 2809 MONITORING_LIMIT_EXCEEDED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
29 2810 MONITORING_AMBIGUOUS HIGH C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
30 4201 FUSE_CURRENT_HIGH LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/power/Fuse.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
31 4202 FUSE_WENT_OFF LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/power/Fuse.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
32 4204 POWER_ABOVE_HIGH_LIMIT LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/power/Fuse.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
33 4205 POWER_BELOW_LOW_LIMIT LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/power/Fuse.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
34 4300 SWITCH_WENT_OFF LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/power/PowerSwitchIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/PowerSwitchIF.h
35 5000 HEATER_ON INFO C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
36 5001 HEATER_OFF INFO C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
37 5002 HEATER_TIMEOUT LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
38 5003 HEATER_STAYED_ON LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
39 5004 HEATER_STAYED_OFF LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
40 5200 TEMP_SENSOR_HIGH LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
41 5201 TEMP_SENSOR_LOW LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
42 5202 TEMP_SENSOR_GRADIENT LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
43 5901 COMPONENT_TEMP_LOW LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
44 5902 COMPONENT_TEMP_HIGH LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
45 5903 COMPONENT_TEMP_OOL_LOW LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
46 5904 COMPONENT_TEMP_OOL_HIGH LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
47 5905 TEMP_NOT_IN_OP_RANGE LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
48 7101 FDIR_CHANGED_STATE INFO C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
49 7102 FDIR_STARTS_RECOVERY MEDIUM C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
50 7103 FDIR_TURNS_OFF_DEVICE MEDIUM C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
51 7201 MONITOR_CHANGED_STATE LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
52 7202 VALUE_BELOW_LOW_LIMIT LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
53 7203 VALUE_ABOVE_HIGH_LIMIT LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
54 7204 VALUE_OUT_OF_RANGE LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
55 7301 SWITCHING_TM_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/datapool/HkSwitchHelper.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datapool/HkSwitchHelper.h
56 7400 CHANGING_MODE INFO C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
57 7401 MODE_INFO INFO C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
58 7402 FALLBACK_FAILED HIGH C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
59 7403 MODE_TRANSITION_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
60 7404 CANT_KEEP_MODE HIGH C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
61 7405 OBJECT_IN_INVALID_MODE LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
62 7406 FORCING_MODE MEDIUM C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
63 7407 MODE_CMD_REJECTED LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
64 7506 HEALTH_INFO INFO C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
65 7507 CHILD_CHANGED_HEALTH INFO C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
66 7508 CHILD_PROBLEMS LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
67 7509 OVERWRITING_HEALTH LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
68 7510 TRYING_RECOVERY MEDIUM C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
69 7511 RECOVERY_STEP MEDIUM C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
70 7512 RECOVERY_DONE MEDIUM C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
71 7900 RF_AVAILABLE INFO A RF available signal was detected. P1: raw RFA state, P2: 0 C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
72 7901 RF_LOST INFO A previously found RF available signal was lost. P1: raw RFA state, P2: 0 C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
73 7902 BIT_LOCK INFO A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0 C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
74 7903 BIT_LOCK_LOST INFO A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0 C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
75 7905 FRAME_PROCESSING_FAILED LOW The CCSDS Board could not interpret a TC C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
76 8900 CLOCK_SET INFO C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h
77 8901 CLOCK_SET_FAILURE LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h
78 9700 TEST INFO C:\Users\jakob\eive-software\eive_obsw/fsfw/src/fsfw/pus/Service17Test.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/pus/Service17Test.h
79 10600 CHANGE_OF_SETUP_PARAMETER LOW C:\Users\jakob\eive-software\eive_obsw/fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
80 10900 GPIO_PULL_HIGH_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/mission/devices/HeaterHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
81 10901 GPIO_PULL_LOW_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/mission/devices/HeaterHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
82 10902 SWITCH_ALREADY_ON LOW C:\Users\jakob\eive-software\eive_obsw/mission/devices/HeaterHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
83 10903 SWITCH_ALREADY_OFF LOW C:\Users\jakob\eive-software\eive_obsw/mission/devices/HeaterHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
84 10904 MAIN_SWITCH_TIMEOUT LOW C:\Users\jakob\eive-software\eive_obsw/mission/devices/HeaterHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
85 11000 MAIN_SWITCH_ON_TIMEOUT LOW C:\Users\jakob\eive-software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
86 11001 MAIN_SWITCH_OFF_TIMEOUT LOW C:\Users\jakob\eive-software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
87 11002 DEPLOYMENT_FAILED HIGH C:\Users\jakob\eive-software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
88 11003 DEPL_SA1_GPIO_SWTICH_ON_FAILED HIGH C:\Users\jakob\eive-software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
89 11004 DEPL_SA2_GPIO_SWTICH_ON_FAILED HIGH C:\Users\jakob\eive-software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
90 11101 MEMORY_READ_RPT_CRC_FAILURE LOW C:\Users\jakob\eive-software\eive_obsw/mission/devices/PlocMPSoCHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
91 11102 ACK_FAILURE LOW C:\Users\jakob\eive-software\eive_obsw/mission/devices/PlocMPSoCHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
92 11103 EXE_FAILURE LOW C:\Users\jakob\eive-software\eive_obsw/mission/devices/PlocMPSoCHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
93 11104 CRC_FAILURE_EVENT LOW C:\Users\jakob\eive-software\eive_obsw/mission/devices/PlocMPSoCHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
94 11201 SELF_TEST_I2C_FAILURE LOW Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA C:\Users\jakob\eive-software\eive_obsw/mission/devices/IMTQHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
95 11202 SELF_TEST_SPI_FAILURE LOW Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA C:\Users\jakob\eive-software\eive_obsw/mission/devices/IMTQHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
96 11203 SELF_TEST_ADC_FAILURE LOW Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA C:\Users\jakob\eive-software\eive_obsw/mission/devices/IMTQHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
97 11204 SELF_TEST_PWM_FAILURE LOW Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA C:\Users\jakob\eive-software\eive_obsw/mission/devices/IMTQHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
98 11205 SELF_TEST_TC_FAILURE LOW Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA C:\Users\jakob\eive-software\eive_obsw/mission/devices/IMTQHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
99 11206 SELF_TEST_MTM_RANGE_FAILURE LOW Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA C:\Users\jakob\eive-software\eive_obsw/mission/devices/IMTQHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
100 11207 SELF_TEST_COIL_CURRENT_FAILURE LOW Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA C:\Users\jakob\eive-software\eive_obsw/mission/devices/IMTQHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
101 11208 INVALID_ERROR_BYTE LOW Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC. C:\Users\jakob\eive-software\eive_obsw/mission/devices/IMTQHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
102 11301 ERROR_STATE HIGH Reaction wheel signals an error state C:\Users\jakob\eive-software\eive_obsw/mission/devices/RwHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/RwHandler.h
103 11501 SUPV_MEMORY_READ_RPT_CRC_FAILURE LOW PLOC supervisor crc failure in telemetry packet C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
104 11502 SUPV_ACK_FAILURE LOW PLOC supervisor received acknowledgment failure report C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
105 11503 SUPV_EXE_FAILURE LOW PLOC received execution failure report C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
106 11504 SUPV_CRC_FAILURE_EVENT LOW PLOC supervisor reply has invalid crc C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
107 11600 SANITIZATION_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/memory/SdCardManager.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/memory/SdCardManager.h
108 11700 UPDATE_FILE_NOT_EXISTS LOW C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/devices/PlocUpdater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
109 11701 ACTION_COMMANDING_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/devices/PlocUpdater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
110 11702 UPDATE_AVAILABLE_FAILED LOW Supervisor handler replied action message indicating a command execution failure of the update available command C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/devices/PlocUpdater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
111 11703 UPDATE_TRANSFER_FAILED LOW Supervisor handler failed to transfer an update space packet. P1: Parameter holds the number of update packets already sent (inclusive the failed packet) C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/devices/PlocUpdater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
112 11704 UPDATE_VERIFY_FAILED LOW Supervisor failed to execute the update verify command. C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/devices/PlocUpdater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
113 11705 UPDATE_FINISHED INFO MPSoC update successful completed C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/devices/PlocUpdater.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
114 11800 SEND_MRAM_DUMP_FAILED LOW C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h
115 11801 MRAM_DUMP_FAILED LOW Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h
116 11802 MRAM_DUMP_FINISHED LOW MRAM dump finished successfully C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h
117 11901 INVALID_TC_FRAME HIGH C:\Users\jakob\eive-software\eive_obsw/linux/obc/PdecHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
118 11902 INVALID_FAR HIGH Read invalid FAR from PDEC after startup C:\Users\jakob\eive-software\eive_obsw/linux/obc/PdecHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
119 11903 CARRIER_LOCK INFO Carrier lock detected C:\Users\jakob\eive-software\eive_obsw/linux/obc/PdecHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
120 11904 BIT_LOCK_PDEC INFO Bit lock detected (data valid) C:\Users\jakob\eive-software\eive_obsw/linux/obc/PdecHandler.h C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
121 12000 IMAGE_UPLOAD_FAILED LOW Image upload failed C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
122 12001 IMAGE_DOWNLOAD_FAILED LOW Image download failed C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
123 12002 IMAGE_UPLOAD_SUCCESSFUL LOW Uploading image to star tracker was successfulop C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
124 12003 IMAGE_DOWNLOAD_SUCCESSFUL LOW Image download was successful C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
125 12004 FLASH_WRITE_SUCCESSFUL LOW Finished flash write procedure successfully C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
126 12005 FLASH_READ_SUCCESSFUL LOW Finished flash read procedure successfully C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
127 12006 FLASH_WRITE_FAILED LOW Flash write procedure failed C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
128 12007 FLASH_READ_FAILED LOW Flash read procedure failed C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
129 12008 FPGA_DOWNLOAD_SUCCESSFUL LOW Download of FPGA image successful C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
130 12009 FPGA_DOWNLOAD_FAILED LOW Download of FPGA image failed C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
131 12010 FPGA_UPLOAD_SUCCESSFUL LOW Upload of FPGA image successful C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
132 12011 FPGA_UPLOAD_FAILED LOW Upload of FPGA image failed C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
133 12012 STR_HELPER_READING_REPLY_FAILED LOW C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
134 12013 STR_HELPER_COM_ERROR LOW C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
135 12014 STR_HELPER_NO_REPLY LOW Star tracker did not send replies (maybe device is powered off)P1: Position of upload or download packet for which no reply was sent C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
136 12015 STR_HELPER_DEC_ERROR LOW C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
137 12016 POSITION_MISMATCH LOW Position mismatch P1: The expected position and thus the position for which the image upload/download failed C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
138 12017 STR_HELPER_FILE_NOT_EXISTS LOW Specified file does not existP1: Internal state of str helper C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
139 12018 STR_HELPER_SENDING_PACKET_FAILED LOW C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
140 12019 STR_HELPER_REQUESTING_MSG_FAILED LOW C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h

3
generators/bsp_q7s_objects.csv
View File

@ -27,7 +27,7 @@
0x44120309;MGM_3_RM3100_HANDLER 0x44120309;MGM_3_RM3100_HANDLER
0x44120313;GYRO_3_L3G_HANDLER 0x44120313;GYRO_3_L3G_HANDLER
0x44120350;RW4 0x44120350;RW4
0x44130001;START_TRACKER 0x44130001;STAR_TRACKER
0x44130045;GPS0_HANDLER 0x44130045;GPS0_HANDLER
0x44130146;GPS1_HANDLER 0x44130146;GPS1_HANDLER
0x44140014;IMTQ_HANDLER 0x44140014;IMTQ_HANDLER
@ -39,6 +39,7 @@
0x443200A5;RAD_SENSOR 0x443200A5;RAD_SENSOR
0x44330000;PLOC_UPDATER 0x44330000;PLOC_UPDATER
0x44330001;PLOC_MEMORY_DUMPER 0x44330001;PLOC_MEMORY_DUMPER
0x44330002;STR_HELPER
0x44330015;PLOC_MPSOC_HANDLER 0x44330015;PLOC_MPSOC_HANDLER
0x44330016;PLOC_SUPERVISOR_HANDLER 0x44330016;PLOC_SUPERVISOR_HANDLER
0x444100A2;SOLAR_ARRAY_DEPL_HANDLER 0x444100A2;SOLAR_ARRAY_DEPL_HANDLER

1 0x00005060 P60DOCK_TEST_TASK
27 0x44120309 MGM_3_RM3100_HANDLER
28 0x44120313 GYRO_3_L3G_HANDLER
29 0x44120350 RW4
30 0x44130001 STAR_TRACKER
31 0x44130045 GPS0_HANDLER
32 0x44130146 GPS1_HANDLER
33 0x44140014 IMTQ_HANDLER
39 0x443200A5 RAD_SENSOR
40 0x44330000 PLOC_UPDATER
41 0x44330001 PLOC_MEMORY_DUMPER
42 0x44330002 STR_HELPER
43 0x44330002 0x44330015 STR_HELPER PLOC_MPSOC_HANDLER
44 0x44330015 0x44330016 PLOC_MPSOC_HANDLER PLOC_SUPERVISOR_HANDLER
45 0x44330016 0x444100A2 PLOC_SUPERVISOR_HANDLER SOLAR_ARRAY_DEPL_HANDLER

64
generators/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/** /**
* @brief Auto-generated event translation file. Contains 120 translations. * @brief Auto-generated event translation file. Contains 140 translations.
* @details * @details
* Generated on: 2021-11-25 14:09:00 * Generated on: 2021-12-29 20:24:08
*/ */
#include "translateEvents.h" #include "translateEvents.h"
@ -125,6 +125,26 @@ const char *INVALID_TC_FRAME_STRING = "INVALID_TC_FRAME";
const char *INVALID_FAR_STRING = "INVALID_FAR"; const char *INVALID_FAR_STRING = "INVALID_FAR";
const char *CARRIER_LOCK_STRING = "CARRIER_LOCK"; const char *CARRIER_LOCK_STRING = "CARRIER_LOCK";
const char *BIT_LOCK_PDEC_STRING = "BIT_LOCK_PDEC"; const char *BIT_LOCK_PDEC_STRING = "BIT_LOCK_PDEC";
const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
const char *IMAGE_DOWNLOAD_SUCCESSFUL_STRING = "IMAGE_DOWNLOAD_SUCCESSFUL";
const char *FLASH_WRITE_SUCCESSFUL_STRING = "FLASH_WRITE_SUCCESSFUL";
const char *FLASH_READ_SUCCESSFUL_STRING = "FLASH_READ_SUCCESSFUL";
const char *FLASH_WRITE_FAILED_STRING = "FLASH_WRITE_FAILED";
const char *FLASH_READ_FAILED_STRING = "FLASH_READ_FAILED";
const char *FPGA_DOWNLOAD_SUCCESSFUL_STRING = "FPGA_DOWNLOAD_SUCCESSFUL";
const char *FPGA_DOWNLOAD_FAILED_STRING = "FPGA_DOWNLOAD_FAILED";
const char *FPGA_UPLOAD_SUCCESSFUL_STRING = "FPGA_UPLOAD_SUCCESSFUL";
const char *FPGA_UPLOAD_FAILED_STRING = "FPGA_UPLOAD_FAILED";
const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET_FAILED";
const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
const char * translateEvents(Event event) { const char * translateEvents(Event event) {
switch( (event & 0xffff) ) { switch( (event & 0xffff) ) {
@ -368,6 +388,46 @@ const char * translateEvents(Event event) {
return CARRIER_LOCK_STRING; return CARRIER_LOCK_STRING;
case(11904): case(11904):
return BIT_LOCK_PDEC_STRING; return BIT_LOCK_PDEC_STRING;
case(12000):
return IMAGE_UPLOAD_FAILED_STRING;
case(12001):
return IMAGE_DOWNLOAD_FAILED_STRING;
case(12002):
return IMAGE_UPLOAD_SUCCESSFUL_STRING;
case(12003):
return IMAGE_DOWNLOAD_SUCCESSFUL_STRING;
case(12004):
return FLASH_WRITE_SUCCESSFUL_STRING;
case(12005):
return FLASH_READ_SUCCESSFUL_STRING;
case(12006):
return FLASH_WRITE_FAILED_STRING;
case(12007):
return FLASH_READ_FAILED_STRING;
case(12008):
return FPGA_DOWNLOAD_SUCCESSFUL_STRING;
case(12009):
return FPGA_DOWNLOAD_FAILED_STRING;
case(12010):
return FPGA_UPLOAD_SUCCESSFUL_STRING;
case(12011):
return FPGA_UPLOAD_FAILED_STRING;
case(12012):
return STR_HELPER_READING_REPLY_FAILED_STRING;
case(12013):
return STR_HELPER_COM_ERROR_STRING;
case(12014):
return STR_HELPER_NO_REPLY_STRING;
case(12015):
return STR_HELPER_DEC_ERROR_STRING;
case(12016):
return POSITION_MISMATCH_STRING;
case(12017):
return STR_HELPER_FILE_NOT_EXISTS_STRING;
case(12018):
return STR_HELPER_SENDING_PACKET_FAILED_STRING;
case(12019):
return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
default: default:
return "UNKNOWN_EVENT"; return "UNKNOWN_EVENT";
} }

11
generators/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/** /**
* @brief Auto-generated object translation file. * @brief Auto-generated object translation file.
* @details * @details
* Contains 112 translations. * Contains 113 translations.
* Generated on: 2021-11-22 17:04:51 * Generated on: 2021-12-21 17:21:23
*/ */
#include "translateObjects.h" #include "translateObjects.h"
@ -35,7 +35,7 @@ const char *RW3_STRING = "RW3";
const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER"; const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER"; const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
const char *RW4_STRING = "RW4"; const char *RW4_STRING = "RW4";
const char *START_TRACKER_STRING = "START_TRACKER"; const char *STAR_TRACKER_STRING = "STAR_TRACKER";
const char *GPS0_HANDLER_STRING = "GPS0_HANDLER"; const char *GPS0_HANDLER_STRING = "GPS0_HANDLER";
const char *GPS1_HANDLER_STRING = "GPS1_HANDLER"; const char *GPS1_HANDLER_STRING = "GPS1_HANDLER";
const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER"; const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
@ -47,6 +47,7 @@ const char *ACU_HANDLER_STRING = "ACU_HANDLER";
const char *RAD_SENSOR_STRING = "RAD_SENSOR"; const char *RAD_SENSOR_STRING = "RAD_SENSOR";
const char *PLOC_UPDATER_STRING = "PLOC_UPDATER"; const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER"; const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
const char *STR_HELPER_STRING = "STR_HELPER";
const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER"; const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER"; const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER"; const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
@ -180,7 +181,7 @@ const char* translateObject(object_id_t object) {
case 0x44120350: case 0x44120350:
return RW4_STRING; return RW4_STRING;
case 0x44130001: case 0x44130001:
return START_TRACKER_STRING; return STAR_TRACKER_STRING;
case 0x44130045: case 0x44130045:
return GPS0_HANDLER_STRING; return GPS0_HANDLER_STRING;
case 0x44130146: case 0x44130146:
@ -203,6 +204,8 @@ const char* translateObject(object_id_t object) {
return PLOC_UPDATER_STRING; return PLOC_UPDATER_STRING;
case 0x44330001: case 0x44330001:
return PLOC_MEMORY_DUMPER_STRING; return PLOC_MEMORY_DUMPER_STRING;
case 0x44330002:
return STR_HELPER_STRING;
case 0x44330015: case 0x44330015:
return PLOC_MPSOC_HANDLER_STRING; return PLOC_MPSOC_HANDLER_STRING;
case 0x44330016: case 0x44330016:

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

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

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