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

214
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");
@ -27,133 +26,132 @@ 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);
sif::info << "Initializing all objects.." << std::endl; sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize(); ObjectManager::instance()->initialize();
/* This function creates and starts all tasks */ /* This function creates and starts all tasks */
initTasks(); initTasks();
} }
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; }
}
/* UDP bridge */ /* UDP bridge */
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;
} }
/* 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) {
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);
} }
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);
#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 */
sif::info << "Starting tasks.." << std::endl; sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask(); tmTcDistributor->startTask();
tmtcBridgeTask->startTask(); tmtcBridgeTask->startTask();
tmtcPollingTask->startTask(); tmtcPollingTask->startTask();
pusVerification->startTask(); pusVerification->startTask();
pusEvents->startTask(); pusEvents->startTask();
pusHighPrio->startTask(); pusHighPrio->startTask();
pusMedPrio->startTask(); pusMedPrio->startTask();
pusLowPrio->startTask(); pusLowPrio->startTask();
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
testTask->startTask(); testTask->startTask();
#endif /* OBSW_ADD_TEST_CODE == 1 */ #endif /* OBSW_ADD_TEST_CODE == 1 */
sif::info << "Tasks started.." << std::endl; sif::info << "Tasks started.." << std::endl;
} }

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_ */

41
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"
@ -20,29 +20,28 @@
#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;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR; CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL; CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE; TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
// No storage object for now. // No storage object for now.
TmFunnel::storageDestination = objects::NO_OBJECT; TmFunnel::storageDestination = objects::NO_OBJECT;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION; VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
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();
new TestTask(objects::TEST_TASK); new TestTask(objects::TEST_TASK);
} }

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_ */

4
bsp_hosted/boardconfig/etl_profile.h
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@ -32,7 +32,7 @@ SOFTWARE.
#define ETL_CHECK_PUSH_POP #define ETL_CHECK_PUSH_POP
#define ETL_CPP11_SUPPORTED 1 #define ETL_CPP11_SUPPORTED 1
#define ETL_NO_NULLPTR_SUPPORT 0 #define ETL_NO_NULLPTR_SUPPORT 0
#endif #endif

5
bsp_hosted/boardconfig/gcov.h
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@ -6,8 +6,9 @@
extern "C" void __gcov_flush(); 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

14
bsp_hosted/boardconfig/print.c
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@ -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);
} }

539
bsp_hosted/comIF/ArduinoComIF.cpp
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@ -1,376 +1,351 @@
#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;
} }
struct termios tty; struct termios tty;
memset(&tty, 0, sizeof tty); memset(&tty, 0, sizeof tty);
// Read in existing settings, and handle any error // Read in existing settings, and handle any error
if (tcgetattr(serialPort, &tty) != 0) { if (tcgetattr(serialPort, &tty) != 0) {
printf("Error %i from tcgetattr: %s\n", errno, strerror(errno)); printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
return; return;
} }
tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication tty.c_cflag &= ~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);
if (comPort[0] == 'c') {
break;
}
const TCHAR *pcCommPort = comPort.c_str();
hCom = CreateFileA(pcCommPort, // port name
GENERIC_READ | GENERIC_WRITE, // Read/Write
0, // No Sharing
NULL, // No Security
OPEN_EXISTING, // Open existing port only
0, // Non Overlapped I/O
NULL); // Null for Comm Devices
std::getline(std::cin, comPort); if (hCom == INVALID_HANDLE_VALUE) {
if(comPort[0] == 'c') { if (GetLastError() == 2) {
break; sif::error << "COM Port does not found!" << std::endl;
} } else {
const TCHAR *pcCommPort = comPort.c_str(); TCHAR err[128];
hCom = CreateFileA(pcCommPort, //port name FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, GetLastError(),
GENERIC_READ | GENERIC_WRITE, //Read/Write MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), err, sizeof(err), NULL);
0, // No Sharing // Handle the error.
NULL, // No Security sif::info << "CreateFileA Error code: " << GetLastError() << std::endl;
OPEN_EXISTING,// Open existing port only sif::error << err << std::flush;
0, // Non Overlapped I/O }
NULL); // Null for Comm Devices sif::info << "Please enter a valid COM port: " << std::flush;
}
}
}
if (hCom == INVALID_HANDLE_VALUE) serialParams.DCBlength = sizeof(serialParams);
{ if (baudRate == 9600) {
if(GetLastError() == 2) { serialParams.BaudRate = CBR_9600;
sif::error << "COM Port does not found!" << std::endl; }
} if (baudRate == 115200) {
else { serialParams.BaudRate = CBR_115200;
TCHAR err[128]; } else {
FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, serialParams.BaudRate = baudRate;
GetLastError(), }
MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
err, sizeof(err), NULL);
// Handle the error.
sif::info << "CreateFileA Error code: " << GetLastError()
<< std::endl;
sif::error << err << std::flush;
}
sif::info << "Please enter a valid COM port: " << std::flush;
}
}
} serialParams.ByteSize = 8;
serialParams.Parity = NOPARITY;
serialParams.StopBits = ONESTOPBIT;
SetCommState(hCom, &serialParams);
COMMTIMEOUTS timeout = {0};
serialParams.DCBlength = sizeof(serialParams); // This will set the read operation to be blocking until data is received
if(baudRate == 9600) { // and then read continuously until there is a gap of one millisecond.
serialParams.BaudRate = CBR_9600; timeout.ReadIntervalTimeout = 1;
} timeout.ReadTotalTimeoutConstant = 0;
if(baudRate == 115200) { timeout.ReadTotalTimeoutMultiplier = 0;
serialParams.BaudRate = CBR_115200; timeout.WriteTotalTimeoutConstant = 0;
} timeout.WriteTotalTimeoutMultiplier = 0;
else { SetCommTimeouts(hCom, &timeout);
serialParams.BaudRate = baudRate; // Serial port should now be read for operations.
}
serialParams.ByteSize = 8;
serialParams.Parity = NOPARITY;
serialParams.StopBits = ONESTOPBIT;
SetCommState(hCom, &serialParams);
COMMTIMEOUTS timeout = { 0 };
// This will set the read operation to be blocking until data is received
// and then read continuously until there is a gap of one millisecond.
timeout.ReadIntervalTimeout = 1;
timeout.ReadTotalTimeoutConstant = 0;
timeout.ReadTotalTimeoutMultiplier = 0;
timeout.WriteTotalTimeoutConstant = 0;
timeout.WriteTotalTimeoutMultiplier = 0;
SetCommTimeouts(hCom, &timeout);
// Serial port should now be read for operations.
#endif #endif
} }
ArduinoComIF::~ArduinoComIF() { ArduinoComIF::~ArduinoComIF() {
#ifdef LINUX #ifdef LINUX
::close(serialPort); ::close(serialPort);
#elif WIN32 #elif WIN32
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; }
return RETURN_OK;
ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
return RETURN_OK;
} }
ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie, ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
size_t requestLen) { handleSerialPortRx();
return RETURN_OK;
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
if (arduinoCookie == nullptr) {
return INVALID_COOKIE_TYPE;
}
*buffer = arduinoCookie->replyBuffer.data();
*size = arduinoCookie->receivedDataLen;
return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const uint8_t *data,
uint8_t **buffer, size_t *size) { size_t dataLen) {
if (dataLen > UINT16_MAX) {
return TOO_MUCH_DATA;
}
handleSerialPortRx(); // being conservative here
uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie); sendBuffer[0] = DleEncoder::STX_CHAR;
if (arduinoCookie == nullptr) {
return INVALID_COOKIE_TYPE;
}
*buffer = arduinoCookie->replyBuffer.data(); uint8_t *currentPosition = sendBuffer + 1;
*size = arduinoCookie->receivedDataLen; size_t remainingLen = sizeof(sendBuffer) - 1;
return HasReturnvaluesIF::RETURN_OK; size_t encodedLen = 0;
}
ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, ReturnValue_t result =
uint8_t address, const uint8_t *data, size_t dataLen) { DleEncoder::encode(&command, 1, currentPosition, remainingLen, &encodedLen, false);
if (dataLen > UINT16_MAX) { if (result != RETURN_OK) {
return TOO_MUCH_DATA; return result;
} }
currentPosition += encodedLen;
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
//being conservative here result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, &encodedLen, false);
uint8_t sendBuffer[(dataLen + 6) * 2 + 2]; if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; // DleEncoder will never return encodedLen > remainingLen
sendBuffer[0] = DleEncoder::STX_CHAR; uint8_t temporaryBuffer[2];
uint8_t *currentPosition = sendBuffer + 1; // note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
size_t remainingLen = sizeof(sendBuffer) - 1; temporaryBuffer[0] = dataLen >> 8; // we checked dataLen above
size_t encodedLen = 0; temporaryBuffer[1] = dataLen;
ReturnValue_t result = DleEncoder::encode(&command, 1, 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
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, // encoding the actual data
&encodedLen, false); result = DleEncoder::encode(data, dataLen, 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
uint8_t temporaryBuffer[2]; uint16_t crc = CRC::crc16ccitt(&command, 1);
crc = CRC::crc16ccitt(&address, 1, crc);
// fortunately the length is still there
crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
crc = CRC::crc16ccitt(data, dataLen, crc);
//note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much... temporaryBuffer[0] = crc >> 8;
temporaryBuffer[0] = dataLen >> 8; //we checked dataLen above temporaryBuffer[1] = crc;
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 if (remainingLen > 0) {
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen, *currentPosition = DleEncoder::ETX_CHAR;
&encodedLen, false); }
if (result != RETURN_OK) { remainingLen -= 1;
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
uint16_t crc = CRC::crc16ccitt(&command, 1); encodedLen = sizeof(sendBuffer) - remainingLen;
crc = CRC::crc16ccitt(&address, 1, crc);
//fortunately the length is still there
crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
crc = CRC::crc16ccitt(data, dataLen, crc);
temporaryBuffer[0] = crc >> 8;
temporaryBuffer[1] = crc;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
if (remainingLen > 0) {
*currentPosition = DleEncoder::ETX_CHAR;
}
remainingLen -= 1;
encodedLen = sizeof(sendBuffer) - remainingLen;
#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;
#elif WIN32 #elif WIN32
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
#endif #endif
} }
void ArduinoComIF::handleSerialPortRx() { void ArduinoComIF::handleSerialPortRx() {
#ifdef LINUX #ifdef LINUX
uint32_t availableSpace = rxBuffer.availableWriteSpace(); uint32_t availableSpace = rxBuffer.availableWriteSpace();
uint8_t dataFromSerial[availableSpace]; uint8_t dataFromSerial[availableSpace];
ssize_t bytesRead = read(serialPort, dataFromSerial, ssize_t bytesRead = read(serialPort, dataFromSerial, sizeof(dataFromSerial));
sizeof(dataFromSerial));
if (bytesRead < 0) { if (bytesRead < 0) {
return; return;
} }
rxBuffer.writeData(dataFromSerial, bytesRead); rxBuffer.writeData(dataFromSerial, bytesRead);
uint8_t dataReceivedSoFar[rxBuffer.getMaxSize()]; uint8_t dataReceivedSoFar[rxBuffer.getMaxSize()];
uint32_t dataLenReceivedSoFar = 0; uint32_t dataLenReceivedSoFar = 0;
rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true, 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;
} }
uint8_t packet[MAX_PACKET_SIZE]; uint8_t packet[MAX_PACKET_SIZE];
size_t packetLen = 0; size_t packetLen = 0;
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) {
handlePacket(packet, packetLen); handlePacket(packet, packetLen);
// after handling the packet, we can delete it from the raw stream, // after handling the packet, we can delete it from the raw stream,
// it has been copied to packet // it has been copied to packet
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;
} }
uint8_t command = packet[0]; uint8_t command = packet[0];
uint8_t address = packet[1]; uint8_t address = packet[1];
uint16_t size = (packet[2] << 8) + packet[3]; uint16_t size = (packet[2] << 8) + packet[3];
if (size != packetLen - 6) { 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; }
}
} }

71
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>
@ -14,56 +14,53 @@
#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;
static const uint8_t COMMAND_INVALID = -1; static const uint8_t COMMAND_INVALID = -1;
static const uint8_t COMMAND_SPI = 1; static const uint8_t COMMAND_SPI = 1;
ArduinoComIF(object_id_t setObjectId, bool promptComIF = false, ArduinoComIF(object_id_t setObjectId, bool promptComIF = false,
const char *serialDevice = nullptr); const char *serialDevice = nullptr);
void setBaudrate(uint32_t baudRate); void setBaudrate(uint32_t baudRate);
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;
#endif #endif
// remembering if the initialization in the ctor worked // remembering if the initialization in the ctor worked
// if not, all calls are disabled // if not, all calls are disabled
bool initialized = false; bool initialized = false;
int serialPort = 0; int serialPort = 0;
// 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);
}; };
#endif /* MISSION_ARDUINOCOMMINTERFACE_H_ */ #endif /* MISSION_ARDUINOCOMMINTERFACE_H_ */

12
bsp_hosted/comIF/ArduinoCookie.cpp
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@ -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) {}

27
bsp_hosted/comIF/ArduinoCookie.h
View File

@ -2,26 +2,21 @@
#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;
uint8_t command;
uint8_t address;
std::vector<uint8_t> replyBuffer;
size_t receivedDataLen = 0;
size_t maxReplySize;
Protocol_t protocol;
uint8_t command;
uint8_t address;
std::vector<uint8_t> replyBuffer;
size_t receivedDataLen = 0;
size_t maxReplySize;
}; };
#endif /* MISSION_ARDUINO_ARDUINOCOOKIE_H_ */ #endif /* MISSION_ARDUINO_ARDUINOCOOKIE_H_ */

89
bsp_hosted/fsfwconfig/devices/gpioIds.h
View File

@ -2,56 +2,53 @@
#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,
HEATER_3, HEATER_3,
HEATER_4, HEATER_4,
HEATER_5, HEATER_5,
HEATER_6, HEATER_6,
HEATER_7, HEATER_7,
DEPLSA1, DEPLSA1,
DEPLSA2, DEPLSA2,
MGM_0_LIS3_CS, MGM_0_LIS3_CS,
MGM_1_RM3100_CS, MGM_1_RM3100_CS,
GYRO_0_ADIS_CS, GYRO_0_ADIS_CS,
GYRO_1_L3G_CS, GYRO_1_L3G_CS,
GYRO_2_L3G_CS, GYRO_2_L3G_CS,
MGM_2_LIS3_CS, MGM_2_LIS3_CS,
MGM_3_RM3100_CS, MGM_3_RM3100_CS,
TEST_ID_0, TEST_ID_0,
TEST_ID_1, TEST_ID_1,
RTD_IC_3, RTD_IC_3,
RTD_IC_4, RTD_IC_4,
RTD_IC_5, RTD_IC_5,
RTD_IC_6, RTD_IC_6,
RTD_IC_7, RTD_IC_7,
RTD_IC_8, RTD_IC_8,
RTD_IC_9, RTD_IC_9,
RTD_IC_10, RTD_IC_10,
RTD_IC_11, RTD_IC_11,
RTD_IC_12, RTD_IC_12,
RTD_IC_13, RTD_IC_13,
RTD_IC_14, RTD_IC_14,
RTD_IC_15, RTD_IC_15,
RTD_IC_16, RTD_IC_16,
RTD_IC_17, RTD_IC_17,
RTD_IC_18, RTD_IC_18,
SPI_MUX_BIT_1, SPI_MUX_BIT_1,
SPI_MUX_BIT_2, SPI_MUX_BIT_2,
SPI_MUX_BIT_3, SPI_MUX_BIT_3,
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_ */

89
bsp_hosted/fsfwconfig/devices/powerSwitcherList.h
View File

@ -4,55 +4,54 @@
#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,
TCS_BOARD_8V_HEATER_IN, TCS_BOARD_8V_HEATER_IN,
SUS_REDUNDANT, SUS_REDUNDANT,
DEPLOYMENT_MECHANISM, DEPLOYMENT_MECHANISM,
PAYLOAD_PCDU_CH6, PAYLOAD_PCDU_CH6,
ACS_BOARD_SIDE_B, ACS_BOARD_SIDE_B,
PAYLOAD_CAMERA, PAYLOAD_CAMERA,
TCS_BOARD_3V3, TCS_BOARD_3V3,
SYRLINKS, SYRLINKS,
STAR_TRACKER, STAR_TRACKER,
MGT, MGT,
SUS_NOMINAL, SUS_NOMINAL,
SOLAR_CELL_EXP, SOLAR_CELL_EXP,
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_ */

344
bsp_hosted/fsfwconfig/events/translateEvents.cpp
View File

@ -89,176 +89,176 @@ 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";
} }
return 0; return 0;
} }

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_ */

11
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;
} }
} }

4
bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.h
View File

@ -13,10 +13,10 @@ class CommandMessage;
*/ */
namespace messagetypes { namespace messagetypes {
enum MESSAGE_TYPE { enum MESSAGE_TYPE {
MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT, MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT,
}; };
void clearMissionMessage(CommandMessage* message); void clearMissionMessage(CommandMessage* message);
} } // namespace messagetypes
#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */ #endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */

33
bsp_hosted/fsfwconfig/objects/systemObjectList.h
View File

@ -1,31 +1,32 @@
#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,
PUS_SERVICE_6 = 0x51000500, PUS_SERVICE_6 = 0x51000500,
PUS_SERVICE_8 = 0x51000800, PUS_SERVICE_8 = 0x51000800,
PUS_SERVICE_23 = 0x51002300, PUS_SERVICE_23 = 0x51002300,
PUS_SERVICE_201 = 0x51020100, PUS_SERVICE_201 = 0x51020100,
TM_FUNNEL = 0x52000002, TM_FUNNEL = 0x52000002,
/* Test Task */ /* Test Task */
TEST_TASK = 0x42694269, TEST_TASK = 0x42694269,
DUMMY_INTERFACE = 0xCAFECAFE, DUMMY_INTERFACE = 0xCAFECAFE,
DUMMY_HANDLER = 0x4400AFFE, DUMMY_HANDLER = 0x4400AFFE,
/* 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_ */

138
bsp_hosted/fsfwconfig/objects/translateObjects.cpp
View File

@ -1,4 +1,4 @@
/** /**
* @brief Auto-generated object translation file. * @brief Auto-generated object translation file.
* @details * @details
* Contains 31 translations. * Contains 31 translations.
@ -38,72 +38,72 @@ 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:
return DUMMY_HANDLER_STRING; return DUMMY_HANDLER_STRING;
case 0x49000001: case 0x49000001:
return ARDUINO_COM_IF_STRING; return ARDUINO_COM_IF_STRING;
case 0x51000300: case 0x51000300:
return PUS_SERVICE_3_STRING; return PUS_SERVICE_3_STRING;
case 0x51000400: case 0x51000400:
return PUS_SERVICE_5_STRING; return PUS_SERVICE_5_STRING;
case 0x51000500: case 0x51000500:
return PUS_SERVICE_6_STRING; return PUS_SERVICE_6_STRING;
case 0x51000800: case 0x51000800:
return PUS_SERVICE_8_STRING; return PUS_SERVICE_8_STRING;
case 0x51002300: case 0x51002300:
return PUS_SERVICE_23_STRING; return PUS_SERVICE_23_STRING;
case 0x51020100: case 0x51020100:
return PUS_SERVICE_201_STRING; return PUS_SERVICE_201_STRING;
case 0x52000002: case 0x52000002:
return TM_FUNNEL_STRING; return TM_FUNNEL_STRING;
case 0x53000000: case 0x53000000:
return FSFW_OBJECTS_START_STRING; return FSFW_OBJECTS_START_STRING;
case 0x53000001: case 0x53000001:
return PUS_SERVICE_1_VERIFICATION_STRING; return PUS_SERVICE_1_VERIFICATION_STRING;
case 0x53000002: case 0x53000002:
return PUS_SERVICE_2_DEVICE_ACCESS_STRING; return PUS_SERVICE_2_DEVICE_ACCESS_STRING;
case 0x53000003: case 0x53000003:
return PUS_SERVICE_3_HOUSEKEEPING_STRING; return PUS_SERVICE_3_HOUSEKEEPING_STRING;
case 0x53000005: case 0x53000005:
return PUS_SERVICE_5_EVENT_REPORTING_STRING; return PUS_SERVICE_5_EVENT_REPORTING_STRING;
case 0x53000008: case 0x53000008:
return PUS_SERVICE_8_FUNCTION_MGMT_STRING; return PUS_SERVICE_8_FUNCTION_MGMT_STRING;
case 0x53000009: case 0x53000009:
return PUS_SERVICE_9_TIME_MGMT_STRING; return PUS_SERVICE_9_TIME_MGMT_STRING;
case 0x53000017: case 0x53000017:
return PUS_SERVICE_17_TEST_STRING; return PUS_SERVICE_17_TEST_STRING;
case 0x53000020: case 0x53000020:
return PUS_SERVICE_20_PARAMETERS_STRING; return PUS_SERVICE_20_PARAMETERS_STRING;
case 0x53000200: case 0x53000200:
return PUS_SERVICE_200_MODE_MGMT_STRING; return PUS_SERVICE_200_MODE_MGMT_STRING;
case 0x53010000: case 0x53010000:
return HEALTH_TABLE_STRING; return HEALTH_TABLE_STRING;
case 0x53010100: case 0x53010100:
return MODE_STORE_STRING; return MODE_STORE_STRING;
case 0x53030000: case 0x53030000:
return EVENT_MANAGER_STRING; return EVENT_MANAGER_STRING;
case 0x53040000: case 0x53040000:
return INTERNAL_ERROR_REPORTER_STRING; return INTERNAL_ERROR_REPORTER_STRING;
case 0x534f0100: case 0x534f0100:
return TC_STORE_STRING; return TC_STORE_STRING;
case 0x534f0200: case 0x534f0200:
return TM_STORE_STRING; return TM_STORE_STRING;
case 0x534f0300: case 0x534f0300:
return IPC_STORE_STRING; return IPC_STORE_STRING;
case 0x53500010: case 0x53500010:
return TIME_STAMPER_STRING; return TIME_STAMPER_STRING;
case 0x53ffffff: case 0x53ffffff:
return FSFW_OBJECTS_END_STRING; return FSFW_OBJECTS_END_STRING;
case 0xCAFECAFE: case 0xCAFECAFE:
return DUMMY_INTERFACE_STRING; return DUMMY_INTERFACE_STRING;
case 0xFFFFFFFF: case 0xFFFFFFFF:
return NO_OBJECT_STRING; return NO_OBJECT_STRING;
default: default:
return "UNKNOWN_OBJECT"; return "UNKNOWN_OBJECT";
} }
return 0; return 0;
} }

6
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
@ -11,9 +12,8 @@
*/ */
namespace CLASS_ID { namespace CLASS_ID {
enum { enum {
CLASS_ID_START = COMMON_CLASS_ID_END, CLASS_ID_START = COMMON_CLASS_ID_END,
}; };
} }
#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_ */

30
bsp_hosted/fsfwconfig/tmtc/pusIds.h
View File

@ -2,21 +2,21 @@
#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,
PUS_SERVICE_3_PSB = 3, PUS_SERVICE_3_PSB = 3,
PUS_SERVICE_5 = 5, PUS_SERVICE_5 = 5,
PUS_SERVICE_6 = 6, PUS_SERVICE_6 = 6,
PUS_SERVICE_8 = 8, PUS_SERVICE_8 = 8,
PUS_SERVICE_9 = 9, PUS_SERVICE_9 = 9,
PUS_SERVICE_17 = 17, PUS_SERVICE_17 = 17,
PUS_SERVICE_19 = 19, PUS_SERVICE_19 = 19,
PUS_SERVICE_20 = 20, PUS_SERVICE_20 = 20,
PUS_SERVICE_23 = 23, PUS_SERVICE_23 = 23,
PUS_SERVICE_200 = 200, PUS_SERVICE_200 = 200,
PUS_SERVICE_201 = 201, PUS_SERVICE_201 = 201,
}; };
}; };

32
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);
} }
} }

363
bsp_linux_board/InitMission.cpp
View File

@ -1,247 +1,244 @@
#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;
/* 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);
sif::info << "Initializing all objects.." << std::endl; sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize(); ObjectManager::instance()->initialize();
/* This function creates and starts all tasks */ /* This function creates and starts all tasks */
initTasks(); initTasks();
} }
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 */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
/* TMTC Distribution */ /* UDP bridge */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR); result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl; sif::error << "Add component UDP Unix Bridge failed" << std::endl;
} }
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR); PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
if(result != HasReturnvaluesIF::RETURN_OK){ "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
sif::error << "Object add component failed" << std::endl; result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK);
} if (result != HasReturnvaluesIF::RETURN_OK) {
result = tmTcDistributor->addComponent(objects::TM_FUNNEL); sif::error << "Add component UDP Polling failed" << std::endl;
if(result != HasReturnvaluesIF::RETURN_OK) { }
sif::error << "Object add component failed" << std::endl;
}
/* UDP bridge */ /* PUS Services */
PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask( std::vector<PeriodicTaskIF*> pusTasks;
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); createPusTasks(*factory, missedDeadlineFunc, pusTasks);
result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
}
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
/* PUS Services */ std::vector<PeriodicTaskIF*> pstTasks;
std::vector<PeriodicTaskIF*> pusTasks; createPstTasks(*factory, missedDeadlineFunc, pstTasks);
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
std::vector<PeriodicTaskIF*> pstTasks;
createPstTasks(*factory, missedDeadlineFunc, pstTasks);
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
std::vector<PeriodicTaskIF*> testTasks; std::vector<PeriodicTaskIF*> testTasks;
createTestTasks(*factory, missedDeadlineFunc, pstTasks); createTestTasks(*factory, missedDeadlineFunc, pstTasks);
#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; }
} }
} };
};
sif::info << "Starting tasks.." << std::endl; sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask(); tmTcDistributor->startTask();
udpBridgeTask->startTask(); udpBridgeTask->startTask();
udpPollingTask->startTask(); udpPollingTask->startTask();
taskStarter(pusTasks, "PUS Tasks"); taskStarter(pusTasks, "PUS Tasks");
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
taskStarter(testTasks, "Test Tasks"); taskStarter(testTasks, "Test Tasks");
#endif /* OBSW_ADD_TEST_CODE == 1 */ #endif /* OBSW_ADD_TEST_CODE == 1 */
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 */
sif::info << "Tasks started.." << std::endl; sif::info << "Tasks started.." << std::endl;
} }
void initmission::createPusTasks(TaskFactory& factory, void initmission::createPusTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*>& taskVec) { TaskDeadlineMissedFunction missedDeadlineFunc,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; std::vector<PeriodicTaskIF*>& taskVec) {
PeriodicTaskIF* pusVerification = factory.createPeriodicTask( ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION); "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
if(result != HasReturnvaluesIF::RETURN_OK){ result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
sif::error << "Object add component failed" << std::endl; if (result != HasReturnvaluesIF::RETURN_OK) {
} sif::error << "Object add component failed" << std::endl;
taskVec.push_back(pusVerification); }
taskVec.push_back(pusVerification);
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);
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);
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);
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,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; std::vector<PeriodicTaskIF*>& taskVec) {
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; }
} taskVec.push_back(spiPst);
taskVec.push_back(spiPst);
#endif #endif
} }
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 */
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 */
} }

17
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_ */

319
bsp_linux_board/ObjectFactory.cpp
View File

@ -1,236 +1,241 @@
#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;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR; CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL; CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE; TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
// No storage object for now. // No storage object for now.
TmFunnel::storageDestination = objects::NO_OBJECT; TmFunnel::storageDestination = objects::NO_OBJECT;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION; VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
TmPacketBase::timeStamperId = objects::TIME_STAMPER; TmPacketBase::timeStamperId = objects::TIME_STAMPER;
} }
void ObjectFactory::produce(void* args) {
Factory::setStaticFrameworkObjectIds();
void ObjectFactory::produce(void* args){ ObjectFactory::produceGenericObjects();
Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects();
#if OBSW_USE_TMTC_TCP_BRIDGE == 1 #if OBSW_USE_TMTC_TCP_BRIDGE == 1
auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR); auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
tmtcBridge->setMaxNumberOfPacketsStored(50); tmtcBridge->setMaxNumberOfPacketsStored(50);
new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE); new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#else #else
auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR); auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
tmtcBridge->setMaxNumberOfPacketsStored(50); tmtcBridge->setMaxNumberOfPacketsStored(50);
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE); new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#endif #endif
GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF); GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
GpioCookie* gpioCookie = nullptr; GpioCookie* gpioCookie = nullptr;
static_cast<void>(gpioCookie); static_cast<void>(gpioCookie);
new SpiComIF(objects::SPI_COM_IF, gpioIF); new SpiComIF(objects::SPI_COM_IF, gpioIF);
std::string spiDev; std::string spiDev;
SpiCookie* spiCookie = nullptr; SpiCookie* spiCookie = nullptr;
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 =
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
objects::SPI_COM_IF, spiCookie, 0); auto mgmLis3Handler =
mgmLis3Handler->setStartUpImmediately(); new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
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 =
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
objects::SPI_COM_IF, spiCookie, 0); auto mgmRm3100Handler =
mgmRm3100Handler->setStartUpImmediately(); new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
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 =
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
objects::SPI_COM_IF, spiCookie, 0); mgmLis3Handler =
mgmLis3Handler->setStartUpImmediately(); new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
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 =
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
objects::SPI_COM_IF, spiCookie, 0); mgmRm3100Handler =
mgmRm3100Handler->setStartUpImmediately(); new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
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 =
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
spiCookie); auto adisHandler =
adisHandler->setStartUpImmediately(); new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, adisHandler->setStartUpImmediately();
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); spiCookie =
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
spiCookie, 0); spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler->setStartUpImmediately(); auto gyroL3gHandler =
#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1 new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
gyroL3gHandler->setToGoToNormalMode(true); gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
gyroL3gHandler->setToGoToNormalMode(true);
#endif #endif
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev, spiCookie =
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
spiCookie); adisHandler =
adisHandler->setStartUpImmediately(); new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
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 =
gyroL3gHandler->setStartUpImmediately(); new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1 gyroL3gHandler->setStartUpImmediately();
gyroL3gHandler->setToGoToNormalMode(true); #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
gyroL3gHandler->setToGoToNormalMode(true);
#endif #endif
#endif /* RPI_TEST_ACS_BOARD == 1 */ #endif /* RPI_TEST_ACS_BOARD == 1 */
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
createTestTasks(); createTestTasks();
#endif /* OBSW_ADD_TEST_CODE == 1 */ #endif /* OBSW_ADD_TEST_CODE == 1 */
} }
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
new SpiTestClass(objects::SPI_TEST, gpioIF); new SpiTestClass(objects::SPI_TEST, gpioIF);
#endif #endif
#if RPI_ADD_UART_TEST == 1 #if RPI_ADD_UART_TEST == 1
new UartTestClass(objects::UART_TEST); new UartTestClass(objects::UART_TEST);
#else #else
new UartComIF(objects::UART_COM_IF); new UartComIF(objects::UART_COM_IF);
#endif #endif
#if RPI_LOOPBACK_TEST_GPIO == 1 #if RPI_LOOPBACK_TEST_GPIO == 1
GpioCookie* gpioCookieLoopback = new GpioCookie(); GpioCookie* gpioCookieLoopback = new GpioCookie();
/* Loopback pins. Adapt according to setup */ /* Loopback pins. Adapt according to setup */
gpioId_t gpioIdSender = gpioIds::TEST_ID_0; gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
int bcmPinSender = 26; int bcmPinSender = 26;
gpioId_t gpioIdReader = gpioIds::TEST_ID_1; gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
int bcmPinReader = 16; int bcmPinReader = 16;
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER", gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
gpio::Direction::OUT, 0); gpio::Direction::OUT, 0);
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER", gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
gpio::Direction::IN, 0); gpio::Direction::IN, 0);
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback); new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
#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,
"GYRO_0_ADIS", gpio::Direction::OUT, 1); "GYRO_0_ADIS", gpio::Direction::OUT, 1);
gpioIF->addGpios(gpioCookie); gpioIF->addGpios(gpioCookie);
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 =
adisGyroHandler->setStartUpImmediately(); new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
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_ */

4
bsp_linux_board/boardconfig/etl_profile.h
View File

@ -32,7 +32,7 @@ SOFTWARE.
#define ETL_CHECK_PUSH_POP #define ETL_CHECK_PUSH_POP
#define ETL_CPP11_SUPPORTED 1 #define ETL_CPP11_SUPPORTED 1
#define ETL_NO_NULLPTR_SUPPORT 0 #define ETL_NO_NULLPTR_SUPPORT 0
#endif #endif

5
bsp_linux_board/boardconfig/gcov.h
View File

@ -6,8 +6,9 @@
extern "C" void __gcov_flush(); 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

14
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);
} }

32
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 << FSFW_REVISION
"." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << << "--" << 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);
} }
} }

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_ */

4
bsp_q7s/boardconfig/etl_profile.h
View File

@ -32,7 +32,7 @@ SOFTWARE.
#define ETL_CHECK_PUSH_POP #define ETL_CHECK_PUSH_POP
#define ETL_CPP11_SUPPORTED 1 #define ETL_CPP11_SUPPORTED 1
#define ETL_NO_NULLPTR_SUPPORT 0 #define ETL_NO_NULLPTR_SUPPORT 0
#endif #endif

5
bsp_q7s/boardconfig/gcov.h
View File

@ -6,8 +6,9 @@
extern "C" void __gcov_flush(); 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

14
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);
} }

35
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() {}
}

11
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_ */

647
bsp_q7s/boardtest/Q7STestTask.cpp
View File

@ -1,366 +1,397 @@
#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();
FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE; }
testFileSystemHandlerDirect(opCode); // testJsonLibDirect();
return TestTask::performOneShotAction(); // testDummyParams();
// testProtHandler();
FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
testFileSystemHandlerDirect(opCode);
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");
string line;
uint8_t idx = 0;
while (std::getline(sdStatus, line)) {
std::istringstream iss(line);
string word;
while (iss >> word) {
if (word == "on") {
sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl;
} else if (word == "off") {
sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl;
}
} }
ifstream sdStatus("/tmp/sd_status.txt"); idx++;
string line; }
uint8_t idx = 0; std::remove("/tmp/sd_status.txt");
while (std::getline(sdStatus, line)) {
std::istringstream iss(line);
string word;
while(iss >> word) {
if(word == "on") {
sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl;
}
else if(word == "off") {
sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl;
}
}
idx++;
}
std::remove("/tmp/sd_status.txt");
} }
void Q7STestTask::fileTests() { void Q7STestTask::fileTests() {
using namespace std; using namespace std;
ofstream testFile("/tmp/test.txt"); ofstream testFile("/tmp/test.txt");
testFile << "Hallo Welt" << endl; testFile << "Hallo Welt" << endl;
testFile.close(); testFile.close();
system("echo \"Hallo Welt\" > /tmp/test2.txt"); system("echo \"Hallo Welt\" > /tmp/test2.txt");
system("echo \"Hallo Welt\""); system("echo \"Hallo Welt\"");
} }
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;
result = scratch::clearValue("TEST"); result = scratch::clearValue("TEST");
result = scratch::clearValue("TEST2"); result = scratch::clearValue("TEST2");
} }
void Q7STestTask::testJsonLibDirect() { void Q7STestTask::testJsonLibDirect() {
Stopwatch stopwatch; Stopwatch stopwatch;
// for convenience // for convenience
using json = nlohmann::json; using json = nlohmann::json;
json helloTest; json helloTest;
// add a number that is stored as double (note the implicit conversion of j to an object) // add a number that is stored as double (note the implicit conversion of j to an object)
helloTest["pi"] = 3.141; helloTest["pi"] = 3.141;
std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix(); std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
std::string fileName = mntPrefix + "/pretty.json"; std::string fileName = mntPrefix + "/pretty.json";
std::ofstream o(fileName); std::ofstream o(fileName);
o << std::setw(4) << helloTest << std::endl; o << std::setw(4) << helloTest << std::endl;
} }
void Q7STestTask::testDummyParams() { void Q7STestTask::testDummyParams() {
std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix(); std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
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();
}
ReturnValue_t result = param.readJsonFile();
if(result != HasReturnvaluesIF::RETURN_OK) {
}
param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
param.setValue(DummyParameter::DUMMY_KEY_PARAM_2, "blirb");
param.writeJsonFile(); param.writeJsonFile();
param.print(); }
int test = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1); ReturnValue_t result = param.readJsonFile();
std::string test2 = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2); if (result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "Test value (3 expected): " << test << std::endl; }
sif::info << "Test value 2 (\"blirb\" expected): " << test2 << std::endl;
param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
param.setValue(DummyParameter::DUMMY_KEY_PARAM_2, "blirb");
param.writeJsonFile();
param.print();
int test = 0;
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 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();
} }
void Q7STestTask::testProtHandler() { void Q7STestTask::testProtHandler() {
bool opPerformed = false; bool opPerformed = false;
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; }
} FileSystemHandler::FsCommandCfg cfg = {};
FileSystemHandler::FsCommandCfg cfg = {}; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// 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;
}
}
// Creating sample files
sif::info << "Creating sample files in directory" << std::endl;
result = fsHandler->createFile("/tmp/test", "test1.txt", nullptr, 0, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = fsHandler->createFile("/tmp/test", "test2.txt", nullptr, 0, &cfg);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result; return result;
}; }
}
// Creating sample files
sif::info << "Creating sample files in directory" << std::endl;
result = fsHandler->createFile("/tmp/test", "test1.txt", nullptr, 0, &cfg);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = fsHandler->createFile("/tmp/test", "test2.txt", nullptr, 0, &cfg);
if (result != HasReturnvaluesIF::RETURN_OK) {
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; // 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);
break;
}
case (FsOpCodes::REMOVE_TMP_FILE): {
sif::info << "Deleting /tmp/test.txt sample file" << std::endl;
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if (not std::filesystem::exists("/tmp/test.txt")) {
// Creating sample file
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);
break; }
result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "File removed successfully" << std::endl;
} else {
sif::warning << "File removal failed!" << std::endl;
}
break;
} }
case(FsOpCodes::REMOVE_TMP_FILE): { case (FsOpCodes::CREATE_DIR_IN_TMP): {
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; sif::info << "Creating empty file in /tmp folder" << std::endl;
if(not std::filesystem::exists("/tmp/test.txt")) { // Do not delete file, user can check existence in shell
// Creating sample file ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg);
sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl; if (result == HasReturnvaluesIF::RETURN_OK) {
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg); sif::info << "Directory created successfully" << std::endl;
} } else {
result = fsHandler->removeFile("/tmp", "test.txt", &cfg); sif::warning << "Directory creation failed!" << std::endl;
if(result == HasReturnvaluesIF::RETURN_OK) { }
sif::info << "File removed successfully" << std::endl; break;
}
else {
sif::warning << "File removal failed!" << std::endl;
}
break;
} }
case(FsOpCodes::CREATE_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;
sif::info << "Creating empty file in /tmp folder" << std::endl; if (not std::filesystem::exists("/tmp/test")) {
// Do not delete file, user can check existence in shell result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg); } else {
if(result == HasReturnvaluesIF::RETURN_OK) { // Delete any leftover files to regular dir removal works
sif::info << "Directory created successfully" << std::endl; std::remove("/tmp/test/*");
} }
else { result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
sif::warning << "Directory creation failed!" << std::endl; if (result == HasReturnvaluesIF::RETURN_OK) {
} sif::info << "Directory removed successfully" << std::endl;
break; } else {
sif::warning << "Directory removal failed!" << std::endl;
}
break;
} }
case(FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): { case (FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
// No mount prefix, cause file is created in tmp result = createNonEmptyTmpDir();
cfg.useMountPrefix = false; if (result != HasReturnvaluesIF::RETURN_OK) {
if(not std::filesystem::exists("/tmp/test")) { return;
result = fsHandler->createDirectory("/tmp", "test", false, &cfg); }
} result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg);
else { if (result == HasReturnvaluesIF::RETURN_OK) {
// Delete any leftover files to regular dir removal works sif::info << "Directory removed recursively successfully" << std::endl;
std::remove("/tmp/test/*"); } else {
} sif::warning << "Recursive directory removal failed!" << std::endl;
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg); }
if(result == HasReturnvaluesIF::RETURN_OK) { break;
sif::info << "Directory removed successfully" << std::endl;
}
else {
sif::warning << "Directory removal failed!" << std::endl;
}
break;
} }
case(FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): { 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", true, &cfg); result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
if(result == HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "Directory removed recursively successfully" << 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 << "Recursive directory removal failed!" << std::endl; }
} break;
break;
} }
case(FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): { case (FsOpCodes::RENAME_FILE): {
result = createNonEmptyTmpDir(); // No mount prefix, cause file is created in tmp
if(result != HasReturnvaluesIF::RETURN_OK) { cfg.useMountPrefix = false;
return; if (std::filesystem::exists("/tmp/test.txt")) {
} fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg); }
if(result != HasReturnvaluesIF::RETURN_OK) { sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl;
sif::info << "Directory removal attempt failed as expected" << std::endl; // Do not delete file, user can check existence in shell
} fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
else { fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg);
sif::warning << "Directory removal worked when it should not have!" << std::endl; break;
}
break;
}
case(FsOpCodes::RENAME_FILE): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if(std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl;
// Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg);
break;
}
case(FsOpCodes::APPEND_TO_FILE): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if(std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
if(std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl;
std::string content = "Hello World\n";
// Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>(
content.data()), content.size(), 0, &cfg);
} }
case (FsOpCodes::APPEND_TO_FILE): {
// No mount prefix, cause file is created in tmp
cfg.useMountPrefix = false;
if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
if (std::filesystem::exists("/tmp/test.txt")) {
fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
}
sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl;
std::string content = "Hello World\n";
// Do not delete file, user can check existence in shell
fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>(content.data()),
content.size(), 0, &cfg);
} }
}
} }

59
bsp_q7s/boardtest/Q7STestTask.h
View File

@ -3,35 +3,44 @@
#include "test/testtasks/TestTask.h" #include "test/testtasks/TestTask.h"
class Q7STestTask: public TestTask { class CoreController;
public:
Q7STestTask(object_id_t objectId);
ReturnValue_t initialize() override; class Q7STestTask : public TestTask {
private: public:
CoreController* coreController = nullptr; Q7STestTask(object_id_t objectId);
ReturnValue_t performOneShotAction() override;
void testSdCard(); ReturnValue_t initialize() override;
void fileTests();
void testScratchApi(); private:
void testJsonLibDirect(); bool doTestSdCard = false;
void testDummyParams(); bool doTestScratchApi = false;
void testProtHandler(); bool doTestGps = false;
enum FsOpCodes { CoreController* coreController = nullptr;
CREATE_EMPTY_FILE_IN_TMP, ReturnValue_t performOneShotAction() override;
REMOVE_TMP_FILE, ReturnValue_t performPeriodicAction() override;
CREATE_DIR_IN_TMP,
REMOVE_EMPTY_DIR_IN_TMP, void testGpsDaemon();
ATTEMPT_DIR_REMOVAL_NON_EMPTY,
REMOVE_FILLED_DIR_IN_TMP, void testSdCard();
RENAME_FILE, void fileTests();
APPEND_TO_FILE,
}; void testScratchApi();
void testFileSystemHandlerDirect(FsOpCodes opCode); void testJsonLibDirect();
void testDummyParams();
void testProtHandler();
enum FsOpCodes {
CREATE_EMPTY_FILE_IN_TMP,
REMOVE_TMP_FILE,
CREATE_DIR_IN_TMP,
REMOVE_EMPTY_DIR_IN_TMP,
ATTEMPT_DIR_REMOVAL_NON_EMPTY,
REMOVE_FILLED_DIR_IN_TMP,
RENAME_FILE,
APPEND_TO_FILE,
};
void testFileSystemHandlerDirect(FsOpCodes opCode);
}; };
#endif /* BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ */ #endif /* BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ */

39
bsp_q7s/callbacks/gnssCallback.cpp
View File

@ -1,26 +1,25 @@
#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); TaskFactory::delayTask(resetArgs->waitPeriodMs);
TaskFactory::delayTask(resetArgs->waitPeriodMs); resetArgs->gpioComIF->pullHigh(gpioId);
resetArgs->gpioComIF->pullHigh(gpioId); return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
} }

8
bsp_q7s/callbacks/gnssCallback.h
View File

@ -1,13 +1,13 @@
#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;
LinuxLibgpioIF* gpioComIF = nullptr; LinuxLibgpioIF* gpioComIF = nullptr;
uint32_t waitPeriodMs = 100; uint32_t waitPeriodMs = 100;
}; };
namespace gps { namespace gps {

418
bsp_q7s/callbacks/rwSpiCallback.cpp
View File

@ -1,248 +1,232 @@
#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);
if (handler == nullptr) {
sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
RwHandler* handler = reinterpret_cast<RwHandler*>(args); uint8_t writeBuffer[2];
if(handler == nullptr) { uint8_t writeSize = 0;
sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid"
<< std::endl; gpioId_t gpioId = cookie->getChipSelectPin();
return HasReturnvaluesIF::RETURN_FAILED; GpioIF* gpioIF = comIf->getGpioInterface();
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0;
MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
if (mutex == nullptr or gpioIF == nullptr) {
sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
int fileDescriptor = 0;
std::string device = cookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback");
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
return SpiComIF::OPENING_FILE_FAILED;
}
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
uint32_t spiSpeed = 0;
cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
return result;
}
/** Sending frame start sign */
writeBuffer[0] = 0x7E;
writeSize = 1;
// Pull SPI CS low. For now, no support for active high given
if (gpioId != gpio::NO_GPIO) {
if (gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
} }
}
uint8_t writeBuffer[2]; if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
uint8_t writeSize = 0; sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
}
gpioId_t gpioId = cookie->getChipSelectPin(); /** Encoding and sending command */
GpioIF* gpioIF = comIf->getGpioInterface(); size_t idx = 0;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; while (idx < sendLen) {
uint32_t timeoutMs = 0; switch (*(sendData + idx)) {
MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs); case 0x7E:
if(mutex == nullptr or gpioIF == nullptr) { writeBuffer[0] = 0x7D;
sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl; writeBuffer[1] = 0x5E;
return HasReturnvaluesIF::RETURN_FAILED; writeSize = 2;
} break;
case 0x7D:
int fileDescriptor = 0; writeBuffer[0] = 0x7D;
std::string device = cookie->getSpiDevice(); writeBuffer[1] = 0x5D;
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback"); writeSize = 2;
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { break;
sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl; default:
return SpiComIF::OPENING_FILE_FAILED; writeBuffer[0] = *(sendData + idx);
writeSize = 1;
break;
} }
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
uint32_t spiSpeed = 0;
cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
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 */
writeBuffer[0] = 0x7E;
writeSize = 1;
// Pull SPI CS low. For now, no support for active high given
if(gpioId != gpio::NO_GPIO) {
if(gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
}
}
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) { if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl; sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
}
idx++;
}
/** Sending frame end sign */
writeBuffer[0] = 0x7E;
writeSize = 1;
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
}
uint8_t* rxBuf = nullptr;
result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
if (result != HasReturnvaluesIF::RETURN_OK) {
closeSpi(gpioId, gpioIF, mutex);
return result;
}
size_t replyBufferSize = cookie->getMaxBufferSize();
/** There must be a delay of at least 20 ms after sending the command */
usleep(RwDefinitions::SPI_REPLY_DELAY);
/**
* The reaction wheel responds with empty frames while preparing the reply data.
* However, receiving more than 5 empty frames will be interpreted as an error.
*/
uint8_t byteRead = 0;
for (int idx = 0; idx < 10; idx++) {
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_READ_FAILURE;
}
if (idx == 0) {
if (byteRead != FLAG_BYTE) {
sif::error << "Invalid data, expected start marker" << std::endl;
closeSpi(gpioId, gpioIF, mutex); closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE; return RwHandler::NO_START_MARKER;
}
} }
/** Encoding and sending command */ if (byteRead != FLAG_BYTE) {
size_t idx = 0; break;
while(idx < sendLen) {
switch(*(sendData + idx)) {
case 0x7E:
writeBuffer[0] = 0x7D;
writeBuffer[1] = 0x5E;
writeSize = 2;
break;
case 0x7D:
writeBuffer[0] = 0x7D;
writeBuffer[1] = 0x5D;
writeSize = 2;
break;
default:
writeBuffer[0] = *(sendData + idx);
writeSize = 1;
break;
}
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
}
idx++;
} }
/** Sending frame end sign */ if (idx == 9) {
writeBuffer[0] = 0x7E; sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
writeSize = 1; closeSpi(gpioId, gpioIF, mutex);
return RwHandler::NO_REPLY;
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
}
uint8_t* rxBuf = nullptr;
result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
if(result != HasReturnvaluesIF::RETURN_OK) {
closeSpi(gpioId, gpioIF, mutex);
return result;
}
size_t replyBufferSize = cookie->getMaxBufferSize();
/** There must be a delay of at least 20 ms after sending the command */
usleep(RwDefinitions::SPI_REPLY_DELAY);
/**
* The reaction wheel responds with empty frames while preparing the reply data.
* However, receiving more than 5 empty frames will be interpreted as an error.
*/
uint8_t byteRead = 0;
for (int idx = 0; idx < 10; idx++) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_READ_FAILURE;
}
if(idx == 0) {
if(byteRead != FLAG_BYTE) {
sif::error << "Invalid data, expected start marker" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::NO_START_MARKER;
}
}
if (byteRead != FLAG_BYTE) {
break;
}
if (idx == 9) {
sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::NO_REPLY;
}
} }
}
#if FSFW_HAL_SPI_WIRETAPPING == 1 #if FSFW_HAL_SPI_WIRETAPPING == 1
sif::info << "RW start marker detected" << std::endl; sif::info << "RW start marker detected" << std::endl;
#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; }
}
}
if (byteRead == FLAG_BYTE) {
/** Reached end of frame */
break;
}
else if (byteRead == 0x7D) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
}
if (byteRead == 0x5E) {
*(rxBuf + decodedFrameLen) = 0x7E;
decodedFrameLen++;
continue;
}
else if (byteRead == 0x5D) {
*(rxBuf + decodedFrameLen) = 0x7D;
decodedFrameLen++;
continue;
}
else {
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
result = RwHandler::INVALID_SUBSTITUTE;
break;
}
}
else {
*(rxBuf + decodedFrameLen) = byteRead;
decodedFrameLen++;
continue;
}
/**
* There might be the unlikely case that each byte in a get-telemetry reply has been
* replaced by its substitute. Than the next byte must correspond to the end sign 0x7E.
* Otherwise there might be something wrong.
*/
if (decodedFrameLen == replyBufferSize) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
}
if (byteRead != 0x7E) {
sif::error << "rwSpiCallback::spiCallback: Missing end sign 0x7E" << std::endl;
decodedFrameLen--;
result = RwHandler::MISSING_END_SIGN;
break;
}
}
result = HasReturnvaluesIF::RETURN_OK;
} }
cookie->setTransferSize(decodedFrameLen); if (byteRead == FLAG_BYTE) {
/** Reached end of frame */
break;
} else if (byteRead == 0x7D) {
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
}
if (byteRead == 0x5E) {
*(rxBuf + decodedFrameLen) = 0x7E;
decodedFrameLen++;
continue;
} else if (byteRead == 0x5D) {
*(rxBuf + decodedFrameLen) = 0x7D;
decodedFrameLen++;
continue;
} else {
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
result = RwHandler::INVALID_SUBSTITUTE;
break;
}
} else {
*(rxBuf + decodedFrameLen) = byteRead;
decodedFrameLen++;
continue;
}
closeSpi(gpioId, gpioIF, mutex); /**
* There might be the unlikely case that each byte in a get-telemetry reply has been
* replaced by its substitute. Than the next byte must correspond to the end sign 0x7E.
* Otherwise there might be something wrong.
*/
if (decodedFrameLen == replyBufferSize) {
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
}
if (byteRead != 0x7E) {
sif::error << "rwSpiCallback::spiCallback: Missing end sign 0x7E" << std::endl;
decodedFrameLen--;
result = RwHandler::MISSING_END_SIGN;
break;
}
}
result = HasReturnvaluesIF::RETURN_OK;
}
return result; cookie->setTransferSize(decodedFrameLen);
closeSpi(gpioId, gpioIF, mutex);
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) {
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;
} }
}
if (mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;
;
}
} }
} } // namespace rwSpiCallback

9
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 {
@ -31,8 +30,8 @@ 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);
/** /**
* @brief This function closes a spi session. Pulls the chip select to high an releases the * @brief This function closes a spi session. Pulls the chip select to high an releases the
@ -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_ */

1850
bsp_q7s/core/CoreController.cpp
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274
bsp_q7s/core/CoreController.h
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@ -2,183 +2,167 @@
#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";
static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt"; static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
static constexpr char VERSION_FILE[] = "/conf/sd_status"; static constexpr char VERSION_FILE[] = "/conf/sd_status";
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0; static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
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);
virtual ~CoreController();
ReturnValue_t initialize() override;
CoreController(object_id_t objectId); ReturnValue_t initializeAfterTaskCreation() override;
virtual~ CoreController();
ReturnValue_t initialize() override; ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
ReturnValue_t initializeAfterTaskCreation() override; ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
ReturnValue_t executeAction(ActionId_t actionId, /**
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) override; * Generate a file containing the chip lock/unlock states inside /tmp/chip_prot_status.txt
* @return
*/
static ReturnValue_t generateChipStateFile();
static ReturnValue_t incrementAllocationFailureCount();
static void getCurrentBootCopy(Chip& chip, Copy& copy);
ReturnValue_t handleCommandMessage(CommandMessage *message) override; ReturnValue_t updateProtInfo(bool regenerateChipStateFile = true);
void performControlOperation() override;
/** /**
* Generate a file containing the chip lock/unlock states inside /tmp/chip_prot_status.txt * Checks whether the target chip and copy are write protected and protect set them to a target
* @return * state where applicable.
*/ * @param targetChip
static ReturnValue_t generateChipStateFile(); * @param targetCopy
static ReturnValue_t incrementAllocationFailureCount(); * @param protect Target state
static void getCurrentBootCopy(Chip& chip, Copy& copy); * @param protOperationPerformed [out] Can be used to determine whether any operation
* was performed
* @param updateProtFile Specify whether the protection info file is updated
* @return
*/
ReturnValue_t setBootCopyProtection(Chip targetChip, Copy targetCopy, bool protect,
bool& protOperationPerformed, bool updateProtFile = true);
ReturnValue_t updateProtInfo(bool regenerateChipStateFile = true); bool sdInitFinished() const;
/** private:
* Checks whether the target chip and copy are write protected and protect set them to a target static Chip CURRENT_CHIP;
* state where applicable. static Copy CURRENT_COPY;
* @param targetChip
* @param targetCopy
* @param protect Target state
* @param protOperationPerformed [out] Can be used to determine whether any operation
* was performed
* @param updateProtFile Specify whether the protection info file is updated
* @return
*/
ReturnValue_t setBootCopyProtection(Chip targetChip, Copy targetCopy,
bool protect, bool& protOperationPerformed, bool updateProtFile = true);
bool sdInitFinished() const; // Designated value for rechecking FIFO open
static constexpr int RETRY_FIFO_OPEN = -2;
int watchdogFifoFd = 0;
private: // States for SD state machine, which is used in non-blocking mode
static Chip CURRENT_CHIP; enum class SdStates {
static Copy CURRENT_COPY; NONE,
START,
GET_INFO,
SET_STATE_SELF,
MOUNT_SELF,
// Determine operations for other SD card, depending on redundancy configuration
DETERMINE_OTHER,
SET_STATE_OTHER,
// Mount or unmount other
MOUNT_UNMOUNT_OTHER,
// Skip period because the shell command used to generate the info file sometimes is
// missing the last performed operation if executed too early
SKIP_CYCLE_BEFORE_INFO_UPDATE,
UPDATE_INFO,
// SD initialization done
IDLE,
// Used if SD switches or mount commands are issued via telecommand
SET_STATE_FROM_COMMAND,
};
static constexpr bool BLOCKING_SD_INIT = false;
// Designated value for rechecking FIFO open SdCardManager* sdcMan = nullptr;
static constexpr int RETRY_FIFO_OPEN = -2;
int watchdogFifoFd = 0;
// States for SD state machine, which is used in non-blocking mode struct SdInfo {
enum class SdStates { sd::SdCard pref = sd::SdCard::NONE;
NONE, sd::SdState prefState = sd::SdState::OFF;
START, sd::SdCard other = sd::SdCard::NONE;
GET_INFO, sd::SdState otherState = sd::SdState::OFF;
SET_STATE_SELF, std::string prefChar = "0";
MOUNT_SELF, std::string otherChar = "1";
// Determine operations for other SD card, depending on redundancy configuration SdStates state = SdStates::START;
DETERMINE_OTHER, // Used to track whether a command was executed
SET_STATE_OTHER, bool commandExecuted = true;
// Mount or unmount other bool initFinished = false;
MOUNT_UNMOUNT_OTHER, SdCardManager::SdStatePair currentState;
// Skip period because the shell command used to generate the info file sometimes is uint16_t cycleCount = 0;
// missing the last performed operation if executed too early // These two flags are related to external commanding
SKIP_CYCLE_BEFORE_INFO_UPDATE, bool commandIssued = false;
UPDATE_INFO, bool commandFinished = false;
// SD initialization done sd::SdState currentlyCommandedState = sd::SdState::OFF;
IDLE, sd::SdCard commandedCard = sd::SdCard::NONE;
// Used if SD switches or mount commands are issued via telecommand sd::SdState commandedState = sd::SdState::OFF;
SET_STATE_FROM_COMMAND, };
}; SdInfo sdInfo;
static constexpr bool BLOCKING_SD_INIT = false;
SdCardManager* sdcMan = nullptr; /**
* Index 0: Chip 0 Copy 0
* Index 1: Chip 0 Copy 1
* Index 2: Chip 1 Copy 0
* Index 3: Chip 1 Copy 1
*/
std::array<bool, 4> protArray;
PeriodicOperationDivider opDivider;
struct SdInfo { ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
sd::SdCard pref = sd::SdCard::NONE; LocalDataPoolManager& poolManager) override;
sd::SdState prefState = sd::SdState::OFF; LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
sd::SdCard other = sd::SdCard::NONE; ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
sd::SdState otherState = sd::SdState::OFF;
std::string prefChar = "0";
std::string otherChar = "1";
SdStates state = SdStates::START;
// Used to track whether a command was executed
bool commandExecuted = true;
bool initFinished = false;
SdCardManager::SdStatePair currentState;
uint16_t cycleCount = 0;
// These two flags are related to external commanding
bool commandIssued = false;
bool commandFinished = false;
sd::SdState currentlyCommandedState = sd::SdState::OFF;
sd::SdCard commandedCard = sd::SdCard::NONE;
sd::SdState commandedState = sd::SdState::OFF;
};
SdInfo sdInfo;
/** ReturnValue_t initVersionFile();
* Index 0: Chip 0 Copy 0 ReturnValue_t initBootCopy();
* Index 1: Chip 0 Copy 1 ReturnValue_t initWatchdogFifo();
* Index 2: Chip 1 Copy 0 ReturnValue_t initSdCardBlocking();
* Index 3: Chip 1 Copy 1 void initPrint();
*/
std::array<bool, 4> protArray;
PeriodicOperationDivider opDivider;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, ReturnValue_t sdStateMachine();
LocalDataPoolManager& poolManager) override; void updateSdInfoOther();
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, bool printOutput = true);
uint32_t *msToReachTheMode); ReturnValue_t sdColdRedundantBlockingInit();
void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
void determinePreferredSdCard();
void executeNextExternalSdCommand();
void checkExternalSdCommandStatus();
ReturnValue_t initVersionFile(); ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
ReturnValue_t initBootCopy(); const uint8_t* data, size_t size);
ReturnValue_t initWatchdogFifo(); ReturnValue_t actionPerformReboot(const uint8_t* data, size_t size);
ReturnValue_t initSdCardBlocking();
void initPrint();
ReturnValue_t sdStateMachine(); void performWatchdogControlOperation();
void updateSdInfoOther();
ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
bool printOutput = true);
ReturnValue_t sdColdRedundantBlockingInit();
void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
void determinePreferredSdCard();
void executeNextExternalSdCommand();
void checkExternalSdCommandStatus();
ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy, ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
const uint8_t *data, size_t size); int handleBootCopyProtAtIndex(Chip targetChip, Copy targetCopy, bool protect,
ReturnValue_t actionPerformReboot(const uint8_t *data, size_t size); bool& protOperationPerformed, bool selfChip, bool selfCopy,
bool allChips, bool allCopies, uint8_t arrIdx);
void performWatchdogControlOperation();
ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
int handleBootCopyProtAtIndex(Chip targetChip, Copy targetCopy, bool protect,
bool &protOperationPerformed, bool selfChip, bool selfCopy, bool allChips,
bool allCopies, uint8_t arrIdx);
}; };
#endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */ #endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */

532
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");
@ -30,322 +29,343 @@ 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;
/* Instantiate global object manager and also create all objects */
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize();
sif::info << "Building global objects.." << std::endl; /* This function creates and starts all tasks */
/* Instantiate global object manager and also create all objects */ initTasks();
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize();
/* This function creates and starts all tasks */
initTasks();
} }
void initmission::initTasks() { 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
/* 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) {
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);
} }
#if OBSW_ADD_TCPIP_BRIDGE == 1 #if OBSW_ADD_TCPIP_BRIDGE == 1
// TMTC bridge // TMTC bridge
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
#if OBSW_USE_CCSDS_IP_CORE == 1 #if OBSW_USE_CCSDS_IP_CORE == 1
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);
} }
// Minimal distance between two received TCs amounts to 0.6 seconds // Minimal distance between two received TCs amounts to 0.6 seconds
// If a command has not been read before the next one arrives, the old command will be // If a command has not been read before the next one arrives, the old command will be
// overwritten by the PDEC. // overwritten by the PDEC.
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(
// FS task, task interval does not matter because it runs in permanent loop, priority low "ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
// because it is a non-essential background task result = acsCtrl->addComponent(objects::GPS_CONTROLLER);
PeriodicTaskIF* fsTask = factory->createPeriodicTask( if (result != HasReturnvaluesIF::RETURN_OK) {
"FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc); initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER);
result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER); }
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER); #if BOARD_TE0720 == 0
} // FS task, task interval does not matter because it runs in permanent loop, priority low
// because it is a non-essential background task
PeriodicTaskIF* fsTask = factory->createPeriodicTask(
"FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
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
std::vector<PeriodicTaskIF*> pusTasks; std::vector<PeriodicTaskIF*> pusTasks;
createPusTasks(*factory, missedDeadlineFunc, pusTasks); createPusTasks(*factory, missedDeadlineFunc, pusTasks);
std::vector<PeriodicTaskIF*> pstTasks; std::vector<PeriodicTaskIF*> pstTasks;
createPstTasks(*factory, missedDeadlineFunc, pstTasks); createPstTasks(*factory, missedDeadlineFunc, pstTasks);
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
std::vector<PeriodicTaskIF*> testTasks; std::vector<PeriodicTaskIF*> testTasks;
createTestTasks(*factory, missedDeadlineFunc, testTasks); createTestTasks(*factory, missedDeadlineFunc, testTasks);
#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; }
} }
} };
};
sif::info << "Starting tasks.." << std::endl; sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask(); tmTcDistributor->startTask();
#if OBSW_ADD_TCPIP_BRIDGE == 1 #if OBSW_ADD_TCPIP_BRIDGE == 1
tmtcBridgeTask->startTask(); tmtcBridgeTask->startTask();
tmtcPollingTask->startTask(); tmtcPollingTask->startTask();
#endif #endif
#if OBSW_USE_CCSDS_IP_CORE == 1 #if OBSW_USE_CCSDS_IP_CORE == 1
ccsdsHandlerTask->startTask(); ccsdsHandlerTask->startTask();
pdecHandlerTask->startTask(); pdecHandlerTask->startTask();
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */ #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
coreController->startTask(); coreController->startTask();
#endif #endif
taskStarter(pstTasks, "PST task vector"); taskStarter(pstTasks, "PST task vector");
taskStarter(pusTasks, "PUS task vector"); taskStarter(pusTasks, "PUS task vector");
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
taskStarter(testTasks, "Test task vector"); taskStarter(testTasks, "Test task vector");
#endif #endif
#if OBSW_TEST_CCSDS_BRIDGE == 1 #if OBSW_TEST_CCSDS_BRIDGE == 1
ptmeTestTask->startTask(); ptmeTestTask->startTask();
#endif #endif
#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
sif::info << "Tasks started.." << std::endl; acsCtrl->startTask();
sif::info << "Tasks started.." << std::endl;
} }
void initmission::createPstTasks(TaskFactory& factory, void initmission::createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) { TaskDeadlineMissedFunction missedDeadlineFunc,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; std::vector<PeriodicTaskIF*>& taskVec) {
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 {
taskVec.push_back(spiPst);
} }
} else {
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;
} }
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; }
} taskVec.push_back(pollingSequenceTaskTE0720);
taskVec.push_back(pollingSequenceTaskTE0720);
#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,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; std::vector<PeriodicTaskIF*>& taskVec) {
/* PUS Services */ ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
PeriodicTaskIF* pusVerification = factory.createPeriodicTask( /* PUS Services */
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION); "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
if(result != HasReturnvaluesIF::RETURN_OK) { result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION); if (result != HasReturnvaluesIF::RETURN_OK) {
} initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
taskVec.push_back(pusVerification); }
taskVec.push_back(pusVerification);
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);
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);
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);
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,
std::vector<PeriodicTaskIF*>& taskVec) { TaskDeadlineMissedFunction missedDeadlineFunc,
#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1) std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; #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;
#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 */
taskVec.push_back(testTask); taskVec.push_back(testTask);
} }

11
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;
@ -12,11 +13,11 @@ void initMission();
void initTasks(); void initTasks();
void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec); std::vector<PeriodicTaskIF*>& taskVec);
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
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_ */

1718
bsp_q7s/core/ObjectFactory.cpp
View File

File diff suppressed because it is too large Load Diff

6
bsp_q7s/core/ObjectFactory.h
View File

@ -11,7 +11,7 @@ void setStatics();
void produce(void* args); void produce(void* args);
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF, void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
SpiComIF** spiComIF); SpiComIF** spiComIF);
void createTmpComponents(); void createTmpComponents();
void createPcduComponents(); void createPcduComponents();
void createRadSensorComponent(LinuxLibgpioIF* gpioComIF); void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
@ -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;
}

18
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:
std::string mountPrefix; private:
DummyParameter dummyParam; std::string mountPrefix;
DummyParameter dummyParam;
}; };
#endif /* BSP_Q7S_CORE_PARAMETERHANDLER_H_ */ #endif /* BSP_Q7S_CORE_PARAMETERHANDLER_H_ */

57
bsp_q7s/core/obsw.cpp
View File

@ -1,43 +1,44 @@
#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;
int obsw::obsw() { int obsw::obsw() {
std::cout << "-- EIVE OBSW --" << std::endl; std::cout << "-- EIVE OBSW --" << std::endl;
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl; std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
#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 "
return OBSW_ALREADY_RUNNING; "already be running. Aborting.."
} << std::endl;
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);
} }
return 0; return 0;
} }

4
bsp_q7s/devices/CMakeLists.txt
View File

@ -2,4 +2,6 @@ target_sources(${TARGET_NAME} PRIVATE
PlocSupervisorHandler.cpp PlocSupervisorHandler.cpp
PlocUpdater.cpp PlocUpdater.cpp
PlocMemoryDumper.cpp PlocMemoryDumper.cpp
) )
add_subdirectory(startracker)

282
bsp_q7s/devices/PlocMemoryDumper.cpp
View File

@ -1,206 +1,192 @@
#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) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE); PlocMemoryDumper::PlocMemoryDumper(object_id_t objectId)
: SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
} }
PlocMemoryDumper::~PlocMemoryDumper() { PlocMemoryDumper::~PlocMemoryDumper() {}
}
ReturnValue_t PlocMemoryDumper::initialize() { ReturnValue_t PlocMemoryDumper::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commandActionHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = actionHelper.initialize(commandQueue);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
ReturnValue_t result = SystemObject::initialize(); return HasReturnvaluesIF::RETURN_OK;
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commandActionHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = actionHelper.initialize(commandQueue);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t PlocMemoryDumper::performOperation(uint8_t operationCode) { ReturnValue_t PlocMemoryDumper::performOperation(uint8_t operationCode) {
readCommandQueue(); readCommandQueue();
doStateMachine(); doStateMachine();
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) {
return IS_BUSY;
}
if (state != State::IDLE) { switch (actionId) {
return IS_BUSY;
}
switch (actionId) {
case DUMP_MRAM: { case DUMP_MRAM: {
size_t deserializeSize = sizeof(mram.startAddress) + sizeof(mram.endAddress); size_t deserializeSize = sizeof(mram.startAddress) + sizeof(mram.endAddress);
SerializeAdapter::deSerialize(&mram.startAddress, &data, &deserializeSize, SerializeAdapter::deSerialize(&mram.startAddress, &data, &deserializeSize,
SerializeIF::Endianness::BIG); SerializeIF::Endianness::BIG);
SerializeAdapter::deSerialize(&mram.endAddress, &data, &deserializeSize, SerializeAdapter::deSerialize(&mram.endAddress, &data, &deserializeSize,
SerializeIF::Endianness::BIG); SerializeIF::Endianness::BIG);
if (mram.endAddress > MAX_MRAM_ADDRESS) { if (mram.endAddress > MAX_MRAM_ADDRESS) {
return MRAM_ADDRESS_TOO_HIGH; return MRAM_ADDRESS_TOO_HIGH;
} }
if (mram.endAddress <= mram.startAddress) { if (mram.endAddress <= mram.startAddress) {
return MRAM_INVALID_ADDRESS_COMBINATION; return MRAM_INVALID_ADDRESS_COMBINATION;
} }
state = State::COMMAND_FIRST_MRAM_DUMP; state = State::COMMAND_FIRST_MRAM_DUMP;
break; break;
} }
default: { default: {
sif::warning << "PlocMemoryDumper::executeAction: Received command with invalid action id" sif::warning << "PlocMemoryDumper::executeAction: Received command with invalid action id"
<< std::endl; << std::endl;
return INVALID_ACTION_ID; return INVALID_ACTION_ID;
}
} }
}
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;
ReturnValue_t result; ReturnValue_t result;
for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK; for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
result = commandQueue->receiveMessage(&message)) { result = commandQueue->receiveMessage(&message)) {
if (result != RETURN_OK) { if (result != RETURN_OK) {
continue; continue;
}
result = actionHelper.handleActionMessage(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
result = commandActionHelper.handleReply(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
sif::debug << "PlocMemoryDumper::readCommandQueue: Received message with invalid format"
<< std::endl;
} }
result = actionHelper.handleActionMessage(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
result = commandActionHelper.handleReply(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
sif::debug << "PlocMemoryDumper::readCommandQueue: Received message with invalid format"
<< std::endl;
}
} }
void PlocMemoryDumper::doStateMachine() { void PlocMemoryDumper::doStateMachine() {
switch (state) { switch (state) {
case State::IDLE: case State::IDLE:
break; break;
case State::COMMAND_FIRST_MRAM_DUMP: case State::COMMAND_FIRST_MRAM_DUMP:
commandNextMramDump(PLOC_SPV::FIRST_MRAM_DUMP); commandNextMramDump(PLOC_SPV::FIRST_MRAM_DUMP);
break; break;
case State::COMMAND_CONSECUTIVE_MRAM_DUMP: case State::COMMAND_CONSECUTIVE_MRAM_DUMP:
commandNextMramDump(PLOC_SPV::CONSECUTIVE_MRAM_DUMP); commandNextMramDump(PLOC_SPV::CONSECUTIVE_MRAM_DUMP);
break; break;
case State::EXECUTING_MRAM_DUMP: case State::EXECUTING_MRAM_DUMP:
break; break;
default: default:
sif::debug << "PlocMemoryDumper::doStateMachine: Invalid state" << std::endl; sif::debug << "PlocMemoryDumper::doStateMachine: Invalid state" << std::endl;
break; break;
} }
} }
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) {
case (PLOC_SPV::FIRST_MRAM_DUMP): case (PLOC_SPV::FIRST_MRAM_DUMP):
case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP): case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
if (mram.endAddress == mram.startAddress) { if (mram.endAddress == mram.startAddress) {
triggerEvent(MRAM_DUMP_FINISHED); triggerEvent(MRAM_DUMP_FINISHED);
state = State::IDLE;
}
else {
state = State::COMMAND_CONSECUTIVE_MRAM_DUMP;
}
break;
default:
sif::debug << "PlocMemoryDumper::completionSuccessfulReceived: Invalid pending command"
<< std::endl;
state = State::IDLE; state = State::IDLE;
break; } else {
} state = State::COMMAND_CONSECUTIVE_MRAM_DUMP;
}
break;
default:
sif::debug << "PlocMemoryDumper::completionSuccessfulReceived: Invalid pending command"
<< std::endl;
state = State::IDLE;
break;
}
} }
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:
sif::debug << "PlocMemoryDumper::completionFailedReceived: Invalid pending command " sif::debug << "PlocMemoryDumper::completionFailedReceived: Invalid pending command "
<< std::endl; << std::endl;
break; break;
} }
state = State::IDLE; state = State::IDLE;
} }
void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) { void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
uint32_t tempStartAddress = 0; uint32_t tempStartAddress = 0;
uint32_t tempEndAddress = 0; uint32_t tempEndAddress = 0;
if (mram.endAddress - mram.startAddress > MAX_MRAM_DUMP_SIZE) { if (mram.endAddress - mram.startAddress > MAX_MRAM_DUMP_SIZE) {
tempStartAddress = mram.startAddress; tempStartAddress = mram.startAddress;
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; }
}
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 "
<< tempEndAddress << std::endl; << tempEndAddress << std::endl;
triggerEvent(SEND_MRAM_DUMP_FAILED, result, tempStartAddress); triggerEvent(SEND_MRAM_DUMP_FAILED, result, tempStartAddress);
state = State::IDLE; state = State::IDLE;
pendingCommand = NONE; pendingCommand = NONE;
return;
}
state = State::EXECUTING_MRAM_DUMP;
pendingCommand = dumpCommand;
return; return;
}
state = State::EXECUTING_MRAM_DUMP;
pendingCommand = dumpCommand;
return;
} }

145
bsp_q7s/devices/PlocMemoryDumper.h
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@ -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
@ -25,91 +25,90 @@
* @author J. Meier * @author J. Meier
*/ */
class PlocMemoryDumper : public SystemObject, class PlocMemoryDumper : public SystemObject,
public HasActionsIF, public HasActionsIF,
public ExecutableObjectIF, public ExecutableObjectIF,
public HasReturnvaluesIF, public HasReturnvaluesIF,
public CommandsActionsIF { public CommandsActionsIF {
public: public:
static const ActionId_t NONE = 0;
static const ActionId_t DUMP_MRAM = 1;
static const ActionId_t NONE = 0; PlocMemoryDumper(object_id_t objectId);
static const ActionId_t DUMP_MRAM = 1; virtual ~PlocMemoryDumper();
PlocMemoryDumper(object_id_t objectId); ReturnValue_t performOperation(uint8_t operationCode = 0) override;
virtual ~PlocMemoryDumper(); ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t initialize() override;
MessageQueueIF* getCommandQueuePtr() override;
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override; private:
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, static const uint32_t QUEUE_SIZE = 10;
const uint8_t* data, size_t size);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t initialize() override;
MessageQueueIF* getCommandQueuePtr() override;
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
private: static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MEMORY_DUMPER;
static const uint32_t QUEUE_SIZE = 10; //! [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);
//! [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 uint8_t INTERFACE_ID = CLASS_ID::PLOC_MEMORY_DUMPER; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_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] Failed to send mram dump command to supervisor handler
static const ReturnValue_t MRAM_ADDRESS_TOO_HIGH = MAKE_RETURN_CODE(0xA0); //! P1: Return value of commandAction function
//! [EXPORT] : [COMMENT] The specified end address is lower than the start address //! P2: Start address of MRAM to dump with this command
static const ReturnValue_t MRAM_INVALID_ADDRESS_COMBINATION = MAKE_RETURN_CODE(0xA1); static const Event SEND_MRAM_DUMP_FAILED = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Received completion failure report form PLOC supervisor handler
//! P1: MRAM start address of failing dump command
static const Event MRAM_DUMP_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] MRAM dump finished successfully
static const Event MRAM_DUMP_FINISHED = MAKE_EVENT(2, severity::LOW);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MEMORY_DUMPER; // Maximum size of mram dump which can be retrieved with one command
static const uint32_t MAX_MRAM_DUMP_SIZE = 100000;
static const uint32_t MAX_MRAM_ADDRESS = 0x7d000;
//! [EXPORT] : [COMMENT] Failed to send mram dump command to supervisor handler MessageQueueIF* commandQueue = nullptr;
//! P1: Return value of commandAction function
//! P2: Start address of MRAM to dump with this command
static const Event SEND_MRAM_DUMP_FAILED = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Received completion failure report form PLOC supervisor handler
//! P1: MRAM start address of failing dump command
static const Event MRAM_DUMP_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] MRAM dump finished successfully
static const Event MRAM_DUMP_FINISHED = MAKE_EVENT(2, severity::LOW);
// Maximum size of mram dump which can be retrieved with one command CommandActionHelper commandActionHelper;
static const uint32_t MAX_MRAM_DUMP_SIZE = 100000;
static const uint32_t MAX_MRAM_ADDRESS = 0x7d000;
MessageQueueIF* commandQueue = nullptr; ActionHelper actionHelper;
CommandActionHelper commandActionHelper; enum class State : uint8_t {
IDLE,
COMMAND_FIRST_MRAM_DUMP,
COMMAND_CONSECUTIVE_MRAM_DUMP,
EXECUTING_MRAM_DUMP
};
ActionHelper actionHelper; State state = State::IDLE;
enum class State: uint8_t { ActionId_t pendingCommand = NONE;
IDLE,
COMMAND_FIRST_MRAM_DUMP,
COMMAND_CONSECUTIVE_MRAM_DUMP,
EXECUTING_MRAM_DUMP
};
State state = State::IDLE; typedef struct MemoryInfo {
// Stores the start address of the next memory range to dump
uint32_t startAddress;
uint32_t endAddress;
// Stores the start address of the last sent dump command
uint32_t lastStartAddress;
} MemoryInfo_t;
ActionId_t pendingCommand = NONE; MemoryInfo_t mram = {0, 0, 0};
typedef struct MemoryInfo { void readCommandQueue();
// Stores the start address of the next memory range to dump void doStateMachine();
uint32_t startAddress;
uint32_t endAddress;
// Stores the start address of the last sent dump command
uint32_t lastStartAddress;
} MemoryInfo_t;
MemoryInfo_t mram = {0, 0, 0}; /**
* @brief Sends the next mram dump command to the PLOC supervisor handler.
void readCommandQueue(); */
void doStateMachine(); void commandNextMramDump(ActionId_t dumpCommand);
/**
* @brief Sends the next mram dump command to the PLOC supervisor handler.
*/
void commandNextMramDump(ActionId_t dumpCommand);
}; };
#endif /* MISSION_DEVICES_PLOCMEMORYDUMPER_H_ */ #endif /* MISSION_DEVICES_PLOCMEMORYDUMPER_H_ */

2295
bsp_q7s/devices/PlocSupervisorHandler.cpp
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549
bsp_q7s/devices/PlocSupervisorHandler.h
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@ -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.
@ -19,324 +19,327 @@
* 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);
virtual ~PlocSupervisorHandler();
PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF * comCookie); virtual ReturnValue_t initialize() override;
virtual ~PlocSupervisorHandler();
virtual ReturnValue_t initialize() override; protected:
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies = 1, bool useAlternateId = false,
DeviceCommandId_t alternateReplyID = 0) override;
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
protected: private:
void doStartUp() override; static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPERVISOR_HANDLER;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t * commandData,size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies = 1, bool useAlternateId = false,
DeviceCommandId_t alternateReplyID = 0) override;
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
private: //! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC supervisor
static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Received execution failure reply from PLOC supervisor
static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC supervisor
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Failed to read current system time
static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Invalid communication interface specified
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
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.
static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
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.
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.
static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xAA);
//! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
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)
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.
static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAD);
//! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
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.
static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAF);
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPERVISOR_HANDLER; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
//! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC //! [EXPORT] : [COMMENT] PLOC supervisor crc failure in telemetry packet
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0); static const Event SUPV_MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC supervisor //! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1); static const Event SUPV_ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Received execution failure reply from PLOC supervisor //! [EXPORT] : [COMMENT] PLOC received execution failure report
static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2); static const Event SUPV_EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC supervisor //! [EXPORT] : [COMMENT] PLOC supervisor reply has invalid crc
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3); static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to read current system time
static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Invalid communication interface specified
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
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.
static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
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.
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.
static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xAA);
//! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
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)
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.
static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAD);
//! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
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.
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 uint16_t APID_MASK = 0x7FF;
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
//! [EXPORT] : [COMMENT] PLOC supervisor crc failure in telemetry packet uint8_t commandBuffer[PLOC_SPV::MAX_COMMAND_SIZE];
static const Event SUPV_MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
static const Event SUPV_ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC received execution failure report
static const Event SUPV_EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC supervisor reply has invalid crc
static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW);
static const uint16_t APID_MASK = 0x7FF; /**
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF; * This variable is used to store the id of the next reply to receive. This is necessary
* because the PLOC sends as reply to each command at least one acknowledgment and execution
* report.
*/
DeviceCommandId_t nextReplyId = PLOC_SPV::NONE;
uint8_t commandBuffer[PLOC_SPV::MAX_COMMAND_SIZE]; UartComIF* uartComIf = nullptr;
/** PLOC_SPV::HkSet hkset;
* This variable is used to store the id of the next reply to receive. This is necessary PLOC_SPV::BootStatusReport bootStatusReport;
* because the PLOC sends as reply to each command at least one acknowledgment and execution PLOC_SPV::LatchupStatusReport latchupStatusReport;
* report.
*/
DeviceCommandId_t nextReplyId = PLOC_SPV::NONE;
UartComIF* uartComIf = nullptr; /** Number of expected replies following the MRAM dump command */
uint32_t expectedMramDumpPackets = 0;
uint32_t receivedMramDumpPackets = 0;
/** Set to true as soon as a complete space packet is present in the spacePacketBuffer */
bool packetInBuffer = false;
/** Points to the next free position in the space packet buffer */
uint16_t bufferTop = 0;
PLOC_SPV::HkSet hkset; /** This buffer is used to concatenate space packets received in two different read steps */
PLOC_SPV::BootStatusReport bootStatusReport; uint8_t spacePacketBuffer[PLOC_SPV::MAX_PACKET_SIZE];
PLOC_SPV::LatchupStatusReport latchupStatusReport;
/** Number of expected replies following the MRAM dump command */
uint32_t expectedMramDumpPackets = 0;
uint32_t receivedMramDumpPackets = 0;
/** Set to true as soon as a complete space packet is present in the spacePacketBuffer */
bool packetInBuffer = false;
/** Points to the next free position in the space packet buffer */
uint16_t bufferTop = 0;
/** This buffer is used to concatenate space packets received in two different read steps */
uint8_t spacePacketBuffer[PLOC_SPV::MAX_PACKET_SIZE];
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
SdCardManager* sdcMan = nullptr; SdCardManager* sdcMan = nullptr;
#endif /* BOARD_TE0720 == 0 */ #endif /* BOARD_TE0720 == 0 */
/** Path to PLOC specific files on SD card */ /** Path to PLOC specific files on SD card */
std::string plocFilePath = "ploc"; std::string plocFilePath = "ploc";
std::string activeMramFile; std::string activeMramFile;
/** Setting this variable to true will enable direct downlink of MRAM packets */ /** Setting this variable to true will enable direct downlink of MRAM packets */
bool downlinkMramDump = false; bool downlinkMramDump = false;
/** /**
* @brief This function checks the crc of the received PLOC reply. * @brief This function checks the crc of the received PLOC reply.
* *
* @param start Pointer to the first byte of the reply. * @param start Pointer to the first byte of the reply.
* @param foundLen Pointer to the length of the whole packet. * @param foundLen Pointer to the length of the whole packet.
* *
* @return RETURN_OK if CRC is ok, otherwise CRC_FAILURE. * @return RETURN_OK if CRC is ok, otherwise CRC_FAILURE.
*/ */
ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen); ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
/** /**
* @brief This function handles the acknowledgment report. * @brief This function handles the acknowledgment report.
* *
* @param data Pointer to the data holding the acknowledgment report. * @param data Pointer to the data holding the acknowledgment report.
* *
* @return RETURN_OK if successful, otherwise an error code. * @return RETURN_OK if successful, otherwise an error code.
*/ */
ReturnValue_t handleAckReport(const uint8_t* data); ReturnValue_t handleAckReport(const uint8_t* data);
/** /**
* @brief This function handles the data of a execution report. * @brief This function handles the data of a execution report.
* *
* @param data Pointer to the received data packet. * @param data Pointer to the received data packet.
* *
* @return RETURN_OK if successful, otherwise an error code. * @return RETURN_OK if successful, otherwise an error code.
*/ */
ReturnValue_t handleExecutionReport(const uint8_t* data); ReturnValue_t handleExecutionReport(const uint8_t* data);
/** /**
* @brief This function handles the housekeeping report. This means verifying the CRC of the * @brief This function handles the housekeeping report. This means verifying the CRC of the
* reply and filling the appropriate dataset. * reply and filling the appropriate dataset.
* *
* @param data Pointer to the data buffer holding the housekeeping read report. * @param data Pointer to the data buffer holding the housekeeping read report.
* *
* @return RETURN_OK if successful, otherwise an error code. * @return RETURN_OK if successful, otherwise an error code.
*/ */
ReturnValue_t handleHkReport(const uint8_t* data); ReturnValue_t handleHkReport(const uint8_t* data);
/** /**
* @brief This function calls the function to check the CRC of the received boot status report * @brief This function calls the function to check the CRC of the received boot status report
* and fills the associated dataset with the boot status information. * and fills the associated dataset with the boot status information.
*/ */
ReturnValue_t handleBootStatusReport(const uint8_t* data); ReturnValue_t handleBootStatusReport(const uint8_t* data);
ReturnValue_t handleLatchupStatusReport(const uint8_t* data); ReturnValue_t handleLatchupStatusReport(const uint8_t* data);
/** /**
* @brief Depending on the current active command, this function sets the reply id of the * @brief Depending on the current active command, this function sets the reply id of the
* next reply after a successful acknowledgment report has been received. This is * next reply after a successful acknowledgment report has been received. This is
* required by the function getNextReplyLength() to identify the length of the next * required by the function getNextReplyLength() to identify the length of the next
* reply to read. * reply to read.
*/ */
void setNextReplyId(); void setNextReplyId();
/** /**
* @brief This function handles action message replies in case the telemetry has been * @brief This function handles action message replies in case the telemetry has been
* requested by another object. * requested by another object.
* *
* @param data Pointer to the telemetry data. * @param data Pointer to the telemetry data.
* @param dataSize Size of telemetry in bytes. * @param dataSize Size of telemetry in bytes.
* @param replyId Id of the reply. This will be added to the ActionMessage. * @param replyId Id of the reply. This will be added to the ActionMessage.
*/ */
void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId); void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
/** /**
* @brief This function prepares a space packet which does not transport any data in the * @brief This function prepares a space packet which does not transport any data in the
* packet data field apart from the crc. * packet data field apart from the crc.
*/ */
void prepareEmptyCmd(uint16_t apid); void prepareEmptyCmd(uint16_t apid);
/** /**
* @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();
/** /**
* @brief This function fills the commandBuffer with the data to update the time of the * @brief This function fills the commandBuffer with the data to update the time of the
* PLOC supervisor. * PLOC supervisor.
*/ */
ReturnValue_t prepareSetTimeRefCmd(); ReturnValue_t prepareSetTimeRefCmd();
/** /**
* @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);
ReturnValue_t prepareAutoCalibrateAlertCmd(const uint8_t* commandData); ReturnValue_t prepareAutoCalibrateAlertCmd(const uint8_t* commandData);
ReturnValue_t prepareSetAlertLimitCmd(const uint8_t* commandData); ReturnValue_t prepareSetAlertLimitCmd(const uint8_t* commandData);
ReturnValue_t prepareSetAlertIrqFilterCmd(const uint8_t* commandData); ReturnValue_t prepareSetAlertIrqFilterCmd(const uint8_t* commandData);
ReturnValue_t prepareSetAdcSweetPeriodCmd(const uint8_t* commandData); ReturnValue_t prepareSetAdcSweetPeriodCmd(const uint8_t* commandData);
void prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData); void prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData);
void prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData); void prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData);
void prepareSetAdcThresholdCmd(const uint8_t* commandData); void prepareSetAdcThresholdCmd(const uint8_t* commandData);
void prepareEnableNvmsCmd(const uint8_t* commandData); void prepareEnableNvmsCmd(const uint8_t* commandData);
void prepareSelectNvmCmd(const uint8_t* commandData); void prepareSelectNvmCmd(const uint8_t* commandData);
ReturnValue_t prepareRunAutoEmTest(const uint8_t* commandData); ReturnValue_t prepareRunAutoEmTest(const uint8_t* commandData);
ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData); ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData);
ReturnValue_t prepareDumpMramCmd(const uint8_t* commandData); ReturnValue_t prepareDumpMramCmd(const uint8_t* commandData);
void preparePrintCpuStatsCmd(const uint8_t* commandData); void preparePrintCpuStatsCmd(const uint8_t* commandData);
void prepareSetDbgVerbosityCmd(const uint8_t* commandData); void prepareSetDbgVerbosityCmd(const uint8_t* commandData);
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.
*/
void packetToOutBuffer(uint8_t* packetData, size_t fullSize);
/** /**
* @brief Copies the content of a space packet to the command buffer. * @brief In case an acknowledgment failure reply has been received this function disables
*/ * all previously enabled commands and resets the exepected replies variable of an
void packetToOutBuffer(uint8_t* packetData, size_t fullSize); * active command.
*/
void disableAllReplies();
/** /**
* @brief In case an acknowledgment failure reply has been received this function disables * @brief This function sends a failure report if the active action was commanded by an other
* all previously enabled commands and resets the exepected replies variable of an * object.
* active command. *
*/ * @param replyId The id of the reply which signals a failure.
void disableAllReplies(); * @param status A status byte which gives information about the failure type.
*/
void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
/** /**
* @brief This function sends a failure report if the active action was commanded by an other * @brief This function disables the execution report reply. Within this function also the
* object. * the variable expectedReplies of an active command will be set to 0.
* */
* @param replyId The id of the reply which signals a failure. void disableExeReportReply();
* @param status A status byte which gives information about the failure type.
*/
void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
/** /**
* @brief This function disables the execution report reply. Within this function also the * @brief Function is called in scanForReply and fills the spacePacketBuffer with the read
* the variable expectedReplies of an active command will be set to 0. * data until a full packet has been received.
*/ */
void disableExeReportReply(); ReturnValue_t parseMramPackets(const uint8_t* packet, size_t remainingSize, size_t* foundlen);
/** /**
* @brief Function is called in scanForReply and fills the spacePacketBuffer with the read * @brief This function generates the Service 8 packets for the MRAM dump data.
* data until a full packet has been received. */
*/ ReturnValue_t handleMramDumpPacket(DeviceCommandId_t id);
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 With this function the number of expected replies following an MRAM dump command
*/ * will be increased. This is necessary to release the command in case not all replies
ReturnValue_t handleMramDumpPacket(DeviceCommandId_t id); * have been received.
*/
void increaseExpectedMramReplies(DeviceCommandId_t id);
/** /**
* @brief With this function the number of expected replies following an MRAM dump command * @brief Function checks if the packet written to the space packet buffer is really a
* will be increased. This is necessary to release the command in case not all replies * MRAM dump packet.
* have been received. */
*/ ReturnValue_t checkMramPacketApid();
void increaseExpectedMramReplies(DeviceCommandId_t id);
/** /**
* @brief Function checks if the packet written to the space packet buffer is really a * @brief Writes the data of the MRAM dump to a file. The file will be created when receiving
* MRAM dump packet. * the first packet.
*/ */
ReturnValue_t checkMramPacketApid(); ReturnValue_t handleMramDumpFile(DeviceCommandId_t id);
/** /**
* @brief Writes the data of the MRAM dump to a file. The file will be created when receiving * @brief Extracts the length field of a spacePacket referenced by the spacePacket pointer.
* the first packet. *
*/ * @param spacePacket Pointer to the buffer holding the space packet.
ReturnValue_t handleMramDumpFile(DeviceCommandId_t id); *
* @return The value stored in the length field of the data field.
*/
uint16_t readSpacePacketLength(uint8_t* spacePacket);
/** /**
* @brief Extracts the length field of a spacePacket referenced by the spacePacket pointer. * @brief Extracts the sequence flags from a space packet referenced by the spacePacket
* * pointer.
* @param spacePacket Pointer to the buffer holding the space packet. *
* * @param spacePacket Pointer to the buffer holding the space packet.
* @return The value stored in the length field of the data field. *
*/ * @return uint8_t where the two least significant bits hold the sequence flags.
uint16_t readSpacePacketLength(uint8_t* spacePacket); */
uint8_t readSequenceFlags(uint8_t* spacePacket);
/** ReturnValue_t createMramDumpFile();
* @brief Extracts the sequence flags from a space packet referenced by the spacePacket ReturnValue_t getTimeStampString(std::string& timeStamp);
* pointer.
*
* @param spacePacket Pointer to the buffer holding the space packet.
*
* @return uint8_t where the two least significant bits hold the sequence flags.
*/
uint8_t readSequenceFlags(uint8_t* spacePacket);
ReturnValue_t createMramDumpFile();
ReturnValue_t getTimeStampString(std::string& timeStamp);
}; };
#endif /* MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_ */ #endif /* MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_ */

613
bsp_q7s/devices/PlocUpdater.cpp
View File

@ -1,436 +1,393 @@
#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) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE); PlocUpdater::PlocUpdater(object_id_t objectId)
: SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
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
sdcMan = SdCardManager::instance(); sdcMan = SdCardManager::instance();
#endif #endif
ReturnValue_t result = SystemObject::initialize(); ReturnValue_t result = SystemObject::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
result = commandActionHelper.initialize(); result = commandActionHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
result = actionHelper.initialize(commandQueue); result = actionHelper.initialize(commandQueue);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t PlocUpdater::performOperation(uint8_t operationCode) { ReturnValue_t PlocUpdater::performOperation(uint8_t operationCode) {
readCommandQueue(); readCommandQueue();
doStateMachine(); doStateMachine();
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) {
return IS_BUSY; return IS_BUSY;
} }
if (size > MAX_PLOC_UPDATE_PATH) { if (size > MAX_PLOC_UPDATE_PATH) {
return NAME_TOO_LONG; return NAME_TOO_LONG;
} }
switch (actionId) { switch (actionId) {
case UPDATE_A_UBOOT: case UPDATE_A_UBOOT:
image = Image::A; image = Image::A;
partition = Partition::UBOOT; partition = Partition::UBOOT;
break; break;
case UPDATE_A_BITSTREAM: case UPDATE_A_BITSTREAM:
image = Image::A; image = Image::A;
partition = Partition::BITSTREAM; partition = Partition::BITSTREAM;
break; break;
case UPDATE_A_LINUX: case UPDATE_A_LINUX:
image = Image::A; image = Image::A;
partition = Partition::LINUX_OS; partition = Partition::LINUX_OS;
break; break;
case UPDATE_A_APP_SW: case UPDATE_A_APP_SW:
image = Image::A; image = Image::A;
partition = Partition::APP_SW; partition = Partition::APP_SW;
break; break;
case UPDATE_B_UBOOT: case UPDATE_B_UBOOT:
image = Image::B; image = Image::B;
partition = Partition::UBOOT; partition = Partition::UBOOT;
break; break;
case UPDATE_B_BITSTREAM: case UPDATE_B_BITSTREAM:
image = Image::B; image = Image::B;
partition = Partition::BITSTREAM; partition = Partition::BITSTREAM;
break; break;
case UPDATE_B_LINUX: case UPDATE_B_LINUX:
image = Image::B; image = Image::B;
partition = Partition::LINUX_OS; partition = Partition::LINUX_OS;
break; break;
case UPDATE_B_APP_SW: case UPDATE_B_APP_SW:
image = Image::B; image = Image::B;
partition = Partition::APP_SW; partition = Partition::APP_SW;
break; break;
default: default:
return INVALID_ACTION_ID; return INVALID_ACTION_ID;
} }
result = getImageLocation(data, size); result = getImageLocation(data, size);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
state = State::UPDATE_AVAILABLE; state = State::UPDATE_AVAILABLE;
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;
ReturnValue_t result; ReturnValue_t result;
for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK; for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
result = commandQueue->receiveMessage(&message)) { result = commandQueue->receiveMessage(&message)) {
if (result != RETURN_OK) { if (result != RETURN_OK) {
continue; continue;
}
result = actionHelper.handleActionMessage(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
result = commandActionHelper.handleReply(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
sif::debug << "PlocUpdater::readCommandQueue: Received message with invalid format"
<< std::endl;
} }
result = actionHelper.handleActionMessage(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
result = commandActionHelper.handleReply(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
sif::debug << "PlocUpdater::readCommandQueue: Received message with invalid format"
<< std::endl;
}
} }
void PlocUpdater::doStateMachine() { void PlocUpdater::doStateMachine() {
switch (state) { switch (state) {
case State::IDLE: case State::IDLE:
break; break;
case State::UPDATE_AVAILABLE: case State::UPDATE_AVAILABLE:
commandUpdateAvailable(); commandUpdateAvailable();
break; break;
case State::UPDATE_TRANSFER: case State::UPDATE_TRANSFER:
commandUpdatePacket(); commandUpdatePacket();
break; break;
case State::UPDATE_VERIFY: case State::UPDATE_VERIFY:
commandUpdateVerify(); commandUpdateVerify();
break; break;
case State::COMMAND_EXECUTING: case State::COMMAND_EXECUTING:
break; break;
default: default:
sif::debug << "PlocUpdater::doStateMachine: Invalid state" << std::endl; sif::debug << "PlocUpdater::doStateMachine: Invalid state" << std::endl;
break; break;
} }
} }
ReturnValue_t PlocUpdater::checkNameLength(size_t size) { ReturnValue_t PlocUpdater::checkNameLength(size_t size) {
if (size > MAX_PLOC_UPDATE_PATH) { if (size > MAX_PLOC_UPDATE_PATH) {
return NAME_TOO_LONG; return NAME_TOO_LONG;
} }
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) { ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
ReturnValue_t result = checkNameLength(size); ReturnValue_t result = checkNameLength(size);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
#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)) {
return SD_NOT_MOUNTED; sif::warning << "PlocUpdater::getImageLocation: SD card 0 not mounted" << std::endl;
} return SD_NOT_MOUNTED;
} }
else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_1_MOUNT_POINT)) { } else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
if (!isSdCardMounted(sd::SLOT_0)) { std::string(SdCardManager::SD_1_MOUNT_POINT)) {
sif::warning << "PlocUpdater::prepareNvm0AUpdate: SD card 1 not mounted" << std::endl; if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
return SD_NOT_MOUNTED; sif::warning << "PlocUpdater::getImageLocation: SD card 1 not mounted" << std::endl;
} return SD_NOT_MOUNTED;
}
else {
//update image not stored on SD card
} }
} else {
// 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) {
case (PLOC_SPV::UPDATE_AVAILABLE): case (PLOC_SPV::UPDATE_AVAILABLE):
state = State::UPDATE_TRANSFER; state = State::UPDATE_TRANSFER;
break; break;
case (PLOC_SPV::UPDATE_IMAGE_DATA): case (PLOC_SPV::UPDATE_IMAGE_DATA):
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;
case (PLOC_SPV::UPDATE_VERIFY): case (PLOC_SPV::UPDATE_VERIFY):
triggerEvent(UPDATE_FINISHED); triggerEvent(UPDATE_FINISHED);
state = State::IDLE; state = State::IDLE;
pendingCommand = PLOC_SPV::NONE; pendingCommand = PLOC_SPV::NONE;
break; break;
default: default:
sif::debug << "PlocUpdater::completionSuccessfulReceived: Invalid pending command" sif::debug << "PlocUpdater::completionSuccessfulReceived: Invalid pending command"
<< std::endl; << std::endl;
state = State::IDLE; state = State::IDLE;
break; break;
} }
} }
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;
} }
void PlocUpdater::commandUpdateAvailable() { void PlocUpdater::commandUpdateAvailable() {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
if (not std::filesystem::exists(updateFile)) { if (not std::filesystem::exists(updateFile)) {
triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state)); triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state));
state = State::IDLE; state = State::IDLE;
return;
}
std::ifstream file(updateFile, std::ifstream::binary);
file.seekg(0, file.end);
imageSize = static_cast<size_t>(file.tellg());
file.close();
numOfUpdatePackets = imageSize / MAX_SP_DATA ;
if (imageSize % MAX_SP_DATA) {
numOfUpdatePackets++;
}
remainingPackets = numOfUpdatePackets;
packetsSent = 0;
calcImageCrc();
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(), packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
<< " packet to supervisor handler" << std::endl;
triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_AVAILABLE);
state = State::IDLE;
pendingCommand = PLOC_SPV::NONE;
return;
}
pendingCommand = PLOC_SPV::UPDATE_AVAILABLE;
state = State::COMMAND_EXECUTING;
return; return;
}
std::ifstream file(updateFile, std::ifstream::binary);
file.seekg(0, file.end);
imageSize = static_cast<size_t>(file.tellg());
file.close();
numOfUpdatePackets = imageSize / MAX_SP_DATA;
if (imageSize % MAX_SP_DATA) {
numOfUpdatePackets++;
}
remainingPackets = numOfUpdatePackets;
packetsSent = 0;
calcImageCrc();
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc,
numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(),
packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
<< " packet to supervisor handler" << std::endl;
triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_AVAILABLE);
state = State::IDLE;
pendingCommand = PLOC_SPV::NONE;
return;
}
pendingCommand = PLOC_SPV::UPDATE_AVAILABLE;
state = State::COMMAND_EXECUTING;
return;
} }
void PlocUpdater::commandUpdatePacket() { void PlocUpdater::commandUpdatePacket() {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
uint16_t payloadLength = 0; uint16_t payloadLength = 0;
if (not std::filesystem::exists(updateFile)) { if (not std::filesystem::exists(updateFile)) {
triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state), packetsSent); triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state), packetsSent);
state = State::IDLE; state = State::IDLE;
return; return;
} }
std::ifstream file(updateFile, std::ifstream::binary); std::ifstream file(updateFile, std::ifstream::binary);
file.seekg(packetsSent * MAX_SP_DATA, file.beg); file.seekg(packetsSent * MAX_SP_DATA, file.beg);
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; }
}
PLOC_SPV::UpdatePacket packet(payloadLength); PLOC_SPV::UpdatePacket packet(payloadLength);
file.read(reinterpret_cast<char*>(packet.getDataFieldPointer()), payloadLength); file.read(reinterpret_cast<char*>(packet.getDataFieldPointer()), payloadLength);
file.close(); file.close();
// sequence count of first packet is 1 // sequence count of first packet is 1
packet.setPacketSequenceCount((packetsSent + 1) & PLOC_SPV::SEQUENCE_COUNT_MASK); packet.setPacketSequenceCount((packetsSent + 1) & PLOC_SPV::SEQUENCE_COUNT_MASK);
if (numOfUpdatePackets > 1) { if (numOfUpdatePackets > 1) {
adjustSequenceFlags(packet); adjustSequenceFlags(packet);
} }
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"
<< " packet to supervisor handler" << std::endl; << " packet to supervisor handler" << std::endl;
triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_IMAGE_DATA); triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_IMAGE_DATA);
state = State::IDLE; state = State::IDLE;
pendingCommand = PLOC_SPV::NONE; pendingCommand = PLOC_SPV::NONE;
return; return;
} }
remainingPackets--; remainingPackets--;
packetsSent++; packetsSent++;
pendingCommand = PLOC_SPV::UPDATE_IMAGE_DATA; pendingCommand = PLOC_SPV::UPDATE_IMAGE_DATA;
state = State::COMMAND_EXECUTING; state = State::COMMAND_EXECUTING;
} }
void PlocUpdater::commandUpdateVerify() { 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,
if (result != RETURN_OK) { packet.getWholeData(), packet.getFullSize());
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available" if (result != RETURN_OK) {
<< " packet to supervisor handler" << std::endl; sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_VERIFY); << " packet to supervisor handler" << std::endl;
state = State::IDLE; triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_VERIFY);
pendingCommand = PLOC_SPV::NONE; state = State::IDLE;
return; pendingCommand = PLOC_SPV::NONE;
}
state = State::COMMAND_EXECUTING;
pendingCommand = PLOC_SPV::UPDATE_VERIFY;
return; return;
}
state = State::COMMAND_EXECUTING;
pendingCommand = PLOC_SPV::UPDATE_VERIFY;
return;
} }
void PlocUpdater::calcImageCrc() { void PlocUpdater::calcImageCrc() {
std::ifstream file(updateFile, std::ifstream::binary); std::ifstream file(updateFile, std::ifstream::binary);
file.seekg(0, file.end); file.seekg(0, file.end);
uint32_t count; uint32_t count;
uint32_t bit; uint32_t bit;
uint32_t remainder = INITIAL_REMAINDER_32; uint32_t remainder = INITIAL_REMAINDER_32;
char input; char input;
for (count = 0; count < imageSize; count++) { for (count = 0; count < imageSize; count++) {
file.seekg(count, file.beg); file.seekg(count, file.beg);
file.read(&input, 1); file.read(&input, 1);
remainder ^= (input << 16); remainder ^= (input << 16);
for (bit = 8; bit > 0; --bit) { for (bit = 8; bit > 0; --bit) {
if (remainder & TOPBIT_32) { if (remainder & TOPBIT_32) {
remainder = (remainder << 1) ^ POLYNOMIAL_32; remainder = (remainder << 1) ^ POLYNOMIAL_32;
} else { } else {
remainder = (remainder << 1); remainder = (remainder << 1);
} }
}
} }
file.close(); }
imageCrc = (remainder ^ FINAL_XOR_VALUE_32); file.close();
imageCrc = (remainder ^ FINAL_XOR_VALUE_32);
} }
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 {
} packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT));
else { }
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT));
}
} }

254
bsp_q7s/devices/PlocUpdater.h
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@ -2,188 +2,170 @@
#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
*/ */
class PlocUpdater : public SystemObject, class PlocUpdater : public SystemObject,
public HasActionsIF, public HasActionsIF,
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_BITSTREAM = 1;
static const ActionId_t UPDATE_A_LINUX = 2;
static const ActionId_t UPDATE_A_APP_SW = 3;
static const ActionId_t UPDATE_B_UBOOT = 4;
static const ActionId_t UPDATE_B_BITSTREAM = 5;
static const ActionId_t UPDATE_B_LINUX = 6;
static const ActionId_t UPDATE_B_APP_SW = 7;
static const ActionId_t UPDATE_A_UBOOT = 0; PlocUpdater(object_id_t objectId);
static const ActionId_t UPDATE_A_BITSTREAM = 1; virtual ~PlocUpdater();
static const ActionId_t UPDATE_A_LINUX = 2;
static const ActionId_t UPDATE_A_APP_SW = 3;
static const ActionId_t UPDATE_B_UBOOT = 4;
static const ActionId_t UPDATE_B_BITSTREAM = 5;
static const ActionId_t UPDATE_B_LINUX = 6;
static const ActionId_t UPDATE_B_APP_SW = 7;
PlocUpdater(object_id_t objectId); ReturnValue_t performOperation(uint8_t operationCode = 0) override;
virtual ~PlocUpdater(); ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t initialize() override;
MessageQueueIF* getCommandQueuePtr() override;
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override; private:
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_UPDATER;
const uint8_t* data, size_t size);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t initialize() override;
MessageQueueIF* getCommandQueuePtr() override;
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
private: //! [EXPORT] : [COMMENT] Updater is already performing an update
static const ReturnValue_t UPDATER_BUSY = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Received update command with invalid path string (too long).
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.
static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Update file received with update command does not exist.
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA3);
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_UPDATER; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_UPDATER;
//! [EXPORT] : [COMMENT] Updater is already performing an update //! [EXPORT] : [COMMENT] Try to read update file but the file does not exist.
static const ReturnValue_t UPDATER_BUSY = MAKE_RETURN_CODE(0xA0); //! P1: Indicates in which state the file read fails
//! [EXPORT] : [COMMENT] Received update command with invalid path string (too long). //! P2: During the update transfer the second parameter gives information about the number of
static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA1); //! already sent packets
//! [EXPORT] : [COMMENT] Received command to initiate update but SD card with update image not mounted. static const Event UPDATE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW);
static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA2); //! [EXPORT] : [COMMENT] Failed to send command to supervisor handler
//! [EXPORT] : [COMMENT] Update file received with update command does not exist. //! P1: Return value of CommandActionHelper::commandAction
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA3); //! P2: Action ID of command to send
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
static const Event UPDATE_AVAILABLE_FAILED = MAKE_EVENT(2, severity::LOW);
//! [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)
static const Event UPDATE_TRANSFER_FAILED = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor failed to execute the update verify command.
static const Event UPDATE_VERIFY_FAILED = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] MPSoC update successful completed
static const Event UPDATE_FINISHED = MAKE_EVENT(5, severity::INFO);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_UPDATER; static const uint32_t QUEUE_SIZE = config::PLOC_UPDATER_QUEUE_SIZE;
static const size_t MAX_PLOC_UPDATE_PATH = 50;
static const size_t SD_PREFIX_LENGTH = 8;
// Maximum size of update payload data per space packet (max size of space packet is 1024 bytes)
static const size_t MAX_SP_DATA = 1016;
//! [EXPORT] : [COMMENT] Try to read update file but the file does not exist. static const uint32_t TOPBIT_32 = (1 << 31);
//! P1: Indicates in which state the file read fails static const uint32_t POLYNOMIAL_32 = 0x04C11DB7;
//! P2: During the update transfer the second parameter gives information about the number of already sent packets static const uint32_t INITIAL_REMAINDER_32 = 0xFFFFFFFF;
static const Event UPDATE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW); static const uint32_t FINAL_XOR_VALUE_32 = 0xFFFFFFFF;
//! [EXPORT] : [COMMENT] Failed to send command to supervisor handler
//! P1: Return value of CommandActionHelper::commandAction
//! P2: Action ID of command to send
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
static const Event UPDATE_AVAILABLE_FAILED = MAKE_EVENT(2, severity::LOW);
//! [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)
static const Event UPDATE_TRANSFER_FAILED = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor failed to execute the update verify command.
static const Event UPDATE_VERIFY_FAILED = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] MPSoC update successful completed
static const Event UPDATE_FINISHED = MAKE_EVENT(5, severity::INFO);
static const uint32_t QUEUE_SIZE = config::PLOC_UPDATER_QUEUE_SIZE; MessageQueueIF* commandQueue = nullptr;
static const size_t MAX_PLOC_UPDATE_PATH = 50;
static const size_t SD_PREFIX_LENGTH = 8;
// Maximum size of update payload data per space packet (max size of space packet is 1024 bytes)
static const size_t MAX_SP_DATA = 1016;
static const uint32_t TOPBIT_32 = (1 << 31);
static const uint32_t POLYNOMIAL_32 = 0x04C11DB7;
static const uint32_t INITIAL_REMAINDER_32 = 0xFFFFFFFF;
static const uint32_t FINAL_XOR_VALUE_32 = 0xFFFFFFFF;
MessageQueueIF* commandQueue = nullptr;
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
SdCardManager* sdcMan = nullptr; SdCardManager* sdcMan = nullptr;
#endif #endif
CommandActionHelper commandActionHelper; CommandActionHelper commandActionHelper;
ActionHelper actionHelper; ActionHelper actionHelper;
enum class State: uint8_t { enum class State : uint8_t {
IDLE, IDLE,
UPDATE_AVAILABLE, UPDATE_AVAILABLE,
UPDATE_TRANSFER, UPDATE_TRANSFER,
UPDATE_VERIFY, UPDATE_VERIFY,
COMMAND_EXECUTING COMMAND_EXECUTING
}; };
State state = State::IDLE; State state = State::IDLE;
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;
uint32_t packetsSent = 0; uint32_t packetsSent = 0;
uint32_t remainingPackets = 0; uint32_t remainingPackets = 0;
// Number of packets required to transfer the update image // Number of packets required to transfer the update image
uint32_t numOfUpdatePackets = 0; uint32_t numOfUpdatePackets = 0;
std::string updateFile; std::string updateFile;
uint32_t imageSize = 0; uint32_t imageSize = 0;
uint32_t imageCrc = 0; uint32_t imageCrc = 0;
void readCommandQueue(); void readCommandQueue();
void doStateMachine(); void doStateMachine();
/** /**
* @brief Extracts the path and name of the update image from the service 8 command data. * @brief Extracts the path and name of the update image from the service 8 command data.
*/ */
ReturnValue_t getImageLocation(const uint8_t* data, size_t size); ReturnValue_t getImageLocation(const uint8_t* data, size_t size);
ReturnValue_t checkNameLength(size_t size); ReturnValue_t checkNameLength(size_t size);
/** /**
* @brief Prepares and sends update available command to PLOC supervisor handler. * @brief Prepares and sends update available command to PLOC supervisor handler.
*/ */
void commandUpdateAvailable(); void commandUpdateAvailable();
/** /**
* @brief Prepares and sends and update packet to the PLOC supervisor handler. * @brief Prepares and sends and update packet to the PLOC supervisor handler.
*/ */
void commandUpdatePacket(); void commandUpdatePacket();
/** /**
* @brief Prepares and sends the update verification packet to the PLOC supervisor handler. * @brief Prepares and sends the update verification packet to the PLOC supervisor handler.
*/ */
void commandUpdateVerify(); void commandUpdateVerify();
#if BOARD_TE0720 == 0 void calcImageCrc();
/**
* @brief Checks whether the SD card to read from is mounted or not.
*/
bool isSdCardMounted(sd::SdCard sdCard);
#endif
void calcImageCrc(); void adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet);
void adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet);
}; };
#endif /* MISSION_DEVICES_PLOCUPDATER_H_ */ #endif /* MISSION_DEVICES_PLOCUPDATER_H_ */

41
bsp_q7s/devices/devicedefinitions/PlocMemDumpDefinitions.h
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@ -3,31 +3,26 @@
#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
* @param startAddress Start of address range to dump
* @param endAddress End of address range to dump
*/
MemoryParams(uint32_t startAddress, uint32_t endAddress)
: startAddress(startAddress), endAddress(endAddress) {
setLinks();
}
/** private:
* @brief Constructor void setLinks() {
* @param startAddress Start of address range to dump setStart(&startAddress);
* @param endAddress End of address range to dump startAddress.setNext(&endAddress);
*/ }
MemoryParams(uint32_t startAddress, uint32_t endAddress) :
startAddress(startAddress), endAddress(endAddress) {
setLinks();
}
private:
void setLinks() {
setStart(&startAddress);
startAddress.setNext(&endAddress);
}
SerializeElement<uint32_t> startAddress;
SerializeElement<uint32_t> endAddress;
SerializeElement<uint32_t> startAddress;
SerializeElement<uint32_t> endAddress;
}; };
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_ */ #endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_ */

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bsp_q7s/devices/devicedefinitions/PlocSupervisorDefinitions.h
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62
bsp_q7s/devices/startracker/ArcsecDatalinkLayer.cpp Normal file
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@ -0,0 +1,62 @@
#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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#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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#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_ */

858
bsp_q7s/gpio/gpioCallbacks.cpp
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@ -1,512 +1,504 @@
#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) {
sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
return;
}
if (gpioComIF == nullptr) { gpioComInterface = gpioComIF;
sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
return;
}
gpioComInterface = gpioComIF; GpioCookie* spiMuxGpios = new GpioCookie;
GpioCookie* spiMuxGpios = new GpioCookie; GpiodRegularByLineName* spiMuxBit = nullptr;
/** Setting mux bit 1 to low will disable IC21 on the interface board */
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1",
gpio::DIR_OUT, gpio::HIGH);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
/** 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::DIR_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 */
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 3",
gpio::DIR_OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
GpiodRegularByLineName* spiMuxBit = nullptr; // spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1",
/** Setting mux bit 1 to low will disable IC21 on the interface board */ // gpio::OUT, gpio::LOW);
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1", // spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
gpio::DIR_OUT, gpio::HIGH); // /** Setting mux bit 2 to low disables IC1 on the TCS board */
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit); // spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 2",
/** Setting mux bit 2 to low disables IC1 on the TCS board */ // gpio::OUT, gpio::HIGH); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 2", // /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board
gpio::DIR_OUT, gpio::HIGH); // */ spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit); // 3", gpio::OUT, gpio::LOW); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
/** 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::DIR_OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
// spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1", /** The following gpios can take arbitrary initial values */
// gpio::OUT, gpio::LOW); spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 4",
// spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit); gpio::DIR_OUT, gpio::LOW);
// /** Setting mux bit 2 to low disables IC1 on the TCS board */ spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
// 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_5_PIN, "SPI Mux Bit 5",
// spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit); gpio::DIR_OUT, gpio::LOW);
// /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */ spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
// 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_6_PIN, "SPI Mux Bit 6",
// spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit); gpio::DIR_OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit);
GpiodRegularByLineName* enRwDecoder =
new GpiodRegularByLineName(q7s::gpioNames::EN_RW_CS, "EN_RW_CS", gpio::DIR_OUT, gpio::HIGH);
spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
/** The following gpios can take arbitrary initial values */ result = gpioComInterface->addGpios(spiMuxGpios);
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 4", if (result != HasReturnvaluesIF::RETURN_OK) {
gpio::DIR_OUT, gpio::LOW); sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit); return;
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 5", }
gpio::DIR_OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_6_PIN, "SPI Mux Bit 6",
gpio::DIR_OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit);
GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_CS,
"EN_RW_CS", gpio::DIR_OUT, gpio::HIGH);
spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
result = gpioComInterface->addGpios(spiMuxGpios);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
return;
}
} }
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) {
sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder "
<< "to specify gpioComIF" << std::endl;
return;
}
if (gpioComInterface == nullptr) { /* Reading is not supported by the callback function */
sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder " if (gpioOp == gpio::GpioOperation::READ) {
<< "to specify gpioComIF" << std::endl; return;
return; }
}
/* Reading is not supported by the callback function */ if (value == gpio::HIGH) {
if (gpioOp == gpio::GpioOperation::READ) { switch (gpioId) {
return; case (gpioIds::RTD_IC_3): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_4): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_5): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_6): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_7): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_8): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_9): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_10): {
disableDecoderTcsIc1();
break;
}
case (gpioIds::RTD_IC_11): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_12): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_13): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_14): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_15): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_16): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_17): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::RTD_IC_18): {
disableDecoderTcsIc2();
break;
}
case (gpioIds::CS_SUS_1): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_2): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_3): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_4): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_5): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_6): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_7): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_8): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_9): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_10): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_11): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_12): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_13): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_RW1): {
disableRwDecoder();
break;
}
case (gpioIds::CS_RW2): {
disableRwDecoder();
break;
}
case (gpioIds::CS_RW3): {
disableRwDecoder();
break;
}
case (gpioIds::CS_RW4): {
disableRwDecoder();
break;
}
default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
} }
} else if (value == gpio::LOW) {
if (value == gpio::HIGH) { switch (gpioId) {
switch (gpioId) { case (gpioIds::RTD_IC_3): {
case(gpioIds::RTD_IC_3): { selectY7();
disableDecoderTcsIc1(); enableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_4): { case (gpioIds::RTD_IC_4): {
disableDecoderTcsIc1(); selectY6();
break; enableDecoderTcsIc1();
} break;
case(gpioIds::RTD_IC_5): { }
disableDecoderTcsIc1(); case (gpioIds::RTD_IC_5): {
break; selectY5();
} enableDecoderTcsIc1();
case(gpioIds::RTD_IC_6): { break;
disableDecoderTcsIc1(); }
break; case (gpioIds::RTD_IC_6): {
} selectY4();
case(gpioIds::RTD_IC_7): { enableDecoderTcsIc1();
disableDecoderTcsIc1(); break;
break; }
} case (gpioIds::RTD_IC_7): {
case(gpioIds::RTD_IC_8): { selectY3();
disableDecoderTcsIc1(); enableDecoderTcsIc1();
break; break;
} }
case(gpioIds::RTD_IC_9): { case (gpioIds::RTD_IC_8): {
disableDecoderTcsIc1(); selectY2();
break; enableDecoderTcsIc1();
} break;
case(gpioIds::RTD_IC_10): { }
disableDecoderTcsIc1(); case (gpioIds::RTD_IC_9): {
break; selectY1();
} enableDecoderTcsIc1();
case(gpioIds::RTD_IC_11): { break;
disableDecoderTcsIc2(); }
break; case (gpioIds::RTD_IC_10): {
} selectY0();
case(gpioIds::RTD_IC_12): { enableDecoderTcsIc1();
disableDecoderTcsIc2(); break;
break; }
} case (gpioIds::RTD_IC_11): {
case(gpioIds::RTD_IC_13): { selectY7();
disableDecoderTcsIc2(); enableDecoderTcsIc2();
break; break;
} }
case(gpioIds::RTD_IC_14): { case (gpioIds::RTD_IC_12): {
disableDecoderTcsIc2(); selectY6();
break; enableDecoderTcsIc2();
} break;
case(gpioIds::RTD_IC_15): { }
disableDecoderTcsIc2(); case (gpioIds::RTD_IC_13): {
break; selectY5();
} enableDecoderTcsIc2();
case(gpioIds::RTD_IC_16): { break;
disableDecoderTcsIc2(); }
break; case (gpioIds::RTD_IC_14): {
} selectY4();
case(gpioIds::RTD_IC_17): { enableDecoderTcsIc2();
disableDecoderTcsIc2(); break;
break; }
} case (gpioIds::RTD_IC_15): {
case(gpioIds::RTD_IC_18): { selectY3();
disableDecoderTcsIc2(); enableDecoderTcsIc2();
break; break;
} }
case(gpioIds::CS_SUS_1): { case (gpioIds::RTD_IC_16): {
disableDecoderInterfaceBoardIc1(); selectY2();
break; enableDecoderTcsIc2();
} break;
case(gpioIds::CS_SUS_2): { }
disableDecoderInterfaceBoardIc1(); case (gpioIds::RTD_IC_17): {
break; selectY1();
} enableDecoderTcsIc2();
case(gpioIds::CS_SUS_3): { break;
disableDecoderInterfaceBoardIc2(); }
break; case (gpioIds::RTD_IC_18): {
} selectY0();
case(gpioIds::CS_SUS_4): { enableDecoderTcsIc2();
disableDecoderInterfaceBoardIc2(); break;
break; }
} case (gpioIds::CS_SUS_1): {
case(gpioIds::CS_SUS_5): { selectY0();
disableDecoderInterfaceBoardIc2(); enableDecoderInterfaceBoardIc1();
break; break;
} }
case(gpioIds::CS_SUS_6): { case (gpioIds::CS_SUS_2): {
disableDecoderInterfaceBoardIc1(); selectY1();
break; enableDecoderInterfaceBoardIc1();
} break;
case(gpioIds::CS_SUS_7): { }
disableDecoderInterfaceBoardIc1(); case (gpioIds::CS_SUS_3): {
break; selectY0();
} enableDecoderInterfaceBoardIc2();
case(gpioIds::CS_SUS_8): { break;
disableDecoderInterfaceBoardIc2(); }
break; case (gpioIds::CS_SUS_4): {
} selectY1();
case(gpioIds::CS_SUS_9): { enableDecoderInterfaceBoardIc2();
disableDecoderInterfaceBoardIc1(); break;
break; }
} case (gpioIds::CS_SUS_5): {
case(gpioIds::CS_SUS_10): { selectY2();
disableDecoderInterfaceBoardIc1(); enableDecoderInterfaceBoardIc2();
break; break;
} }
case(gpioIds::CS_SUS_11): { case (gpioIds::CS_SUS_6): {
disableDecoderInterfaceBoardIc2(); selectY2();
break; enableDecoderInterfaceBoardIc1();
} break;
case(gpioIds::CS_SUS_12): { }
disableDecoderInterfaceBoardIc2(); case (gpioIds::CS_SUS_7): {
break; selectY3();
} enableDecoderInterfaceBoardIc1();
case(gpioIds::CS_SUS_13): { break;
disableDecoderInterfaceBoardIc1(); }
break; case (gpioIds::CS_SUS_8): {
} selectY3();
case(gpioIds::CS_RW1): { enableDecoderInterfaceBoardIc2();
disableRwDecoder(); break;
break; }
} case (gpioIds::CS_SUS_9): {
case(gpioIds::CS_RW2): { selectY4();
disableRwDecoder(); enableDecoderInterfaceBoardIc1();
break; break;
} }
case(gpioIds::CS_RW3): { case (gpioIds::CS_SUS_10): {
disableRwDecoder(); selectY5();
break; enableDecoderInterfaceBoardIc1();
} break;
case(gpioIds::CS_RW4): { }
disableRwDecoder(); case (gpioIds::CS_SUS_11): {
break; selectY4();
} enableDecoderInterfaceBoardIc2();
default: break;
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl; }
} case (gpioIds::CS_SUS_12): {
} selectY5();
else if (value == gpio::LOW) { enableDecoderInterfaceBoardIc2();
switch (gpioId) { break;
case(gpioIds::RTD_IC_3): { }
selectY7(); case (gpioIds::CS_SUS_13): {
enableDecoderTcsIc1(); selectY6();
break; enableDecoderInterfaceBoardIc1();
} break;
case(gpioIds::RTD_IC_4): { }
selectY6(); case (gpioIds::CS_RW1): {
enableDecoderTcsIc1(); selectY0();
break; enableRwDecoder();
} break;
case(gpioIds::RTD_IC_5): { }
selectY5(); case (gpioIds::CS_RW2): {
enableDecoderTcsIc1(); selectY1();
break; enableRwDecoder();
} break;
case(gpioIds::RTD_IC_6): { }
selectY4(); case (gpioIds::CS_RW3): {
enableDecoderTcsIc1(); selectY2();
break; enableRwDecoder();
} break;
case(gpioIds::RTD_IC_7): { }
selectY3(); case (gpioIds::CS_RW4): {
enableDecoderTcsIc1(); selectY3();
break; enableRwDecoder();
} break;
case(gpioIds::RTD_IC_8): { }
selectY2(); default:
enableDecoderTcsIc1(); sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
break;
}
case(gpioIds::RTD_IC_9): {
selectY1();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_10): {
selectY0();
enableDecoderTcsIc1();
break;
}
case(gpioIds::RTD_IC_11): {
selectY7();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_12): {
selectY6();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_13): {
selectY5();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_14): {
selectY4();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_15): {
selectY3();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_16): {
selectY2();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_17): {
selectY1();
enableDecoderTcsIc2();
break;
}
case(gpioIds::RTD_IC_18): {
selectY0();
enableDecoderTcsIc2();
break;
}
case(gpioIds::CS_SUS_1): {
selectY0();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_2): {
selectY1();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_3): {
selectY0();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_4): {
selectY1();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_5): {
selectY2();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_6): {
selectY2();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_7): {
selectY3();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_8): {
selectY3();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_9): {
selectY4();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_10): {
selectY5();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_SUS_11): {
selectY4();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_12): {
selectY5();
enableDecoderInterfaceBoardIc2();
break;
}
case(gpioIds::CS_SUS_13): {
selectY6();
enableDecoderInterfaceBoardIc1();
break;
}
case(gpioIds::CS_RW1): {
selectY0();
enableRwDecoder();
break;
}
case(gpioIds::CS_RW2): {
selectY1();
enableRwDecoder();
break;
}
case(gpioIds::CS_RW3): {
selectY2();
enableRwDecoder();
break;
}
case(gpioIds::CS_RW4): {
selectY3();
enableRwDecoder();
break;
}
default:
sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
}
}
else {
sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl;
} }
} else {
sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl;
}
} }
void enableDecoderTcsIc1() { void enableDecoderTcsIc1() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
} }
void enableDecoderTcsIc2() { void enableDecoderTcsIc2() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
} }
void enableDecoderInterfaceBoardIc1() { void enableDecoderInterfaceBoardIc1() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
} }
void enableDecoderInterfaceBoardIc2() { void enableDecoderInterfaceBoardIc2() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
} }
void disableDecoderTcsIc1() { void disableDecoderTcsIc1() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
} }
void disableDecoderTcsIc2() { void disableDecoderTcsIc2() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
} }
void disableDecoderInterfaceBoardIc1() { void disableDecoderInterfaceBoardIc1() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
} }
void disableDecoderInterfaceBoardIc2() { void disableDecoderInterfaceBoardIc2() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
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);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6);
} }
void selectY1() { void selectY1() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6);
} }
void selectY2() { void selectY2() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6);
} }
void selectY3() { void selectY3() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6);
} }
void selectY4() { void selectY4() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6);
} }
void selectY5() { void selectY5() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6);
} }
void selectY6() { void selectY6() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6);
} }
void selectY7() { void selectY7() {
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6);
} }
void disableAllDecoder() { void disableAllDecoder() {
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
gpioComInterface->pullLow(gpioIds::EN_RW_CS); gpioComInterface->pullLow(gpioIds::EN_RW_CS);
} }
} } // namespace gpioCallbacks

111
bsp_q7s/gpio/gpioCallbacks.h
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@ -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_ */

9
bsp_q7s/main.cpp
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@ -12,12 +12,11 @@
* @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();
#else #else
return simple::simple(); return simple::simple();
#endif #endif
} }

418
bsp_q7s/memory/FileSystemHandler.cpp
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@ -1,257 +1,241 @@
#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"
mq = QueueFactory::instance()->createMessageQueue(FS_MAX_QUEUE_SIZE); #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);
} }
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" << e.what()
sif::error << "Allocation error in FileSystemHandler::performOperation" << std::endl;
<< e.what() << 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!" break;
<< std::endl; }
break; Command_t command = filemsg.getCommand();
} switch (command) {
Command_t command = filemsg.getCommand(); case (GenericFileSystemMessage::CMD_CREATE_DIRECTORY): {
switch(command) { break;
case(GenericFileSystemMessage::CMD_CREATE_DIRECTORY): { }
break; case (GenericFileSystemMessage::CMD_CREATE_FILE): {
} break;
case(GenericFileSystemMessage::CMD_CREATE_FILE): { }
break;
}
}
opCounter++;
} }
// This task will have a low priority and will run permanently in the background
// so we will just run in a permanent loop here and check file system
// messages permanently
opCounter++; opCounter++;
TaskFactory::instance()->delayTask(1000); }
// This task will have a low priority and will run permanently in the background
// so we will just run in a permanent loop here and check file system
// messages permanently
opCounter++;
TaskFactory::instance()->delayTask(1000);
} }
void FileSystemHandler::fileSystemCheckup() { void FileSystemHandler::fileSystemCheckup() {
SdCardManager::SdStatePair statusPair; SdCardManager::SdStatePair statusPair;
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
(statusPair.second == sd::SdState::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
} else {
std::string sdString;
if (preferredSdCard == sd::SdCard::SLOT_0) {
sdString = "0";
} else {
sdString = "1";
} }
else if((preferredSdCard == sd::SdCard::SLOT_1) and sif::warning << "FileSystemHandler::performOperation: "
(statusPair.second == sd::SdState::MOUNTED)) { "Inconsistent state detected"
currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT; << std::endl;
} sif::warning << "Preferred SD card is " << sdString
else { << " but does not appear to be mounted. Attempting fix.." << std::endl;
std::string sdString; // This function will appear to fix the inconsistent state
if(preferredSdCard == sd::SdCard::SLOT_0) { ReturnValue_t result = sdcMan->sanitizeState(&statusPair, preferredSdCard);
sdString = "0"; if (result != HasReturnvaluesIF::RETURN_OK) {
} // Oh no.
else { triggerEvent(SdCardManager::SANITIZATION_FAILED, 0, 0);
sdString = "1"; sif::error << "FileSystemHandler::fileSystemCheckup: Sanitization failed" << std::endl;
}
sif::warning << "FileSystemHandler::performOperation: "
"Inconsistent state detected" << 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
ReturnValue_t result = sdcMan->sanitizeState(&statusPair, preferredSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
// Oh no.
triggerEvent(SdCardManager::SANITIZATION_FAILED, 0, 0);
sif::error << "FileSystemHandler::fileSystemCheckup: Sanitization failed" << std::endl;
}
} }
}
} }
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 HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::createFile(const char* repositoryPath,
const char* filename, const uint8_t* data, size_t size, FileSystemArgsIF* args) {
auto path = getInitPath(args) / filename;
if(std::filesystem::exists(path)) {
return FILE_ALREADY_EXISTS;
}
std::ofstream file(path);
file.write(reinterpret_cast<const char*>(data), size);
if(not file.good()) {
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::removeFile(const char* repositoryPath,
const char* filename, FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / filename;
if(not std::filesystem::exists(path)) {
return FILE_DOES_NOT_EXIST;
}
int result = std::remove(path.c_str());
if(result != 0) {
sif::warning << "FileSystemHandler::deleteFile: Failed with code " << result << std::endl;
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler:: createDirectory(const char* repositoryPath, const char* dirname,
bool createParentDirs, FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / dirname;
if(std::filesystem::exists(path)) {
return DIRECTORY_ALREADY_EXISTS;
}
if(std::filesystem::create_directory(path)) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::warning << "Creating directory " << path << " failed" << std::endl;
return GENERIC_FILE_ERROR; return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::createFile(const char* repositoryPath, const char* filename,
const uint8_t* data, size_t size,
FileSystemArgsIF* args) {
auto path = getInitPath(args) / filename;
if (std::filesystem::exists(path)) {
return FILE_ALREADY_EXISTS;
}
std::ofstream file(path);
file.write(reinterpret_cast<const char*>(data), size);
if (not file.good()) {
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::removeFile(const char* repositoryPath, const char* filename,
FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / filename;
if (not std::filesystem::exists(path)) {
return FILE_DOES_NOT_EXIST;
}
int result = std::remove(path.c_str());
if (result != 0) {
sif::warning << "FileSystemHandler::deleteFile: Failed with code " << result << std::endl;
return GENERIC_FILE_ERROR;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FileSystemHandler::createDirectory(const char* repositoryPath, const char* dirname,
bool createParentDirs, FileSystemArgsIF* args) {
auto path = getInitPath(args) / repositoryPath / dirname;
if (std::filesystem::exists(path)) {
return DIRECTORY_ALREADY_EXISTS;
}
if (std::filesystem::create_directory(path)) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::warning << "Creating directory " << path << " failed" << std::endl;
return GENERIC_FILE_ERROR;
} }
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;
if (not deleteRecurively) {
if (std::filesystem::remove(path, err)) {
return HasReturnvaluesIF::RETURN_OK;
} else {
// Check error code. Most probably denied permissions because folder is not empty
sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
"code "
<< err.value() << ": " << strerror(err.value()) << std::endl;
if (err.value() == ENOTEMPTY) {
return DIRECTORY_NOT_EMPTY;
} else {
return GENERIC_FILE_ERROR;
}
} }
std::error_code err; } else {
if(not deleteRecurively) { if (std::filesystem::remove_all(path, err)) {
if(std::filesystem::remove(path, err)) { return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK; } else {
} sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
else { "code "
// Check error code. Most probably denied permissions because folder is not empty << err.value() << ": " << strerror(err.value()) << std::endl;
sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with " // Check error code
"code " << err.value() << ": " << strerror(err.value()) << std::endl; if (err.value() == ENOTEMPTY) {
if(err.value() == ENOTEMPTY) { return DIRECTORY_NOT_EMPTY;
return DIRECTORY_NOT_EMPTY; } else {
} return GENERIC_FILE_ERROR;
else { }
return GENERIC_FILE_ERROR; }
} }
} return HasReturnvaluesIF::RETURN_OK;
}
else {
if(std::filesystem::remove_all(path, err)) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
"code " << err.value() << ": " << strerror(err.value()) << std::endl;
// Check error code
if(err.value() == ENOTEMPTY) {
return DIRECTORY_NOT_EMPTY;
}
else {
return GENERIC_FILE_ERROR;
}
}
}
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;
} }
} }
std::filesystem::path FileSystemHandler::getInitPath(FileSystemArgsIF* args) { 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);
} }

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bsp_q7s/memory/FileSystemHandler.h
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@ -1,71 +1,67 @@
#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: // Can be used to automatically use mount prefix of active SD card.
struct FsCommandCfg: public FileSystemArgsIF { // Otherwise, the operator has to specify the full path to the mounted SD card as well.
// Can be used to automatically use mount prefix of active SD card. bool useMountPrefix = false;
// Otherwise, the operator has to specify the full path to the mounted SD card as well. };
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;
ReturnValue_t initialize() override; ReturnValue_t initialize() override;
/** /**
* Function to get the MessageQueueId_t of the implementing object * Function to get the MessageQueueId_t of the implementing object
* @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,
ReturnValue_t renameFile(const char* repositoryPath, const char* oldFilename, FileSystemArgsIF* args = nullptr) override;
const char* newFilename, FileSystemArgsIF* args = nullptr) override; ReturnValue_t renameFile(const char* repositoryPath, const char* oldFilename,
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;
static constexpr uint32_t FS_MAX_QUEUE_SIZE = config::OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE; static constexpr uint32_t FS_MAX_QUEUE_SIZE = config::OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE;
SdCardManager* sdcMan = nullptr; SdCardManager* sdcMan = nullptr;
uint8_t opCounter = 0; uint8_t opCounter = 0;
void fileSystemHandlerLoop(); void fileSystemHandlerLoop();
void fileSystemCheckup(); void fileSystemCheckup();
std::filesystem::path getInitPath(FileSystemArgsIF* args); std::filesystem::path getInitPath(FileSystemArgsIF* args);
void parseCfg(FsCommandCfg* cfg, bool& useMountPrefix); void parseCfg(FsCommandCfg* cfg, bool& useMountPrefix);
}; };
#endif /* BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_ */ #endif /* BSP_Q7S_MEMORY_FILESYSTEMMANAGER_H_ */

751
bsp_q7s/memory/SdCardManager.cpp
View File

@ -1,457 +1,462 @@
#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();
} }
} }
SdCardManager* SdCardManager::instance() { SdCardManager* SdCardManager::instance() {
SdCardManager::create(); SdCardManager::create();
return SdCardManager::factoryInstance; return SdCardManager::factoryInstance;
} }
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.."
blocking = true; << std::endl;
} blocking = true;
} }
std::unique_ptr<SdStatePair> sdStatusPtr; }
if(statusPair == nullptr) { std::unique_ptr<SdStatePair> sdStatusPtr;
sdStatusPtr = std::make_unique<SdStatePair>(); if (statusPair == nullptr) {
statusPair = sdStatusPtr.get(); sdStatusPtr = std::make_unique<SdStatePair>();
result = getSdCardActiveStatus(*statusPair); statusPair = sdStatusPtr.get();
if(result != HasReturnvaluesIF::RETURN_OK) { result = getSdCardActiveStatus(*statusPair);
return result; if (result != HasReturnvaluesIF::RETURN_OK) {
} 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 {
} // Should not happen
else { currentState = sd::SdState::OFF;
// Should not happen }
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) {
result = ALREADY_MOUNTED;
}
else if(currentState == sd::SdState::OFF) {
result = setSdCardState(sdCard, true);
}
else {
result = HasReturnvaluesIF::RETURN_FAILED;
} }
} else if (currentState == sd::SdState::MOUNTED) {
result = ALREADY_MOUNTED;
} else if (currentState == sd::SdState::OFF) {
result = setSdCardState(sdCard, true);
} else {
result = HasReturnvaluesIF::RETURN_FAILED;
}
if(result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) { if (result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) {
return result; return result;
} }
return mountSdCard(sdCard); return mountSdCard(sdCard);
} }
ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard, ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard,
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 (not blocking) {
sif::warning << "SdCardManager::switchOffSdCard: Two-step command but manager is"
" not configured for blocking operation. Forcing blocking mode.."
<< std::endl;
blocking = true;
} }
if(doUnmountSdCard) { }
if(not blocking) { // Not allowed, this function turns off one SD card
sif::warning << "SdCardManager::switchOffSdCard: Two-step command but manager is" if (sdCard == sd::SdCard::BOTH) {
" not configured for blocking operation. Forcing blocking mode.." << std::endl; sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
blocking = true; << std::endl;
} return HasReturnvaluesIF::RETURN_FAILED;
}
if (sdCard == sd::SdCard::SLOT_0) {
if (active.first == sd::SdState::OFF) {
return ALREADY_OFF;
} }
// Not allowed, this function turns off one SD card } else if (sdCard == sd::SdCard::SLOT_1) {
if(sdCard == sd::SdCard::BOTH) { if (active.second == sd::SdState::OFF) {
sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH" return ALREADY_OFF;
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(sdCard == sd::SdCard::SLOT_0) {
if(active.first == sd::SdState::OFF) {
return ALREADY_OFF;
}
}
else if(sdCard == sd::SdCard::SLOT_1) {
if(active.second == sd::SdState::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;
}
} }
}
return setSdCardState(sdCard, false); return setSdCardState(sdCard, false);
} }
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 {
} currentOp = Operations::SWITCHING_OFF;
else { statestring = "off";
currentOp = Operations::SWITCHING_OFF; }
statestring = "off"; ostringstream command;
} command << "q7hw sd set " << sdstring << " " << statestring;
ostringstream command; cmdExecutor.load(command.str(), blocking, printCmdOutput);
command << "q7hw sd set " << sdstring << " " << statestring; ReturnValue_t result = cmdExecutor.execute();
cmdExecutor.load(command.str(), blocking, printCmdOutput); if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
ReturnValue_t result = cmdExecutor.execute(); utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState");
if(blocking and result != HasReturnvaluesIF::RETURN_OK) { }
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState"); return result;
}
return result;
} }
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;
} }
// Now the file should exist in any case. Still check whether it exists. // Now the file should exist in any case. Still check whether it exists.
fstream sdStatus(SD_STATE_FILE); fstream sdStatus(SD_STATE_FILE);
if (not sdStatus.good()) { if (not sdStatus.good()) {
return STATUS_FILE_NEXISTS; return STATUS_FILE_NEXISTS;
} }
string line; string line;
uint8_t idx = 0; uint8_t idx = 0;
sd::SdCard currentSd = sd::SdCard::SLOT_0; sd::SdCard currentSd = sd::SdCard::SLOT_0;
// Process status file line by line // Process status file line by line
while (std::getline(sdStatus, line)) { while (std::getline(sdStatus, line)) {
processSdStatusLine(active, line, idx, currentSd); processSdStatusLine(active, line, idx, currentSd);
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
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"
" turn on the SD card" << std::endl; << 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;
} }
ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard prefSdCard) { ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard prefSdCard) {
std::unique_ptr<SdStatePair> sdStatusPtr; std::unique_ptr<SdStatePair> sdStatusPtr;
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) {
sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get();
getSdCardActiveStatus(*statusPair);
} }
}
if (statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get();
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;
} }
void SdCardManager::resetState() { void SdCardManager::resetState() {
cmdExecutor.reset(); cmdExecutor.reset();
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") {
mountLine = true;
}
if(slotLine) {
if (word == "1:") {
currentSd = sd::SdCard::SLOT_1;
}
if(word == "on") {
if(currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::ON;
}
else {
active.second = sd::SdState::ON;
}
}
else if (word == "off") {
if(currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::OFF;
}
else {
active.second = sd::SdState::OFF;
}
}
}
if(mountLine) {
if(currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::MOUNTED;
}
else {
active.second = sd::SdState::MOUNTED;
}
}
if(idx > 5) {
sif::warning << "SdCardManager::sdCardActive: /tmp/sd_status.txt has more than 6 "
"lines and might be invalid!" << std::endl;
}
} }
idx++; if (word == "Mounted") {
mountLine = true;
}
if (slotLine) {
if (word == "1:") {
currentSd = sd::SdCard::SLOT_1;
}
if (word == "on") {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::ON;
} else {
active.second = sd::SdState::ON;
}
} else if (word == "off") {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::OFF;
} else {
active.second = sd::SdState::OFF;
}
}
}
if (mountLine) {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::MOUNTED;
} else {
active.second = sd::SdState::MOUNTED;
}
}
if (idx > 5) {
sif::warning << "SdCardManager::sdCardActive: /tmp/sd_status.txt has more than 6 "
"lines and might be invalid!"
<< std::endl;
}
}
idx++;
} }
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);
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
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) {
return SD_0_MOUNT_POINT;
}
else {
return SD_1_MOUNT_POINT;
} }
}
if (prefSdCard == sd::SdCard::SLOT_0) {
return SD_0_MOUNT_POINT;
} else {
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;
bool bytesRead = false; bool bytesRead = false;
#if OBSW_ENABLE_TIMERS == 1 #if OBSW_ENABLE_TIMERS == 1
Timer timer; Timer timer;
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
switch(result) {
case(CommandExecutor::BYTES_READ): {
continue;
}
case(CommandExecutor::EXECUTION_FINISHED): {
return OpStatus::SUCCESS;
}
case(HasReturnvaluesIF::RETURN_OK): {
return OpStatus::ONGOING;
}
case(HasReturnvaluesIF::RETURN_FAILED): {
return OpStatus::FAIL;
}
default: {
sif::warning << "SdCardManager::checkCurrentOp: Unhandled case" << std::endl;
}
}
} }
#endif
switch (result) {
case (CommandExecutor::BYTES_READ): {
continue;
}
case (CommandExecutor::EXECUTION_FINISHED): {
return OpStatus::SUCCESS;
}
case (HasReturnvaluesIF::RETURN_OK): {
return OpStatus::ONGOING;
}
case (HasReturnvaluesIF::RETURN_FAILED): {
return OpStatus::FAIL;
}
default: {
sif::warning << "SdCardManager::checkCurrentOp: Unhandled case" << std::endl;
}
}
}
} }
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;
}

338
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;
@ -24,193 +23,188 @@ class MutexIF;
* state * state
*/ */
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,
SUCCESS,
FAIL
};
using SdStatePair = std::pair<sd::SdState, sd::SdState>; enum class OpStatus { IDLE, TIMEOUT, ONGOING, SUCCESS, FAIL };
static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER; using SdStatePair = std::pair<sd::SdState, sd::SdState>;
static constexpr ReturnValue_t OP_ONGOING = static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
static constexpr ReturnValue_t ALREADY_ON =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
static constexpr ReturnValue_t ALREADY_MOUNTED =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
static constexpr ReturnValue_t ALREADY_OFF =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
static constexpr ReturnValue_t STATUS_FILE_NEXISTS =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 10);
static constexpr ReturnValue_t STATUS_FILE_FORMAT_INVALID =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 11);
static constexpr ReturnValue_t MOUNT_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 12);
static constexpr ReturnValue_t UNMOUNT_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 13);
static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 14);
static constexpr ReturnValue_t POPEN_CALL_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 15);
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FILE_SYSTEM; static constexpr ReturnValue_t OP_ONGOING = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
static constexpr ReturnValue_t ALREADY_ON = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
static constexpr ReturnValue_t ALREADY_MOUNTED =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
static constexpr ReturnValue_t ALREADY_OFF = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
static constexpr ReturnValue_t STATUS_FILE_NEXISTS =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 10);
static constexpr ReturnValue_t STATUS_FILE_FORMAT_INVALID =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 11);
static constexpr ReturnValue_t MOUNT_ERROR = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 12);
static constexpr ReturnValue_t UNMOUNT_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 13);
static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 14);
static constexpr ReturnValue_t POPEN_CALL_ERROR =
HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 15);
static constexpr Event SANITIZATION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW); static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FILE_SYSTEM;
// C++17 does not support constexpr std::string yet static constexpr Event SANITIZATION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
static constexpr char SD_0_DEV_NAME[] = "/dev/mmcblk0p1";
static constexpr char SD_1_DEV_NAME[] = "/dev/mmcblk1p1";
static constexpr char SD_0_MOUNT_POINT[] = "/mnt/sd0";
static constexpr char SD_1_MOUNT_POINT[] = "/mnt/sd1";
static constexpr char SD_STATE_FILE[] = "/tmp/sd_status.txt";
virtual ~SdCardManager(); // C++17 does not support constexpr std::string yet
static constexpr char SD_0_DEV_NAME[] = "/dev/mmcblk0p1";
static constexpr char SD_1_DEV_NAME[] = "/dev/mmcblk1p1";
static constexpr char SD_0_MOUNT_POINT[] = "/mnt/sd0";
static constexpr char SD_1_MOUNT_POINT[] = "/mnt/sd1";
static constexpr char SD_STATE_FILE[] = "/tmp/sd_status.txt";
static void create(); virtual ~SdCardManager();
/** static void create();
* Returns the single instance of the SD card manager.
*/
static SdCardManager* instance();
/** /**
* Set the preferred SD card which will determine which SD card will be used as the primary * Returns the single instance of the SD card manager.
* SD card in hot redundant and cold redundant mode. This function will not switch the */
* SD cards which are currently on and mounted, this needs to be implemented by static SdCardManager* instance();
* an upper layer by using #switchOffSdCard , #switchOnSdCard and #updateSdCardStateFile
* @param sdCard
* @return
*/
ReturnValue_t setPreferredSdCard(sd::SdCard sdCard);
/** /**
* Get the currently configured preferred SD card * Set the preferred SD card which will determine which SD card will be used as the primary
* @param sdCard * SD card in hot redundant and cold redundant mode. This function will not switch the
* @return * SD cards which are currently on and mounted, this needs to be implemented by
*/ * an upper layer by using #switchOffSdCard , #switchOnSdCard and #updateSdCardStateFile
ReturnValue_t getPreferredSdCard(sd::SdCard& sdCard) const; * @param sdCard
* @return
*/
ReturnValue_t setPreferredSdCard(sd::SdCard sdCard);
/** /**
* Switch on the specified SD card. * Get the currently configured preferred SD card
* @param sdCard * @param sdCard
* @param doMountSdCard Mount the SD card after switching it on, which is necessary * @return
* to use it */
* @param statusPair If the status pair is already available, it can be passed here ReturnValue_t getPreferredSdCard(sd::SdCard& sdCard) const;
* @return - RETURN_OK on success, ALREADY_ON if it is already on,
* SYSTEM_CALL_ERROR on system error
*/
ReturnValue_t switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard = true,
SdStatePair* statusPair = nullptr);
/** /**
* Switch off the specified SD card. * Switch on the specified SD card.
* @param sdCard * @param sdCard
* @param doUnmountSdCard Unmount the SD card before switching the card off, which makes * @param doMountSdCard Mount the SD card after switching it on, which is necessary
* the operation safer * to use it
* @param statusPair If the status pair is already available, it can be passed here * @param statusPair If the status pair is already available, it can be passed here
* @return - RETURN_OK on success, ALREADY_ON if it is already on, * @return - RETURN_OK on success, ALREADY_ON if it is already on,
* SYSTEM_CALL_ERROR on system error * SYSTEM_CALL_ERROR on system error
*/ */
ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true, ReturnValue_t switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard = true,
SdStatePair* statusPair = nullptr); SdStatePair* statusPair = nullptr);
/** /**
* Update the state file or creates one if it does not exist. You need to call this * Switch off the specified SD card.
* function before calling #sdCardActive * @param sdCard
* @return * @param doUnmountSdCard Unmount the SD card before switching the card off, which makes
* - RETURN_OK if the state file was updated successfully * the operation safer
* - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending * @param statusPair If the status pair is already available, it can be passed here
* - RETURN_FAILED: blocking command failed * @return - RETURN_OK on success, ALREADY_ON if it is already on,
*/ * SYSTEM_CALL_ERROR on system error
ReturnValue_t updateSdCardStateFile(); */
ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true,
SdStatePair* statusPair = nullptr);
/** /**
* Get the state of the SD cards. If the state file does not exist, this function will * Update the state file or creates one if it does not exist. You need to call this
* take care of updating it. If it does not, the function will use the state file to get * function before calling #sdCardActive
* the status of the SD cards and set the field of the provided boolean pair. * @return
* @param active Pair of booleans, where the first entry is the state of the first SD card * - RETURN_OK if the state file was updated successfully
* and the second one the state of the second SD card * - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
* @return - RETURN_OK if the state was read successfully * - RETURN_FAILED: blocking command failed
* - STATUS_FILE_FORMAT_INVALID if there was an issue with the state file. The user */
* should call #updateSdCardStateFile again in that case ReturnValue_t updateSdCardStateFile();
* - STATUS_FILE_NEXISTS if the status file does not exist
*/
ReturnValue_t getSdCardActiveStatus(SdStatePair& active);
/** /**
* Mount the specified SD card. This is necessary to use it. * Get the state of the SD cards. If the state file does not exist, this function will
* @param sdCard * take care of updating it. If it does not, the function will use the state file to get
* @return * the status of the SD cards and set the field of the provided boolean pair.
*/ * @param active Pair of booleans, where the first entry is the state of the first SD card
ReturnValue_t mountSdCard(sd::SdCard sdCard); * and the second one the state of the second SD card
/** * @return - RETURN_OK if the state was read successfully
* Unmount the specified SD card. This is recommended before switching it off. The SD card * - STATUS_FILE_FORMAT_INVALID if there was an issue with the state file. The user
* can't be used after it has been unmounted. * should call #updateSdCardStateFile again in that case
* @param sdCard * - STATUS_FILE_NEXISTS if the status file does not exist
* @return */
*/ ReturnValue_t getSdCardActiveStatus(SdStatePair& active);
ReturnValue_t unmountSdCard(sd::SdCard sdCard);
/** /**
* In case that there is a discrepancy between the preferred SD card and the currently * Mount the specified SD card. This is necessary to use it.
* mounted one, this function will sanitize the state by attempting to mount the * @param sdCard
* currently preferred SD card. If the caller already has state information, it can be * @return
* passed into the function. For now, this operation will be enforced in blocking mode. */
* @param statusPair Current SD card status capture with #getSdCardActiveStatus ReturnValue_t mountSdCard(sd::SdCard sdCard);
* @param prefSdCard Preferred SD card captured with #getPreferredSdCard /**
* @throws std::bad_alloc if one of the two arguments was a nullptr and an allocation failed * Unmount the specified SD card. This is recommended before switching it off. The SD card
* @return * can't be used after it has been unmounted.
*/ * @param sdCard
ReturnValue_t sanitizeState(SdStatePair* statusPair = nullptr, * @return
sd::SdCard prefSdCard = sd::SdCard::NONE); */
ReturnValue_t unmountSdCard(sd::SdCard sdCard);
/** /**
* If sd::SdCard::NONE is passed as an argument, this function will get the currently * In case that there is a discrepancy between the preferred SD card and the currently
* preferred SD card from the scratch buffer. * mounted one, this function will sanitize the state by attempting to mount the
* @param prefSdCardPtr * currently preferred SD card. If the caller already has state information, it can be
* @return * passed into the function. For now, this operation will be enforced in blocking mode.
*/ * @param statusPair Current SD card status capture with #getSdCardActiveStatus
std::string getCurrentMountPrefix(sd::SdCard prefSdCardPtr = sd::SdCard::NONE); * @param prefSdCard Preferred SD card captured with #getPreferredSdCard
* @throws std::bad_alloc if one of the two arguments was a nullptr and an allocation failed
* @return
*/
ReturnValue_t sanitizeState(SdStatePair* statusPair = nullptr,
sd::SdCard prefSdCard = sd::SdCard::NONE);
OpStatus checkCurrentOp(Operations& currentOp); /**
* If sd::SdCard::NONE is passed as an argument, this function will get the currently
* preferred SD card from the scratch buffer.
* @param prefSdCardPtr
* @return
*/
std::string getCurrentMountPrefix(sd::SdCard prefSdCardPtr = sd::SdCard::NONE);
/** OpStatus checkCurrentOp(Operations& currentOp);
* If there are issues with the state machine, it can be reset with this function
*/
void resetState();
void setBlocking(bool blocking); /**
void setPrintCommandOutput(bool print); * If there are issues with the state machine, it can be reset with this function
private: */
CommandExecutor cmdExecutor; void resetState();
Operations currentOp = Operations::IDLE;
bool blocking = false;
bool printCmdOutput = true;
SdCardManager(); void setBlocking(bool blocking);
void setPrintCommandOutput(bool print);
ReturnValue_t setSdCardState(sd::SdCard sdCard, bool on); /**
* @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);
void processSdStatusLine(SdStatePair& active, std::string& line, uint8_t& idx, private:
sd::SdCard& currentSd); CommandExecutor cmdExecutor;
Operations currentOp = Operations::IDLE;
bool blocking = false;
bool printCmdOutput = true;
std::string currentPrefix; SdCardManager();
static SdCardManager* factoryInstance; ReturnValue_t setSdCardState(sd::SdCard sdCard, bool on);
void processSdStatusLine(SdStatePair& active, std::string& line, uint8_t& idx,
sd::SdCard& currentSd);
std::string currentPrefix;
static SdCardManager* factoryInstance;
}; };
#endif /* BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_ */ #endif /* BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_ */

21
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_ */

75
bsp_q7s/memory/scratchApi.cpp
View File

@ -1,49 +1,50 @@
#include "scratchApi.h" #include "scratchApi.h"
ReturnValue_t scratch::writeString(std::string name, std::string string) { 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;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t scratch::readString(std::string key, std::string &string) { 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;
} }
std::string line; std::string line;
if (not std::getline(file, line)) { if (not std::getline(file, line)) {
std::remove(filename.c_str()); std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
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"
// Could not find value << std::endl;
std::remove(filename.c_str()); // Could not find value
return KEY_NOT_FOUND; std::remove(filename.c_str());
} return KEY_NOT_FOUND;
string = line.substr(pos + 1); }
return HasReturnvaluesIF::RETURN_OK; string = line.substr(pos + 1);
return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t scratch::clearValue(std::string key) { 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;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }

142
bsp_q7s/memory/scratchApi.h
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@ -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;
/** /**
@ -59,90 +59,88 @@ 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 {
static uint8_t counter = 0; static uint8_t counter = 0;
ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& filename) { ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& filename) {
using namespace std; using namespace std;
filename = "/tmp/sro" + std::to_string(counter++); filename = "/tmp/sro" + std::to_string(counter++);
ostringstream oss; ostringstream oss;
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;
}
} }
file.open(filename); }
return HasReturnvaluesIF::RETURN_OK; file.open(filename);
return HasReturnvaluesIF::RETURN_OK;
} }
} // 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());
return result;
}
string line;
if (not std::getline(file, line)) {
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t pos = line.find("=");
if(pos == string::npos) {
sif::warning << "scratch::readNumber: Output file format invalid, "
"no \"=\" found" << std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
}
std::string valueAsString = line.substr(pos + 1);
try {
num = std::stoi(valueAsString);
}
catch(std::invalid_argument& e) {
sif::warning << "scratch::readNumber: stoi call failed with " << e.what() << std::endl;
}
std::remove(filename.c_str()); std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_OK; return result;
}
string line;
if (not std::getline(file, line)) {
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t pos = line.find("=");
if (pos == string::npos) {
sif::warning << "scratch::readNumber: Output file format invalid, "
"no \"=\" found"
<< std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
}
std::string valueAsString = line.substr(pos + 1);
try {
num = std::stoi(valueAsString);
} catch (std::invalid_argument& e) {
sif::warning << "scratch::readNumber: stoi call failed with " << e.what() << std::endl;
}
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_OK;
} }
} } // namespace scratch
#endif /* BSP_Q7S_MEMORY_SCRATCHAPI_H_ */ #endif /* BSP_Q7S_MEMORY_SCRATCHAPI_H_ */

10
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
@ -6,16 +7,13 @@
#endif #endif
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
#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() {}

23
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.
@ -17,17 +16,17 @@
* 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
* *
* @param objectId * @param objectId
* @param gpioComIF * @param gpioComIF
* @param gpioSwitchId The gpio ID of the GPIO connected to the SPI mux module in the PL. * @param gpioSwitchId The gpio ID of the GPIO connected to the SPI mux module in the PL.
*/ */
Q7sSpiComIF(object_id_t objectId, GpioIF* gpioComIF, gpioId_t gpioSwitchId); Q7sSpiComIF(object_id_t objectId, GpioIF* gpioComIF, gpioId_t gpioSwitchId);
virtual ~Q7sSpiComIF(); virtual ~Q7sSpiComIF();
}; };
#endif /* BSP_Q7S_SPI_Q7SSPICOMIF_H_ */ #endif /* BSP_Q7S_SPI_Q7SSPICOMIF_H_ */

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

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