bsp_rpi/CMakeLists.txt

@@ -7,6 +7,11 @@ target_sources(${TARGET_NAME} PUBLIC
 add_subdirectory(boardconfig)
 add_subdirectory(boardtest)
 
+# wiringPi is deprecated unfortunately..
+#target_link_libraries(${TARGET_NAME} PRIVATE
+#    wiringPi
+#)
+
 
 
 

bsp_rpi/InitMission.cpp

@@ -17,7 +17,7 @@
 ServiceInterfaceStream sif::debug("DEBUG");
 ServiceInterfaceStream sif::info("INFO");
 ServiceInterfaceStream sif::warning("WARNING");
-ServiceInterfaceStream sif::error("ERROR", false, false, true);
+ServiceInterfaceStream sif::error("ERROR");
 
 ObjectManagerIF *objectManager = nullptr;
 
@@ -39,11 +39,11 @@ void InitMission::initTasks(){
 					0.100, nullptr);
 	ReturnValue_t result = TmTcDistributor->addComponent(
 			objects::CCSDS_PACKET_DISTRIBUTOR);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+	if(result != HasReturnvaluesIF::RETURN_OK){
 		sif::error << "Object add component failed" << std::endl;
 	}
 	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;
 	}
     result = TmTcDistributor->addComponent(objects::TM_FUNNEL);
@@ -89,11 +89,11 @@ void InitMission::initTasks(){
 					PeriodicTaskIF::MINIMUM_STACK_SIZE,
 					0.200, nullptr);
 	result = PusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+	if(result != HasReturnvaluesIF::RETURN_OK){
 		sif::error << "Object add component failed" << std::endl;
 	}
 	result = PusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+	if(result != HasReturnvaluesIF::RETURN_OK){
 		sif::error << "Object add component failed" << std::endl;
 	}
 
@@ -102,11 +102,11 @@ void InitMission::initTasks(){
 					PeriodicTaskIF::MINIMUM_STACK_SIZE,
 					0.8, nullptr);
 	result = PusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+	if(result != HasReturnvaluesIF::RETURN_OK){
 		sif::error << "Object add component failed" << std::endl;
 	}
 	result = PusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+	if(result != HasReturnvaluesIF::RETURN_OK){
 		sif::error << "Object add component failed" << std::endl;
 	}
 
@@ -114,7 +114,7 @@ void InitMission::initTasks(){
 			createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
 					1.6, nullptr);
 	result = PusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+	if(result != HasReturnvaluesIF::RETURN_OK){
 		sif::error << "Object add component failed" << std::endl;
 	}
 
@@ -131,6 +131,14 @@ void InitMission::initTasks(){
 
 #endif
 
+	PeriodicTaskIF* SpiTestTask = TaskFactory::instance()->
+            createPeriodicTask("SPI_TEST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
+                    2.0, nullptr);
+    result = SpiTestTask->addComponent(objects::SPI_TEST);
+    if(result != HasReturnvaluesIF::RETURN_OK){
+        sif::error << "Object add SPI test failed" << std::endl;
+    }
+
 	//Main thread sleep
 	sif::info << "Starting tasks.." << std::endl;
 	TmTcDistributor->startTask();
@@ -143,6 +151,8 @@ void InitMission::initTasks(){
 	PusMedPrio->startTask();
 	PusLowPrio->startTask();
 
+	SpiTestTask->startTask();
+
 #if OBSW_ADD_TEST_CODE == 1
 	TestTimeslotTask->startTask();
 #endif

bsp_rpi/ObjectFactory.cpp

@@ -1,5 +1,6 @@
-#include <fsfw/datapoollocal/LocalDataPoolManager.h>
 #include "ObjectFactory.h"
+#include <bsp_rpi/boardtest/SpiTest.h>
+#include <fsfw/datapoollocal/LocalDataPoolManager.h>
 
 #include <objects/systemObjectList.h>
 #include <OBSWConfig.h>
@@ -42,4 +43,6 @@ void ObjectFactory::produce(){
 			objects::CCSDS_PACKET_DISTRIBUTOR,
 			objects::TM_STORE, objects::TC_STORE);
 	new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
+
+	new SpiTest(objects::SPI_TEST);
 }

bsp_rpi/boardtest/CMakeLists.txt

@@ -1,5 +1,6 @@
 target_sources(${TARGET_NAME} PRIVATE
 	SpiTest.cpp
+	RPiGPIO.cpp
 )
 
 

bsp_rpi/boardtest/RPiGPIO.cpp

@@ -0,0 +1,123 @@
+#include "RPiGPIO.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fcntl.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <cstdint>
+
+
+int RPiGPIO::enablePin(int pin) {
+    char buffer[BUFFER_MAX];
+    ssize_t bytes_written;
+    int fd;
+
+    fd = open("/sys/class/gpio/export", O_WRONLY);
+    if (fd == -1) {
+        sif::error << "Failed to open export of pin " << pin << " for writing!" << std::endl;
+        return -1;
+    }
+
+    bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
+    write(fd, buffer, bytes_written);
+    close(fd);
+    return 0;
+}
+
+int RPiGPIO::disablePin(int pin) {
+    char buffer[BUFFER_MAX];
+    ssize_t bytes_written;
+    int fd;
+
+    fd = open("/sys/class/gpio/unexport", O_WRONLY);
+    if (fd == -1) {
+        sif::error << "Failed to open unexport of pin " << pin << " for writing!" << std::endl;
+        return -1;
+    }
+
+    bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
+    write(fd, buffer, bytes_written);
+    close(fd);
+    return(0);
+}
+
+int RPiGPIO::pinDirection(int pin, Directions dir) {
+
+    char path[DIRECTION_MAX];
+
+    snprintf(path, DIRECTION_MAX, "/sys/class/gpio/gpio%d/direction", pin);
+    int fd = open(path, O_WRONLY);
+    if (fd == -1) {
+        sif::error << "Failed to open gpio " << pin << " direction for writing!" << std::endl;
+        return -1;
+    }
+
+    int result = 0;
+    if(dir == Directions::IN) {
+        result = write(fd, "in", IN_WRITE_SIZE);
+    }
+    else {
+        result = write(fd, "out", OUT_WRITE_SIZE);
+    }
+
+    if (result != 0) {
+        sif::error << "Failed to set direction!" << std::endl;
+        return -2;
+    }
+
+    close(fd);
+    return 0;
+}
+
+int RPiGPIO::readPin(int pin) {
+    char path[VALUE_MAX];
+    char value_str[3];
+
+    snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
+    int fd = open(path, O_RDONLY);
+    if (fd == -1) {
+        sif::error << "RPiGPIO::readPin: Failed to open GPIO pin " << pin << "!" << std::endl;
+        return -1;
+    }
+
+    if (read(fd, value_str, 3) == -1) {
+        sif::error << "Failed to read value!" << std::endl;
+        return -1;
+    }
+
+    close(fd);
+    char* endPtr = nullptr;
+
+    return strtol(value_str, &endPtr, 10);
+}
+
+int RPiGPIO::writePin(int pin, States state) {
+
+    char path[VALUE_MAX];
+    int fd;
+
+    snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
+    fd = open(path, O_WRONLY);
+    if (fd == -1) {
+        sif::error << "RPiGPIO::writePin: Failed to open GPIO pin " << pin << "!" << std::endl;
+        return -1;
+    }
+
+    int result = 0;
+    if(state == States::LOW) {
+        result = write(fd, "0", 1);
+    }
+    else {
+        result = write(fd, "1", 1);
+    }
+
+
+    if (result != 0) {
+        sif::error << "Failed to write pin " << pin << " value to " << static_cast<int>(state)
+                << "!" << std::endl;
+        return -1;
+    }
+
+    close(fd);
+    return 0;
+}

bsp_rpi/boardtest/RPiGPIO.h

@@ -0,0 +1,41 @@
+#ifndef BSP_RPI_BOARDTEST_RPIGPIO_H_
+#define BSP_RPI_BOARDTEST_RPIGPIO_H_
+
+#include <cstdint>
+
+/**
+ * @brief   Really simple C++ GPIO wrapper for the Raspberry Pi, using the sysfs interface.
+ *          Use BCM pins notation (https://pinout.xyz/#)
+ *
+ */
+class RPiGPIO {
+public:
+    enum Directions {
+        IN = 0,
+        OUT = 1
+    };
+
+    enum States {
+        LOW = 0,
+        HIGH = 1
+    };
+
+    static int enablePin(int pin);
+    static int disablePin(int pin);
+    static int pinDirection(int pin, Directions dir);
+    static int readPin(int pin);
+    static int writePin(int pin, States state);
+
+private:
+
+
+    static constexpr uint8_t BUFFER_MAX = 3;
+    static constexpr uint8_t DIRECTION_MAX = 35;
+    static constexpr uint8_t VALUE_MAX = 30;
+
+    static constexpr uint8_t IN_WRITE_SIZE = 3;
+    static constexpr uint8_t OUT_WRITE_SIZE = 4;
+};
+
+
+#endif /* BSP_RPI_BOARDTEST_RPIGPIO_H_ */

bsp_rpi/boardtest/SpiTest.cpp

@@ -1,13 +1,31 @@
 #include "SpiTest.h"
 
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
 
 #include <fcntl.h>
 #include <sys/ioctl.h>
-#include <wiringPi.h>
+
+
 
 SpiTest::SpiTest(object_id_t objectId): SystemObject(objectId) {
-	wiringPiSetupGpio();
+    sif::info << "Setting up Raspberry Pi WiringPi library." << std::endl;
+//  wiringPiSetupGpio();
+
+//	 pinMode(SS_MGM_0_LIS3, OUTPUT);
+//    pinMode(SS_MGM_1_RM, OUTPUT);
+//    pinMode(SS_GYRO_0_ADIS, OUTPUT);
+//    pinMode(SS_GYRO_1_L3G, OUTPUT);
+//    pinMode(SS_GYRO_2_L3G, OUTPUT);
+//    pinMode(SS_MGM_2_LIS3, OUTPUT);
+//    pinMode(SS_MGM_3_RM, OUTPUT);
+//
+//    digitalWrite(SS_MGM_0_LIS3, HIGH);
+//    digitalWrite(SS_MGM_1_RM, HIGH);
+//    digitalWrite(SS_GYRO_0_ADIS, HIGH);
+//    digitalWrite(SS_GYRO_1_L3G, HIGH);
+//    digitalWrite(SS_GYRO_2_L3G, HIGH);
+//    digitalWrite(SS_MGM_2_LIS3, HIGH);
+//    digitalWrite(SS_MGM_3_RM, HIGH);
 
 	int spiFd = open(spiDeviceName.c_str(), O_RDWR);
 	if (spiFd < 0){
@@ -40,4 +58,4 @@ ReturnValue_t SpiTest::initialize() {
 	//transferHandle.speed_hz = 976000;
 	//transferHandle.len = 2;
 	return HasReturnvaluesIF::RETURN_OK;
-}
+}

bsp_rpi/boardtest/SpiTest.h

@@ -6,13 +6,27 @@
 #include <linux/spi/spidev.h>
 #include <string>
 
-class SpiTest: public ExecutableObjectIF, SystemObject {
+class SpiTest:
+        public SystemObject,
+        public ExecutableObjectIF {
 public:
 	SpiTest(object_id_t objectId);
 
 	ReturnValue_t performOperation(uint8_t opCode) override;
 	ReturnValue_t initialize() override;
 private:
+	// These chip selects (BCM number) will be pulled high if not used
+	// ACS board specific.
+	enum SpiChipSelects {
+	    SS_MGM_0_LIS3 = 0,  //!< MGM 0, LIS3MDLTR, U6, A side
+	    SS_MGM_1_RM = 1, //!< MGM 1, RM3100, U7, A side
+	    SS_GYRO_0_ADIS = 2, //!< Gyro 0, ADIS16485, U3, A side
+	    SS_GYRO_1_L3G = 3, //!< Gyro 1, L3GD20H, U4, A side
+	    SS_GYRO_2_L3G = 4, //!< Gyro 2, L3GD20h, U5, B side
+	    SS_MGM_2_LIS3 = 17, //!< MGM 2, LIS3MDLTR, U8, B side
+	    SS_MGM_3_RM = 27, //!< MGM 3, RM3100, U9, B side
+	};
+
 	const std::string spiDeviceName = "/dev/spidev0.0";
 	int spiFd = 0;
 

fsfwconfig/objects/systemObjectList.h

@@ -2,10 +2,15 @@
 #define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
 
 #include <cstdint>
+#include <fsfw/objectmanager/frameworkObjects.h>
 
 // The objects will be instantiated in the ID order
 namespace objects {
 	enum sourceObjects: uint32_t {
+	    /* 0x53 reserved for FSFW */
+	    FW_ADDRESS_START = PUS_SERVICE_1_VERIFICATION,
+	    FW_ADDRESS_END = TIME_STAMPER,
+
 		/* First Byte 0x50-0x52 reserved for PUS Services **/
 		CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
 		PUS_PACKET_DISTRIBUTOR = 0x50000200,
@@ -21,13 +26,6 @@ namespace objects {
 
 		TM_FUNNEL = 0x52000002,
 
-		/* Test Task */
-
-		TEST_TASK = 0x42694269,
-		DUMMY_INTERFACE = 0xCAFECAFE,
-		DUMMY_HANDLER = 0x4400AFFE,
-		P60DOCK_TEST_TASK = 0x00005060,
-
 		/* 0x49 ('I') for Communication Interfaces **/
 		ARDUINO_COM_IF = 0x49000001,
 		CSP_COM_IF = 0x49000002,
@@ -36,7 +34,14 @@ namespace objects {
 		P60DOCK_HANDLER = 0x44000001,
 		PDU1_HANDLER = 0x44000002,
 		PDU2_HANDLER = 0x44000003,
-		ACU_HANDLER = 0x44000004
+		ACU_HANDLER = 0x44000004,
+
+		/* 0x54 ('T') for test handlers */
+        TEST_TASK = 0x54694269,
+        SPI_TEST = 0x54000010,
+        DUMMY_INTERFACE = 0x5400CAFE,
+        DUMMY_HANDLER = 0x5400AFFE,
+        P60DOCK_TEST_TASK = 0x00005060,
 	};
 }