bsp_q7s/boardconfig/busConf.h

@@ -17,7 +17,16 @@ static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL7";
 static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
 static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
 static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
-static constexpr char UIO_PTME_CONFIG[] = "/dev/uio4";
+static constexpr char UIO_PTME[] = "/dev/uio1";
+static constexpr int MAP_ID_PTME_CONFIG = 3;
+
+namespace uiomapids {
+    static const int PTME_VC0 = 0;
+    static const int PTME_VC1 = 1;
+    static const int PTME_VC2 = 2;
+    static const int PTME_VC3 = 3;
+    static const int PTME_CONFIG = 4;
+}
 
 namespace gpioNames {
 static constexpr char GYRO_0_ADIS_CS[] = "gyro_0_adis_chip_select";

bsp_q7s/core/InitMission.cpp

@@ -115,12 +115,14 @@ void initmission::initTasks() {
   }
 #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
 
+#if OBSW_ADD_ACS_HANDLERS == 1
   PeriodicTaskIF* acsCtrl = factory->createPeriodicTask(
       "ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
   result = acsCtrl->addComponent(objects::GPS_CONTROLLER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER);
   }
+#endif /* OBSW_ADD_ACS_HANDLERS */
 
 #if BOARD_TE0720 == 0
   // FS task, task interval does not matter because it runs in permanent loop, priority low

bsp_q7s/core/ObjectFactory.cpp

@@ -928,14 +928,18 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
   gpioComIF->addGpios(gpioCookiePtmeIp);
 
   // Creating virtual channel interfaces
-  VcInterfaceIF* vc0 = new PapbVcInterface(objects::PAPB_VC0, gpioComIF, gpioIds::VC0_PAPB_BUSY,
+  VcInterfaceIF* vc0 =
-                                           gpioIds::VC0_PAPB_EMPTY, PtmeConfig::VC0_OFFSETT);
+      new PapbVcInterface(objects::PAPB_VC0, gpioComIF, gpioIds::VC0_PAPB_BUSY,
-  VcInterfaceIF* vc1 = new PapbVcInterface(objects::PAPB_VC1, gpioComIF, gpioIds::VC1_PAPB_BUSY,
+                          gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
-                                           gpioIds::VC1_PAPB_EMPTY, PtmeConfig::VC1_OFFSETT);
+  VcInterfaceIF* vc1 =
-  VcInterfaceIF* vc2 = new PapbVcInterface(objects::PAPB_VC2, gpioComIF, gpioIds::VC2_PAPB_BUSY,
+      new PapbVcInterface(objects::PAPB_VC1, gpioComIF, gpioIds::VC1_PAPB_BUSY,
-                                           gpioIds::VC2_PAPB_EMPTY, PtmeConfig::VC2_OFFSETT);
+                          gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
-  VcInterfaceIF* vc3 = new PapbVcInterface(objects::PAPB_VC3, gpioComIF, gpioIds::VC3_PAPB_BUSY,
+  VcInterfaceIF* vc2 =
-                                           gpioIds::VC3_PAPB_EMPTY, PtmeConfig::VC3_OFFSETT);
+      new PapbVcInterface(objects::PAPB_VC2, gpioComIF, gpioIds::VC2_PAPB_BUSY,
+                          gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
+  VcInterfaceIF* vc3 =
+      new PapbVcInterface(objects::PAPB_VC3, gpioComIF, gpioIds::VC3_PAPB_BUSY,
+                          gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
 
   // Creating ptme object and adding virtual channel interfaces
   Ptme* ptme = new Ptme(objects::PTME);
@@ -944,8 +948,8 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
   ptme->addVcInterface(ccsds::VC2, vc2);
   ptme->addVcInterface(ccsds::VC3, vc3);
 
-  PtmeAxiConfig* ptmeAxiConfig = new PtmeAxiConfig(objects::PTME_AXI_CONFIG,
+  PtmeAxiConfig* ptmeAxiConfig =
-            std::string(q7s::UIO_PTME_CONFIG));
+      new PtmeAxiConfig(objects::PTME_AXI_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
   TxRateSetterIF* txRateSetterIF = new PtmeRateSetter(objects::TX_RATE_SETTER, ptmeAxiConfig);
   CCSDSHandler* ccsdsHandler = new CCSDSHandler(
       objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, txRateSetterIF,

linux/obc/PapbVcInterface.cpp

@@ -1,45 +1,47 @@
 #include <linux/obc/PapbVcInterface.h>
-
+#include <fsfw_hal/linux/uio/UioMapper.h>
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 PapbVcInterface::PapbVcInterface(object_id_t objectId, LinuxLibgpioIF* gpioComIF,
-                                 gpioId_t papbBusyId, gpioId_t papbEmptyId, uint32_t vcOffset)
+        gpioId_t papbBusyId, gpioId_t papbEmptyId, std::string uioFile, int mapNum) :
-    : SystemObject(objectId),
+        SystemObject(objectId), gpioComIF(gpioComIF), papbBusyId(papbBusyId), papbEmptyId(
-      gpioComIF(gpioComIF),
+                papbEmptyId), uioFile(uioFile), mapNum(mapNum) {
-      papbBusyId(papbBusyId),
+}
-      papbEmptyId(papbEmptyId),
-      vcOffset(vcOffset) {}
 
-PapbVcInterface::~PapbVcInterface() {}
+PapbVcInterface::~PapbVcInterface() {
+}
 
-void PapbVcInterface::setRegisterAddress(uint32_t* ptmeBaseAddress) {
+ReturnValue_t PapbVcInterface::initialize() {
-  vcBaseReg = ptmeBaseAddress + vcOffset;
+    UioMapper uioMapper(uioFile, mapNum);
+    return uioMapper.getMappedAdress(&vcBaseReg, UioMapper::Permissions::WRITE_ONLY);
 }
 
 ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
     if (pollPapbBusySignal() == RETURN_OK) {
         startPacketTransfer();
     }
-
     for (size_t idx = 0; idx < size; idx++) {
         if (pollPapbBusySignal() == RETURN_OK) {
             *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx));
         } else {
-      sif::warning << "PapbVcInterface::write: Only written " << idx << " of " << size << " data"
+            sif::warning << "PapbVcInterface::write: Only written " << idx << " of " << size
-                   << std::endl;
+                    << " data" << std::endl;
             return RETURN_FAILED;
         }
     }
-
     if (pollPapbBusySignal() == RETURN_OK) {
         endPacketTransfer();
     }
     return RETURN_OK;
 }
 
-void PapbVcInterface::startPacketTransfer() { *vcBaseReg = CONFIG_START; }
+void PapbVcInterface::startPacketTransfer() {
+    *vcBaseReg = CONFIG_START;
+}
 
-void PapbVcInterface::endPacketTransfer() { *vcBaseReg = CONFIG_END; }
+void PapbVcInterface::endPacketTransfer() {
+    *vcBaseReg = CONFIG_END;
+}
 
 ReturnValue_t PapbVcInterface::pollPapbBusySignal() {
     int papbBusyState = 0;
@@ -67,7 +69,8 @@ void PapbVcInterface::isVcInterfaceBufferEmpty() {
     result = gpioComIF->readGpio(papbEmptyId, &papbEmptyState);
 
     if (result != RETURN_OK) {
-    sif::warning << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
+        sif::warning
+                << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
                 << std::endl;
         return;
     }

linux/obc/PapbVcInterface.h

@@ -27,14 +27,16 @@ class PapbVcInterface : public SystemObject, public VcInterfaceIF, public HasRet
    * @param papbEmptyId   The ID of the GPIO which is connected to the PAPBEmpty signal of the
    *                      VcInterface IP Core. The signal is high when there are no packets in the
    *                      external buffer memory (BRAM).
+   * @param uioFile       UIO file providing access to the PAPB bus
+   * @param mapNum        Map number of UIO map associated with this virtual channel
    */
   PapbVcInterface(object_id_t objectId, LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,
-                  gpioId_t papbEmptyId, uint32_t vcOffset);
+                  gpioId_t papbEmptyId, std::string uioFile, int mapNum);
   virtual ~PapbVcInterface();
 
   ReturnValue_t write(const uint8_t* data, size_t size) override;
 
-  void setRegisterAddress(uint32_t* ptmeBaseAddress) override;
+  ReturnValue_t initialize() override;
 
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_IP_CORE_BRIDGE;
@@ -69,6 +71,9 @@ class PapbVcInterface : public SystemObject, public VcInterfaceIF, public HasRet
   /** High when external buffer memory of virtual channel is empty */
   gpioId_t papbEmptyId = gpio::NO_GPIO;
 
+  std::string uioFile;
+  int mapNum = 0;
+
   uint32_t* vcBaseReg = nullptr;
 
   uint32_t vcOffset = 0;

linux/obc/Ptme.cpp

@@ -1,7 +1,7 @@
 #include <fcntl.h>
 #include <linux/obc/Ptme.h>
 #include <sys/mman.h>
-
+#include <unistd.h>
 #include "PtmeConfig.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
@@ -20,7 +20,8 @@ ReturnValue_t Ptme::initialize() {
    * Map uio device in virtual address space
    * PROT_WRITE: Map uio device in writable only mode
    */
-  ptmeBaseAddress = static_cast<uint32_t*>(mmap(NULL, MAP_SIZE, PROT_WRITE, MAP_SHARED, fd, 0));
+    ptmeBaseAddress = static_cast<uint32_t*>(mmap(NULL, MAP_SIZE, PROT_WRITE, MAP_SHARED, fd,
+            0 * getpagesize()));
 
   if (ptmeBaseAddress == MAP_FAILED) {
     sif::error << "Ptme::initialize: Failed to map uio address" << std::endl;
@@ -29,7 +30,7 @@ ReturnValue_t Ptme::initialize() {
 
   VcInterfaceMapIter iter;
   for (iter = vcInterfaceMap.begin(); iter != vcInterfaceMap.end(); iter++) {
-    iter->second->setRegisterAddress(ptmeBaseAddress);
+    iter->second->initialize();
   }
 
   return RETURN_OK;

linux/obc/Ptme.h

@@ -49,7 +49,7 @@ class Ptme : public PtmeIF, public SystemObject, public HasReturnvaluesIF {
   static const int MAP_SIZE = 0x40000;
 #else
   /** Size of mapped address space */
-  static const int MAP_SIZE = 0x40000;
+  static const int MAP_SIZE = 0x1000;
 #endif /* BOARD_TE0720 == 1 */
 
   /**

linux/obc/PtmeAxiConfig.cpp

@@ -1,9 +1,8 @@
-#include <fcntl.h>
-#include <sys/mman.h>
 #include "PtmeAxiConfig.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw_hal/linux/uio/UioMapper.h"
 
-PtmeAxiConfig::PtmeAxiConfig(object_id_t objectId, std::string configAxiUio) :
+PtmeAxiConfig::PtmeAxiConfig(object_id_t objectId, std::string configAxiUio, int mapNum) :
         SystemObject(objectId), configAxiUio(configAxiUio) {
     mutex = MutexFactory::instance()->createMutex();
     if (mutex == nullptr) {
@@ -15,18 +14,11 @@ PtmeAxiConfig::~PtmeAxiConfig() {
 }
 
 ReturnValue_t PtmeAxiConfig::initialize() {
-    int fd = open(configAxiUio.c_str(), O_RDWR);
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    if (fd < 1) {
+    UioMapper uioMapper(configAxiUio, mapNum);
-        sif::warning << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
+    result = uioMapper.getMappedAdress(&baseAddress, UioMapper::Permissions::READ_WRITE);
-        return HasReturnvaluesIF::RETURN_FAILED;
+    if (result != HasReturnvaluesIF::RETURN_OK) {
-    }
+        return result;
-
-    baseAddress = static_cast<uint32_t*>(mmap(NULL, MAP_SIZE, PROT_WRITE | PROT_READ, MAP_SHARED,
-            fd, 0));
-
-    if (baseAddress == MAP_FAILED) {
-        sif::warning << "PtmeAxiConfig::initialize: Failed to map uio address" << std::endl;
-        return HasReturnvaluesIF::RETURN_FAILED;
     }
     return HasReturnvaluesIF::RETURN_OK;
 }

linux/obc/PtmeAxiConfig.h

@@ -16,8 +16,9 @@ public:
     /**
      * @brief   Constructor
      * @param configAxiUio  Device file of UIO belonging to the AXI configuration interface.
+     * @param mapNum    Number of map belonging to axi configuration interface.
      */
-    PtmeAxiConfig(object_id_t objectId, std::string configAxiUio);
+    PtmeAxiConfig(object_id_t objectId, std::string configAxiUio, int mapNum);
     virtual ~PtmeAxiConfig();
 
     virtual ReturnValue_t initialize() override;
@@ -26,9 +27,10 @@ public:
 private:
     // Address of register storing the bitrate configuration parameter
     static const uint32_t CADU_BITRATE_REG = 0x0;
-    static const int MAP_SIZE = 0x1000;
 
     std::string configAxiUio;
+    std::string uioMap;
+    int mapNum = 0;
     MutexIF* mutex = nullptr;
     MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
     uint32_t mutexTimeout = 20;

linux/obc/VcInterfaceIF.h

@@ -24,7 +24,7 @@ class VcInterfaceIF {
    */
   virtual ReturnValue_t write(const uint8_t* data, size_t size) = 0;
 
-  virtual void setRegisterAddress(uint32_t* ptmeBaseAddress) = 0;
+  virtual ReturnValue_t initialize() = 0;
 };
 
 #endif /* LINUX_OBC_VCINTERFACEIF_H_ */