eive/eive-obsw
eive/eive-obsw
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v1.9.0 #175

Merged
muellerr merged 623 commits from develop into main 2022-03-08 10:32:41 +01:00
Conversation 0 Commits 623 Files Changed 417 +1410 -562
54 changed files with 1410 additions and 562 deletions
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13
README.md
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@ -20,6 +20,7 @@
13. [Eclipse](#eclipse)
14. [Running the OBSW on a Raspberry Pi](#rpi)
15. [FSFW](#fsfw)
16. [Coding Style](#coding-style)
# <a id="general"></a> General information
@ -1151,3 +1152,15 @@ git merge upstream/master
Alternatively, changes from other upstreams (forks) and branches can be merged like that
in the same way.
# <a id="coding-style"></a> Coding Style
* the formatting is based on the clang-format tools
## Setting up eclipse auto-fromatter with clang-format
1. Help &rarr; Install New Software &rarr; Add
2. In location insert the link http://www.cppstyle.com/luna
3. The software package CppStyle should now be available for installation
4. On windows download the clang-formatting tools from https://llvm.org/builds/. On linux clang-format can be installed with the package manager.
5. Navigate to Preferences &rarr; C/C++ &rarr; CppStyle
6. Insert the path to the clang-format executable
7. Under C/C++ &rarr; Code Style &rarr; Formatter, change the formatter to CppStyle (clang-format)
8. Code can now be formatted with the clang tool by using the key combination Ctrl + Shift + f

11
apply-clang-format.sh
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@ -1,11 +0,0 @@
#!/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

28
bsp_q7s/boardconfig/busConf.h
View File

@ -3,20 +3,30 @@
namespace q7s {
static constexpr char SPI_DEFAULT_DEV[] = "/dev/spidev2.0";
static constexpr char SPI_RW_DEV[] = "/dev/spidev3.0";
static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";
static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-1";
static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";
static constexpr char UART_GNSS_DEV[] = "/dev/ttyUL0";
static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL2";
static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL3";
static constexpr char UART_SYRLINKS_DEV[] = "/dev/ttyUL4";
static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL7";
static constexpr char UART_GNSS_DEV[] = "/dev/ul-gps";
static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul-plmpsoc";
static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ul-plsv";
static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul-syrlinks";
static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ul-str";
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[] = "/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 uiomapids
namespace gpioNames {
static constexpr char GYRO_0_ADIS_CS[] = "gyro_0_adis_chip_select";
@ -33,6 +43,7 @@ static constexpr char GNSS_0_ENABLE[] = "enable_gnss_0";
static constexpr char GNSS_1_ENABLE[] = "enable_gnss_1";
static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0";
static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2";
static constexpr char GNSS_SELECT[] = "gnss_mux_select";
static constexpr char HEATER_0[] = "heater0";
static constexpr char HEATER_1[] = "heater1";
static constexpr char HEATER_2[] = "heater2";
@ -69,7 +80,6 @@ static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872";
static constexpr char RS485_EN_RX_CLOCK[] = "rx_clock_enable_ltc2872";
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

1
bsp_q7s/callbacks/CMakeLists.txt
View File

@ -1,4 +1,5 @@
target_sources(${TARGET_NAME} PRIVATE
rwSpiCallback.cpp
gnssCallback.cpp
pcduSwitchCb.cpp
)

32
bsp_q7s/callbacks/pcduSwitchCb.cpp Normal file
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@ -0,0 +1,32 @@
#include "pcduSwitchCb.h"
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include "devices/gpioIds.h"
void pcdu::switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void* args) {
LinuxLibgpioIF* gpioComIF = reinterpret_cast<LinuxLibgpioIF*>(args);
if (gpioComIF == nullptr) {
return;
}
if (pdu == GOMSPACE::Pdu::PDU1) {
PDU1::SwitchChannels typedChannel = static_cast<PDU1::SwitchChannels>(channel);
if (typedChannel == PDU1::SwitchChannels::ACS_A_SIDE) {
if (state) {
gpioComIF->pullHigh(gpioIds::GNSS_0_NRESET);
} else {
gpioComIF->pullLow(gpioIds::GNSS_0_NRESET);
}
}
} else if (pdu == GOMSPACE::Pdu::PDU2) {
PDU2::SwitchChannels typedChannel = static_cast<PDU2::SwitchChannels>(channel);
if (typedChannel == PDU2::SwitchChannels::ACS_B_SIDE) {
if (state) {
gpioComIF->pullHigh(gpioIds::GNSS_1_NRESET);
} else {
gpioComIF->pullLow(gpioIds::GNSS_1_NRESET);
}
}
}
}

14
bsp_q7s/callbacks/pcduSwitchCb.h Normal file
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@ -0,0 +1,14 @@
#ifndef BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_
#define BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_
#include <cstdint>
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
namespace pcdu {
void switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void* args);
}
#endif /* BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_ */

15
bsp_q7s/core/InitMission.cpp
View File

@ -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);
"ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 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
@ -134,10 +136,10 @@ void initmission::initTasks() {
#if OBSW_ADD_STAR_TRACKER == 1
PeriodicTaskIF* strImgLoaderTask = factory->createPeriodicTask(
"FILE_SYSTEM_TASK", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
"STR_HELPER", 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);
initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
}
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
@ -206,7 +208,9 @@ void initmission::initTasks() {
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#endif
//acsCtrl->startTask();
#if OBSW_ADD_ACS_HANDLERS == 1
acsCtrl->startTask();
#endif
sif::info << "Tasks started.." << std::endl;
}
@ -250,6 +254,7 @@ void initmission::createPstTasks(TaskFactory& factory,
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
taskVec.push_back(i2cPst);
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
@ -258,7 +263,7 @@ void initmission::createPstTasks(TaskFactory& factory,
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
}
taskVec.push_back(gomSpacePstTask);
#else /* BOARD_TE7020 == 0 */
#else /* BOARD_TE7020 == 0 */
FixedTimeslotTaskIF* pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask(
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, missedDeadlineFunc);
result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);

95
bsp_q7s/core/ObjectFactory.cpp
View File

@ -5,6 +5,7 @@
#include "OBSWConfig.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/callbacks/gnssCallback.h"
#include "bsp_q7s/callbacks/pcduSwitchCb.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/devices/PlocMemoryDumper.h"
@ -44,7 +45,7 @@
#include "linux/devices/devicedefinitions/SusDefinitions.h"
#include "mission/core/GenericFactory.h"
#include "mission/devices/ACUHandler.h"
#include "mission/devices/GPSHyperionHandler.h"
#include "mission/devices/GPSHyperionLinuxController.h"
#include "mission/devices/GyroADIS1650XHandler.h"
#include "mission/devices/HeaterHandler.h"
#include "mission/devices/IMTQHandler.h"
@ -74,12 +75,11 @@
#include "linux/boardtest/LibgpiodTest.h"
#endif
#include <linux/obc/AxiPtmeConfig.h>
#include <linux/obc/PapbVcInterface.h>
#include <linux/obc/PdecHandler.h>
#include <linux/obc/Ptme.h>
#include <linux/obc/PtmeConfig.h>
#include <linux/obc/PtmeRateSetter.h>
#include <linux/obc/TxRateSetterIF.h>
ResetArgs resetArgsGnss0;
ResetArgs resetArgsGnss1;
@ -122,13 +122,14 @@ void ObjectFactory::produce(void* args) {
#if BOARD_TE0720 == 0
new CoreController(objects::CORE_CONTROLLER);
createPcduComponents();
createPcduComponents(gpioComIF);
createRadSensorComponent(gpioComIF);
createSunSensorComponents(gpioComIF, spiComIF);
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF, uartComIF);
#endif /* OBSW_ADD_ACS_BOARD == 1 */
#endif
createHeaterComponents();
createSolarArrayDeploymentComponents();
#if OBSW_ADD_SYRLINKS == 1
@ -139,9 +140,18 @@ void ObjectFactory::produce(void* args) {
createRtdComponents(gpioComIF);
#endif /* OBSW_ADD_RTD_DEVICES == 1 */
#if OBSW_ADD_MGT == 1
I2cCookie* imtqI2cCookie =
new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
static_cast<void>(imtqHandler);
#if OBSW_DEBUG_IMTQ == 1
imtqHandler->setToGoToNormal(true);
imtqHandler->setStartUpImmediately();
#else
(void)imtqHandler;
#endif
#endif
createReactionWheelComponents(gpioComIF);
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
@ -236,7 +246,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
#endif
}
void ObjectFactory::createPcduComponents() {
void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF) {
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
@ -246,8 +256,10 @@ void ObjectFactory::createPcduComponents() {
new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
PDU1Handler* pdu1handler =
new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
pdu1handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
PDU2Handler* pdu2handler =
new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
pdu2handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
new PCDUHandler(objects::PCDU_HANDLER, 50);
@ -472,8 +484,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
// Select pin. 0 for GPS side A, 1 for GPS side B
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
gpioComIF->addGpios(gpioCookieAcsBoard);
#if OBSW_ADD_ACS_HANDLERS == 1
std::string spiDev = q7s::SPI_DEFAULT_DEV;
SpiCookie* spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
@ -568,8 +587,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
resetArgsGnss0.gnss1 = false;
resetArgsGnss0.gpioComIF = gpioComIF;
resetArgsGnss0.waitPeriodMs = 100;
auto gpsHandler0 = new GPSHyperionHandler(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
auto gpsHandler0 =
new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
}
void ObjectFactory::createHeaterComponents() {
@ -895,49 +916,50 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
GpioCookie* gpioCookiePtmeIp = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
std::stringstream consumer;
consumer << "0x" << std::hex << objects::PAPB_VC0;
consumer.str("PAPB VC0");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC0;
consumer.str("PAPB VC0");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC1;
consumer.str("PAPB VC 1");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC1;
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC1, consumer.str());
consumer.str("PAPB VC 1");
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC2;
consumer.str("PAPB VC 2");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC2;
consumer.str("PAPB VC 2");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC3;
consumer.str("PAPB VC 3");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC3;
consumer.str("PAPB VC 3");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
gpioComIF->addGpios(gpioCookiePtmeIp);
// Creating virtual channel interfaces
VcInterfaceIF* vc0 = new PapbVcInterface(objects::PAPB_VC0, gpioComIF, gpioIds::VC0_PAPB_BUSY,
gpioIds::VC0_PAPB_EMPTY, PtmeConfig::VC0_OFFSETT);
VcInterfaceIF* vc1 = new PapbVcInterface(objects::PAPB_VC1, gpioComIF, gpioIds::VC1_PAPB_BUSY,
gpioIds::VC1_PAPB_EMPTY, PtmeConfig::VC1_OFFSETT);
VcInterfaceIF* vc2 = new PapbVcInterface(objects::PAPB_VC2, gpioComIF, gpioIds::VC2_PAPB_BUSY,
gpioIds::VC2_PAPB_EMPTY, PtmeConfig::VC2_OFFSETT);
VcInterfaceIF* vc3 = new PapbVcInterface(objects::PAPB_VC3, gpioComIF, gpioIds::VC3_PAPB_BUSY,
gpioIds::VC3_PAPB_EMPTY, PtmeConfig::VC3_OFFSETT);
VcInterfaceIF* vc0 =
new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC0);
VcInterfaceIF* vc1 =
new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC1);
VcInterfaceIF* vc2 =
new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC2);
VcInterfaceIF* vc3 =
new PapbVcInterface(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);
@ -946,19 +968,11 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
ptme->addVcInterface(ccsds::VC2, vc2);
ptme->addVcInterface(ccsds::VC3, vc3);
GpioCookie* gpioCookieRateSetter = new GpioCookie;
consumer.str("");
consumer << "ptme rate setter";
// Init to low -> default bit rate is low bit rate (200 kbps in downlink with syrlinks)
gpio = new GpiodRegularByLineName(q7s::gpioNames::BIT_RATE_SEL, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpioCookieRateSetter->addGpio(gpioIds::BIT_RATE_SEL, gpio);
gpioComIF->addGpios(gpioCookieRateSetter);
TxRateSetterIF* txRateSetterIF = new PtmeRateSetter(gpioIds::BIT_RATE_SEL, gpioComIF);
AxiPtmeConfig* axiPtmeConfig =
new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
CCSDSHandler* ccsdsHandler = new CCSDSHandler(
objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, txRateSetterIF,
objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
VirtualChannel* vc = nullptr;
@ -982,8 +996,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
gpioComIF->addGpios(gpioCookiePdec);
new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
std::string(q7s::UIO_PDEC_CONFIG_MEMORY), std::string(q7s::UIO_PDEC_RAM),
std::string(q7s::UIO_PDEC_REGISTERS));
q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
#if BOARD_TE0720 == 0
GpioCookie* gpioRS485Chip = new GpioCookie;

2
bsp_q7s/core/ObjectFactory.h
View File

@ -13,7 +13,7 @@ void produce(void* args);
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
SpiComIF** spiComIF);
void createTmpComponents();
void createPcduComponents();
void createPcduComponents(LinuxLibgpioIF* gpioComIF);
void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF);

1
common/config/commonClassIds.h
View File

@ -24,6 +24,7 @@ enum commonClassIds: uint8_t {
PLOC_MEMORY_DUMPER, //PLMEMDUMP
PDEC_HANDLER, //PDEC
CCSDS_HANDLER, //CCSDS
RATE_SETTER, //RS
ARCSEC_JSON_BASE, //JSONBASE
NVM_PARAM_BASE, //NVMB
COMMON_CLASS_ID_END // [EXPORT] : [END]

10
common/config/commonObjects.h
View File

@ -12,11 +12,7 @@ enum commonObjects: uint32_t {
TMTC_POLLING_TASK = 0x50000400,
FILE_SYSTEM_HANDLER = 0x50000500,
PTME = 0x50000600,
PAPB_VC0 = 0x50000700,
PAPB_VC1 = 0x50000701,
PAPB_VC2 = 0x50000702,
PAPB_VC3 = 0x50000703,
PDEC_HANDLER = 0x50000704,
PDEC_HANDLER = 0x50000700,
CCSDS_HANDLER = 0x50000800,
/* 0x43 ('C') for Controllers */
@ -90,7 +86,9 @@ enum commonObjects: uint32_t {
PLOC_UPDATER = 0x44330000,
PLOC_MEMORY_DUMPER = 0x44330001,
STR_HELPER = 0x44330002
STR_HELPER = 0x44330002,
AXI_PTME_CONFIG = 44330003,
PTME_CONFIG = 44330004,
};
}

2
fsfw

@ -1 +1 @@
Subproject commit 9b77060295c9c32ebfc2e7cf6517eb2e66216191
Subproject commit 33386550cf81e47f4a3c95cd063349442dd83d09

45
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -39,35 +39,21 @@ debugging. */
// Set to 1 if telecommands are received via the PDEC IP Core
#define OBSW_TC_FROM_PDEC 1
#define TMTC_TEST_SETUP 1
#define OBSW_ENABLE_TIMERS 1
#define OBSW_ADD_MGT 1
#define OBSW_ADD_STAR_TRACKER 0
#define OBSW_ADD_PLOC_SUPERVISOR 0
#define OBSW_ADD_PLOC_MPSOC 0
#define OBSW_ADD_SUN_SENSORS 0
#define OBSW_ADD_ACS_BOARD 0
#define OBSW_ADD_RW 0
#define OBSW_ADD_RTD_DEVICES 0
#define OBSW_ADD_TMP_DEVICES 0
#define OBSW_ADD_RAD_SENSORS 0
#define OBSW_ADD_SYRLINKS 0
#elif defined RASPBERRY_PI
#define OBSW_ENABLE_TIMERS 1
#define OBSW_ADD_STAR_TRACKER 0
#define OBSW_ADD_PLOC_SUPERVISOR 0
#define OBSW_ADD_PLOC_MPSOC 0
#define OBSW_ADD_SUN_SENSORS 0
#define OBSW_ADD_ACS_BOARD 0
#define OBSW_ADD_GPS_0 0
#define OBSW_ADD_GPS_1 0
#define OBSW_ADD_ACS_BOARD 1
#define OBSW_ADD_ACS_HANDLERS 0
#define OBSW_ADD_RW 0
#define OBSW_ADD_RTD_DEVICES 0
#define OBSW_ADD_TMP_DEVICES 0
#define OBSW_ADD_RAD_SENSORS 0
#define OBSW_ADD_SYRLINKS 0
#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT 0
#define OBSW_SYRLINKS_SIMULATED 1
#endif
@ -78,6 +64,7 @@ debugging. */
//! /* Can be used to switch device to NORMAL mode immediately */
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
#define OBSW_PRINT_MISSED_DEADLINES 1
// If this is enabled, all other SPI code should be disabled
#define OBSW_ADD_TEST_CODE 0
#define OBSW_ADD_SPI_TEST_CODE 0
@ -99,7 +86,7 @@ debugging. */
#define OBSW_DEBUG_GPS 0
#define OBSW_DEBUG_ACU 0
#define OBSW_DEBUG_SYRLINKS 0
#define OBSW_DEBUG_IMQT 0
#define OBSW_DEBUG_IMTQ 0
#define OBSW_DEBUG_RAD_SENSOR 0
#define OBSW_DEBUG_SUS 0
#define OBSW_DEBUG_RTD 0
@ -109,6 +96,24 @@ debugging. */
#define OBSW_DEBUG_PLOC_SUPERVISOR 0
#define OBSW_DEBUG_PDEC_HANDLER 0
#ifdef RASPBERRY_PI
#define OBSW_ENABLE_TIMERS 1
#define OBSW_ADD_STAR_TRACKER 0
#define OBSW_ADD_PLOC_SUPERVISOR 0
#define OBSW_ADD_PLOC_MPSOC 0
#define OBSW_ADD_SUN_SENSORS 0
#define OBSW_ADD_ACS_BOARD 0
#define OBSW_ADD_GPS_0 0
#define OBSW_ADD_GPS_1 0
#define OBSW_ADD_RW 0
#define OBSW_ADD_RTD_DEVICES 0
#define OBSW_ADD_TMP_DEVICES 0
#define OBSW_ADD_RAD_SENSORS 0
#define OBSW_ADD_SYRLINKS 0
#endif
/*******************************************************************/
/** Hardcoded */
/*******************************************************************/

6
linux/fsfwconfig/devices/addresses.h
View File

@ -46,9 +46,9 @@ enum logicalAddresses : address_t {
enum i2cAddresses : address_t {
BPX_BATTERY = 0x07,
IMTQ = 16,
TMP1075_TCS_1 = 72,
TMP1075_TCS_2 = 73,
IMTQ = 0x10,
TMP1075_TCS_1 = 0x48,
TMP1075_TCS_2 = 0x49,
};
enum spiAddresses : address_t {

1
linux/fsfwconfig/devices/gpioIds.h
View File

@ -29,6 +29,7 @@ enum gpioId_t {
GNSS_1_NRESET,
GNSS_0_ENABLE,
GNSS_1_ENABLE,
GNSS_SELECT,
GYRO_0_ENABLE,
GYRO_2_ENABLE,

6
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -435,7 +435,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_ACS_BOARD == 1
#if OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1
bool enableAside = true;
bool enableBside = false;
if (enableAside) {
@ -501,7 +501,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
}
#endif /* OBSW_ADD_ACS_BOARD == 1 */
#endif /* OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1 */
ReturnValue_t seqCheck = thisSequence->checkSequence();
if (seqCheck != HasReturnvaluesIF::RETURN_OK) {
@ -519,11 +519,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
#if OBSW_ADD_MGT == 1
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "I2C PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;

119
linux/obc/AxiPtmeConfig.cpp Normal file
View File

@ -0,0 +1,119 @@
#include "AxiPtmeConfig.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw_hal/linux/uio/UioMapper.h"
AxiPtmeConfig::AxiPtmeConfig(object_id_t objectId, std::string axiUio, int mapNum)
: SystemObject(objectId), axiUio(axiUio), mapNum(mapNum) {
mutex = MutexFactory::instance()->createMutex();
if (mutex == nullptr) {
sif::warning << "Failed to create mutex" << std::endl;
}
}
AxiPtmeConfig::~AxiPtmeConfig() {}
ReturnValue_t AxiPtmeConfig::initialize() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
UioMapper uioMapper(axiUio, mapNum);
result = uioMapper.getMappedAdress(&baseAddress, UioMapper::Permissions::READ_WRITE);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AxiPtmeConfig::writeCaduRateReg(uint8_t rateVal) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = mutex->lockMutex(timeoutType, mutexTimeout);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "AxiPtmeConfig::writeCaduRateReg: Failed to lock mutex" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
*(baseAddress + CADU_BITRATE_REG) = static_cast<uint32_t>(rateVal);
result = mutex->unlockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "AxiPtmeConfig::writeCaduRateReg: Failed to unlock mutex" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AxiPtmeConfig::enableTxclockManipulator() {
ReturnValue_t result = writeBit(COMMON_CONFIG_REG, true, BitPos::EN_TX_CLK_MANIPULATOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AxiPtmeConfig::disableTxclockManipulator() {
ReturnValue_t result = writeBit(COMMON_CONFIG_REG, false, BitPos::EN_TX_CLK_MANIPULATOR);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AxiPtmeConfig::enableTxclockInversion() {
ReturnValue_t result = writeBit(COMMON_CONFIG_REG, true, BitPos::INVERT_CLOCK);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AxiPtmeConfig::disableTxclockInversion() {
ReturnValue_t result = writeBit(COMMON_CONFIG_REG, false, BitPos::INVERT_CLOCK);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AxiPtmeConfig::writeReg(uint32_t regOffset, uint32_t writeVal) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = mutex->lockMutex(timeoutType, mutexTimeout);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "AxiPtmeConfig::readReg: Failed to lock mutex" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
*(baseAddress + regOffset / ADRESS_DIVIDER) = writeVal;
result = mutex->unlockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "AxiPtmeConfig::readReg: Failed to unlock mutex" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AxiPtmeConfig::readReg(uint32_t regOffset, uint32_t* readVal) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = mutex->lockMutex(timeoutType, mutexTimeout);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "AxiPtmeConfig::readReg: Failed to lock mutex" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
*readVal = *(baseAddress + regOffset / ADRESS_DIVIDER);
result = mutex->unlockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "AxiPtmeConfig::readReg: Failed to unlock mutex" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t AxiPtmeConfig::writeBit(uint32_t regOffset, bool bitVal, BitPos bitPos) {
uint32_t readVal = 0;
ReturnValue_t result = readReg(regOffset, &readVal);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
uint32_t writeVal =
(readVal & ~(1 << static_cast<uint32_t>(bitPos))) | bitVal << static_cast<uint32_t>(bitPos);
result = writeReg(regOffset, writeVal);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}

99
linux/obc/AxiPtmeConfig.h Normal file
View File

@ -0,0 +1,99 @@
#ifndef LINUX_OBC_AXIPTMECONFIG_H_
#define LINUX_OBC_AXIPTMECONFIG_H_
#include <string>
#include "fsfw/ipc/MutexIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
/**
* @brief Class providing low level access to the configuration interface of the PTME.
*
* @author J. Meier
*/
class AxiPtmeConfig : public SystemObject {
public:
/**
* @brief Constructor
* @param axiUio Device file of UIO belonging to the AXI configuration interface.
* @param mapNum Number of map belonging to axi configuration interface.
*/
AxiPtmeConfig(object_id_t objectId, std::string axiUio, int mapNum);
virtual ~AxiPtmeConfig();
virtual ReturnValue_t initialize() override;
/**
* @brief Will write to the bitrate configuration register. Actual generated rate depends on
* frequency of the clock connected to the bit clock input of PTME.
*/
ReturnValue_t writeCaduRateReg(uint8_t rateVal);
/**
* @brief Next to functions control the tx clock manipulator component
*
* @details If the tx clock manipulator is enabled the output clock of the PTME is manipulated
* in a way that both high and low periods in the clock signal have equal lengths.
* The default implementation of the PTME generates a clock where the high level is
* only one bit clock period long. This might be too short to match the setup and hold
* times of the S-and transceiver.
*/
ReturnValue_t enableTxclockManipulator();
ReturnValue_t disableTxclockManipulator();
/**
* @brief The next to functions control whether data will be updated on the rising or falling edge
* of the tx clock.
* Enable inversion will update data on falling edge (not the configuration required by the
* syrlinks)
* Disable clock inversion. Data updated on rising edge.
*/
ReturnValue_t enableTxclockInversion();
ReturnValue_t disableTxclockInversion();
private:
// Address of register storing the bitrate configuration parameter
static const uint32_t CADU_BITRATE_REG = 0x0;
// Address to register storing common configuration parameters
static const uint32_t COMMON_CONFIG_REG = 0x4;
static const uint32_t ADRESS_DIVIDER = 4;
enum class BitPos : uint32_t { EN_TX_CLK_MANIPULATOR, INVERT_CLOCK };
std::string axiUio;
std::string uioMap;
int mapNum = 0;
MutexIF* mutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t mutexTimeout = 20;
uint32_t* baseAddress = nullptr;
/**
* @brief Function to write to configuration registers
*
* @param writeVal Value to write
*/
ReturnValue_t writeReg(uint32_t regOffset, uint32_t writeVal);
/**
* @brief Reads value from configuration register
*
* @param regOffset Offset of register from base address to read from
* Qparam readVal Pointer to variable where read value will be written to
*/
ReturnValue_t readReg(uint32_t regOffset, uint32_t* readVal);
/**
* @brief Sets one bit in a register
*
* @param regOffset Offset of the register where to set the bit
* @param bitVal The value of the bit to set (1 or 0)
* @param bitPos The position of the bit within the register to set
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t writeBit(uint32_t regOffset, bool bitVal, BitPos bitPos);
};
#endif /* LINUX_OBC_AXIPTMECONFIG_H_ */

3
linux/obc/CMakeLists.txt
View File

@ -3,7 +3,8 @@ target_sources(${TARGET_NAME} PUBLIC
Ptme.cpp
PdecHandler.cpp
PdecConfig.cpp
PtmeRateSetter.cpp
PtmeConfig.cpp
AxiPtmeConfig.cpp
)

18
linux/obc/PapbVcInterface.cpp
View File

@ -1,26 +1,27 @@
#include <fsfw_hal/linux/uio/UioMapper.h>
#include <linux/obc/PapbVcInterface.h>
#include "fsfw/serviceinterface/ServiceInterface.h"
PapbVcInterface::PapbVcInterface(object_id_t objectId, LinuxLibgpioIF* gpioComIF,
gpioId_t papbBusyId, gpioId_t papbEmptyId, uint32_t vcOffset)
: SystemObject(objectId),
gpioComIF(gpioComIF),
PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,
gpioId_t papbEmptyId, std::string uioFile, int mapNum)
: gpioComIF(gpioComIF),
papbBusyId(papbBusyId),
papbEmptyId(papbEmptyId),
vcOffset(vcOffset) {}
uioFile(uioFile),
mapNum(mapNum) {}
PapbVcInterface::~PapbVcInterface() {}
void PapbVcInterface::setRegisterAddress(uint32_t* ptmeBaseAddress) {
vcBaseReg = ptmeBaseAddress + vcOffset;
ReturnValue_t PapbVcInterface::initialize() {
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));
@ -30,7 +31,6 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
return RETURN_FAILED;
}
}
if (pollPapbBusySignal() == RETURN_OK) {
endPacketTransfer();
}

15
linux/obc/PapbVcInterface.h
View File

@ -5,7 +5,6 @@
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include "OBSWConfig.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "linux/obc/VcInterfaceIF.h"
@ -15,26 +14,27 @@
*
* @author J. Meier
*/
class PapbVcInterface : public SystemObject, public VcInterfaceIF, public HasReturnvaluesIF {
class PapbVcInterface : public VcInterfaceIF, public HasReturnvaluesIF {
public:
/**
* @brief Constructor
*
* @param objectId
* @param papbBusyId The ID of the GPIO which is connected to the PAPBBusy_N signal of the
* VcInterface IP Core. A low logic level indicates the VcInterface is not
* ready to receive more data.
* @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);
PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId, 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 +69,9 @@ 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;

61
linux/obc/PdecHandler.cpp
View File

@ -11,6 +11,7 @@
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
#include "fsfw_hal/linux/uio/UioMapper.h"
PdecHandler::PdecHandler(object_id_t objectId, object_id_t tcDestinationId,
LinuxLibgpioIF* gpioComIF, gpioId_t pdecReset, std::string uioConfigMemory,
@ -44,17 +45,18 @@ ReturnValue_t PdecHandler::initialize() {
ReturnValue_t result = RETURN_OK;
result = getRegisterAddress();
UioMapper regMapper(uioRegisters);
result = regMapper.getMappedAdress(&registerBaseAddress, UioMapper::Permissions::READ_WRITE);
if (result != RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = getConfigMemoryBaseAddress();
UioMapper configMemMapper(uioConfigMemory);
result = configMemMapper.getMappedAdress(&memoryBaseAddress, UioMapper::Permissions::READ_WRITE);
if (result != RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = getRamBaseAddress();
UioMapper ramMapper(uioRamMemory);
result = ramMapper.getMappedAdress(&ramBaseAddress, UioMapper::Permissions::READ_WRITE);
if (result != RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
@ -76,55 +78,6 @@ ReturnValue_t PdecHandler::initialize() {
MessageQueueId_t PdecHandler::getCommandQueue() const { return commandQueue->getId(); }
ReturnValue_t PdecHandler::getRegisterAddress() {
int fd = open(uioRegisters.c_str(), O_RDWR);
if (fd < 1) {
sif::warning << "PdecHandler::getRegisterAddress: Invalid UIO device file" << std::endl;
return RETURN_FAILED;
}
registerBaseAddress = static_cast<uint32_t*>(
mmap(NULL, REGISTER_MAP_SIZE, PROT_WRITE | PROT_READ, MAP_SHARED, fd, 0));
if (registerBaseAddress == MAP_FAILED) {
sif::error << "PdecHandler::getRegisterAddress: Failed to map uio address" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t PdecHandler::getConfigMemoryBaseAddress() {
int fd = open(uioConfigMemory.c_str(), O_RDWR);
if (fd < 1) {
sif::warning << "PdecHandler::getConfigMemoryBaseAddress: Invalid UIO device file" << std::endl;
return RETURN_FAILED;
}
memoryBaseAddress = static_cast<uint32_t*>(
mmap(NULL, CONFIG_MEMORY_MAP_SIZE, PROT_WRITE | PROT_READ, MAP_SHARED, fd, 0));
if (memoryBaseAddress == MAP_FAILED) {
sif::error << "PdecHandler::getConfigMemoryBaseAddress: Failed to map uio address" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t PdecHandler::getRamBaseAddress() {
int fd = open(uioRamMemory.c_str(), O_RDWR);
ramBaseAddress =
static_cast<uint32_t*>(mmap(NULL, RAM_MAP_SIZE, PROT_WRITE | PROT_READ, MAP_SHARED, fd, 0));
if (ramBaseAddress == MAP_FAILED) {
sif::error << "PdecHandler::getRamBaseAddress: Failed to map RAM base address" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
void PdecHandler::writePdecConfig() {
PdecConfig pdecConfig;

19
linux/obc/PdecHandler.h
View File

@ -231,25 +231,6 @@ class PdecHandler : public SystemObject,
*/
void readCommandQueue(void);
/**
* @brief Opens UIO device assigned to AXI to AHB converter giving access to the PDEC
* registers. The register base address will be mapped into the virtual address space.
*/
ReturnValue_t getRegisterAddress();
/**
* @brief Opens UIO device assigned to the base address of the PDEC memory space and maps the
* physical address into the virtual address space.
*/
ReturnValue_t getConfigMemoryBaseAddress();
/**
* @brief Opens UIO device assigned to the RAM section of the PDEC IP core memory map.
*
* @details A received TC segment will be written to this memory area.
*/
ReturnValue_t getRamBaseAddress();
/**
* @brief This functions writes the configuration parameters to the configuration
* section of the PDEC.

21
linux/obc/Ptme.cpp
View File

@ -1,6 +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"
@ -10,28 +11,10 @@ Ptme::Ptme(object_id_t objectId) : SystemObject(objectId) {}
Ptme::~Ptme() {}
ReturnValue_t Ptme::initialize() {
int fd = open(PtmeConfig::UIO_DEVICE_FILE, O_RDWR);
if (fd < 1) {
sif::warning << "Ptme::initialize: Invalid UIO device file" << std::endl;
return RETURN_FAILED;
}
/**
* 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));
if (ptmeBaseAddress == MAP_FAILED) {
sif::error << "Ptme::initialize: Failed to map uio address" << std::endl;
return RETURN_FAILED;
}
VcInterfaceMapIter iter;
for (iter = vcInterfaceMap.begin(); iter != vcInterfaceMap.end(); iter++) {
iter->second->setRegisterAddress(ptmeBaseAddress);
iter->second->initialize();
}
return RETURN_OK;
}

8
linux/obc/Ptme.h
View File

@ -44,14 +44,6 @@ class Ptme : public PtmeIF, public SystemObject, public HasReturnvaluesIF {
static const ReturnValue_t UNKNOWN_VC_ID = MAKE_RETURN_CODE(0xA0);
#if BOARD_TE0720 == 1
/** Size of mapped address space */
static const int MAP_SIZE = 0x40000;
#else
/** Size of mapped address space */
static const int MAP_SIZE = 0x40000;
#endif /* BOARD_TE0720 == 1 */
/**
* Configuration bits:
* bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00

50
linux/obc/PtmeConfig.cpp Normal file
View File

@ -0,0 +1,50 @@
#include "PtmeConfig.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
PtmeConfig::PtmeConfig(object_id_t objectId, AxiPtmeConfig* axiPtmeConfig)
: SystemObject(objectId), axiPtmeConfig(axiPtmeConfig) {}
PtmeConfig::~PtmeConfig() {}
ReturnValue_t PtmeConfig::initialize() {
if (axiPtmeConfig == nullptr) {
sif::warning << "PtmeConfig::initialize: Invalid AxiPtmeConfig object" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t PtmeConfig::setRate(uint32_t bitRate) {
if (bitRate == 0) {
return BAD_BIT_RATE;
}
uint32_t rateVal = BIT_CLK_FREQ / bitRate - 1;
if (rateVal > 0xFF) {
return RATE_NOT_SUPPORTED;
}
return axiPtmeConfig->writeCaduRateReg(static_cast<uint8_t>(rateVal));
}
ReturnValue_t PtmeConfig::invertTxClock(bool invert) {
ReturnValue_t result = RETURN_OK;
if (invert) {
result = axiPtmeConfig->enableTxclockInversion();
} else {
result = axiPtmeConfig->disableTxclockInversion();
}
if (result != RETURN_OK) {
return CLK_INVERSION_FAILED;
}
return result;
}
ReturnValue_t PtmeConfig::configTxManipulator(bool enable) {
ReturnValue_t result = RETURN_OK;
if (enable) {
result = axiPtmeConfig->enableTxclockManipulator();
} else {
result = axiPtmeConfig->disableTxclockManipulator();
}
return result;
}

83
linux/obc/PtmeConfig.h
View File

@ -1,31 +1,76 @@
#ifndef LINUX_OBC_PTMECONFIG_H_
#define LINUX_OBC_PTMECONFIG_H_
#include <cstring>
#include "OBSWConfig.h"
#include "AxiPtmeConfig.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "linux/obc/PtmeConfig.h"
/**
* @brief PTME specific configuration parameters derived from FPGA design and device tree.
* @brief Class to configure donwlink specific parameters in the PTME IP core.
*
* @author J. Meier
*/
namespace PtmeConfig {
/**
* Offset of virtual channels mapped into address space
* 0x10000 = (0x4000 * 4)
*/
static const uint32_t VC0_OFFSETT = 0;
static const uint32_t VC1_OFFSETT = 0x4000;
static const uint32_t VC2_OFFSETT = 0x8000;
static const uint32_t VC3_OFFSETT = 0xC000;
#if BOARD_TE0720 == 0
static const char UIO_DEVICE_FILE[] = "/dev/uio1";
#else
static const char UIO_DEVICE_FILE[] = "/dev/uio1";
#endif
class PtmeConfig : public SystemObject, public HasReturnvaluesIF {
public:
/**
* @brief Constructor
*
* ptmeAxiConfig Pointer to object providing access to PTME configuration registers.
*/
PtmeConfig(object_id_t opbjectId, AxiPtmeConfig* axiPtmeConfig);
virtual ~PtmeConfig();
}; // namespace PtmeConfig
virtual ReturnValue_t initialize() override;
/**
* @brief Changes the input frequency to the S-Band transceiver and thus the downlink rate
*
* @details This is the bitrate of the CADU clock and not the downlink which has twice the bitrate
* of the CADU clock due to the convolutional code added by the s-Band transceiver.
*/
ReturnValue_t setRate(uint32_t bitRate);
/**
* @brief Will change the time the tx data signal is updated with respect to the tx clock
*
* @param invert True -> Data signal will be updated on the falling edge (not desired by the
* Syrlinks)
* False -> Data signal updated on rising edge (default configuration and desired
* by the syrlinks)
*
* @return REUTRN_OK if successful, otherwise error return value
*/
ReturnValue_t invertTxClock(bool invert);
/**
* @brief Controls the tx clock manipulator of the PTME wrapper component
*
* @param enable Manipulator will be enabled (this is also the default configuration)
* @param disable Manipulator will be disabled
*
* @return REUTRN_OK if successful, otherwise error return value
*/
ReturnValue_t configTxManipulator(bool enable);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::RATE_SETTER;
//! [EXPORT] : [COMMENT] The commanded rate is not supported by the current FPGA design
static const ReturnValue_t RATE_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Bad bitrate has been commanded (e.g. 0)
static const ReturnValue_t BAD_BIT_RATE = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Failed to invert clock and thus change the time the data is updated with
//! respect to the tx clock
static const ReturnValue_t CLK_INVERSION_FAILED = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Failed to change configuration bit of tx clock manipulator
static const ReturnValue_t TX_MANIPULATOR_CONFIG_FAILED = MAKE_RETURN_CODE(0xA3);
// Bitrate register field is only 8 bit wide
static const uint32_t MAX_BITRATE = 0xFF;
// Bit clock frequency of PMTE IP core in Hz
static const uint32_t BIT_CLK_FREQ = 20000000;
AxiPtmeConfig* axiPtmeConfig = nullptr;
};
#endif /* LINUX_OBC_PTMECONFIG_H_ */

25
linux/obc/PtmeRateSetter.cpp
View File

@ -1,25 +0,0 @@
#include "PtmeRateSetter.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
PtmeRateSetter::PtmeRateSetter(gpioId_t bitrateSel, GpioIF* gpioif)
: bitrateSel(bitrateSel), gpioif(gpioif) {}
PtmeRateSetter::~PtmeRateSetter() {}
ReturnValue_t PtmeRateSetter::setRate(BitRates rate) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch (rate) {
case RATE_2000KHZ:
result = gpioif->pullHigh(bitrateSel);
break;
case RATE_400KHZ:
result = gpioif->pullLow(bitrateSel);
break;
default:
sif::debug << "PtmeRateSetter::setRate: Invalid rate" << std::endl;
result = HasReturnvaluesIF::RETURN_FAILED;
break;
}
return result;
}

38
linux/obc/PtmeRateSetter.h
View File

@ -1,38 +0,0 @@
#ifndef LINUX_OBC_PTMERATESETTER_H_
#define LINUX_OBC_PTMERATESETTER_H_
#include "TxRateSetterIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
/**
* @brief Class to set the downlink bit rate by using the cadu_rate_switcher implemented in
* the programmable logic.
*
* @details The cadu_rate_switcher module sets the input rate to the syrlinks transceiver either
* to 2000 kHz (bitrateSel = 1) or 400 kHz (bitrate = 0).
*
* @author J. Meier
*/
class PtmeRateSetter : public TxRateSetterIF {
public:
/**
* @brief Constructor
*
* @param bitrateSel GPIO ID of the GPIO connected to the bitrate_sel input of the
* cadu_rate_switcher.
* @param gpioif GPIO interface to drive the bitrateSel GPIO
*/
PtmeRateSetter(gpioId_t bitrateSel, GpioIF* gpioif);
virtual ~PtmeRateSetter();
virtual ReturnValue_t setRate(BitRates rate);
private:
gpioId_t bitrateSel = gpio::NO_GPIO;
GpioIF* gpioif = nullptr;
};
#endif /* LINUX_OBC_PTMERATESETTER_H_ */

22
linux/obc/TxRateSetterIF.h
View File

@ -1,22 +0,0 @@
#ifndef LINUX_OBC_TXRATESETTERIF_H_
#define LINUX_OBC_TXRATESETTERIF_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
enum BitRates : uint32_t { RATE_2000KHZ, RATE_400KHZ };
/**
* @brief Abstract class for objects implementing the functionality to switch the
* downlink bit rate.
*
* @author J. Meier
*/
class TxRateSetterIF {
public:
TxRateSetterIF(){};
virtual ~TxRateSetterIF(){};
virtual ReturnValue_t setRate(BitRates bitRate) = 0;
};
#endif /* LINUX_OBC_TXRATESETTERIF_H_ */

2
linux/obc/VcInterfaceIF.h
View File

@ -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_ */

145
misc/eclipse/.cproject
View File

@ -19,10 +19,12 @@
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3
mission/devices/ACUHandler.cpp
View File

@ -273,7 +273,8 @@ ReturnValue_t ACUHandler::initializeLocalDataPool(localpool::DataPool &localData
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ACUHandler::deviceSpecificCommand(DeviceCommandId_t cmd) {
ReturnValue_t ACUHandler::childCommandHook(DeviceCommandId_t cmd, const uint8_t *commandData,
size_t commandDataLen) {
switch (cmd) {
case PRINT_CHANNEL_STATS: {
printChannelStats();

3
mission/devices/ACUHandler.h
View File

@ -28,7 +28,8 @@ class ACUHandler : public GomspaceDeviceHandler {
virtual void fillCommandAndReplyMap() override;
virtual ReturnValue_t deviceSpecificCommand(DeviceCommandId_t cmd) override;
virtual ReturnValue_t childCommandHook(DeviceCommandId_t cmd, const uint8_t* commandData,
size_t commandDataLen) override;
private:
static const DeviceCommandId_t PRINT_CHANNEL_STATS = 51;

2
mission/devices/CMakeLists.txt
View File

@ -1,5 +1,5 @@
target_sources(${TARGET_NAME} PUBLIC
GPSHyperionHandler.cpp
GPSHyperionLinuxController.cpp
GomspaceDeviceHandler.cpp
BpxBatteryHandler.cpp
Tmp1075Handler.cpp

253
mission/devices/GPSHyperionHandler.cpp
View File

@ -3,45 +3,58 @@
#include "devicedefinitions/GPSDefinitions.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/timemanager/Clock.h"
#ifdef FSFW_OSAL_LINUX
#include <gps.h>
#include <libgpsmm.h>
#endif
#include <cmath>
#include "lwgps/lwgps.h"
#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
#include <filesystem>
#include <fstream>
#endif
GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t parentId,
bool debugHyperionGps)
: ExtendedControllerBase(objectId, objects::NO_OBJECT),
GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, bool debugHyperionGps)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
gpsSet(this),
debugHyperionGps(debugHyperionGps) {}
debugHyperionGps(debugHyperionGps) {
lwgps_init(&gpsData);
}
GPSHyperionHandler::~GPSHyperionHandler() {}
void GPSHyperionHandler::performControlOperation() {
#ifdef FSFW_OSAL_LINUX
readGpsDataFromGpsd();
#endif
void GPSHyperionHandler::doStartUp() {
if (internalState == InternalStates::NONE) {
commandExecuted = false;
internalState = InternalStates::WAIT_FIRST_MESSAGE;
}
if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
if (commandExecuted) {
internalState = InternalStates::IDLE;
setMode(MODE_ON);
commandExecuted = false;
}
}
}
LocalPoolDataSetBase *GPSHyperionHandler::getDataSetHandle(sid_t sid) {
return &gpsSet;
void GPSHyperionHandler::doShutDown() {
internalState = InternalStates::NONE;
commandExecuted = false;
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t GPSHyperionHandler::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_OK;
ReturnValue_t GPSHyperionHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t GPSHyperionHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch (actionId) {
ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
// By default, send nothing
rawPacketLen = 0;
switch (deviceCommand) {
case (GpsHyperion::TRIGGER_RESET_PIN): {
if (resetCallback != nullptr) {
PoolReadGuard pg(&gpsSet);
@ -56,12 +69,97 @@ ReturnValue_t GPSHyperionHandler::executeAction(ActionId_t actionId, MessageQueu
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// Pass data to GPS library
if (len > 0) {
// sif::debug << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
// TODO: Check whether data is valid by checking whether NMEA start string is valid?
commandExecuted = true;
}
int result = lwgps_process(&gpsData, start, len);
if (result != 1) {
sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps" << std::endl;
} else {
// The data from the device will generally be read all at once. Therefore, we
// can set all field here
PoolReadGuard pg(&gpsSet);
if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed" << std::endl;
#endif
}
// Print messages
if (gpsData.is_valid) {
// Set all entries valid now, set invalid on case basis if values are sanitized
gpsSet.setValidity(true, true);
}
// Negative latitude -> South direction
gpsSet.latitude.value = gpsData.latitude;
// Negative longitude -> West direction
gpsSet.longitude.value = gpsData.longitude;
if (gpsData.altitude > 600000.0 or gpsData.altitude < 400000.0) {
gpsSet.altitude.setValid(false);
} else {
gpsSet.altitude.setValid(true);
gpsSet.altitude.value = gpsData.altitude;
}
gpsSet.fixMode.value = gpsData.fix_mode;
gpsSet.satInUse.value = gpsData.sats_in_use;
Clock::TimeOfDay_t timeStruct = {};
timeStruct.day = gpsData.date;
timeStruct.hour = gpsData.hours;
timeStruct.minute = gpsData.minutes;
timeStruct.month = gpsData.month;
timeStruct.second = gpsData.seconds;
// Convert two-digit year to full year (AD)
timeStruct.year = gpsData.year + 2000;
timeval timeval = {};
Clock::convertTimeOfDayToTimeval(&timeStruct, &timeval);
gpsSet.year = timeStruct.year;
gpsSet.month = gpsData.month;
gpsSet.day = gpsData.date;
gpsSet.hours = gpsData.hours;
gpsSet.minutes = gpsData.minutes;
gpsSet.seconds = gpsData.seconds;
gpsSet.unixSeconds = timeval.tv_sec;
if (debugHyperionGps) {
sif::info << "GPS Data" << std::endl;
printf("Valid status: %d\n", gpsData.is_valid);
printf("Latitude: %f degrees\n", gpsData.latitude);
printf("Longitude: %f degrees\n", gpsData.longitude);
printf("Altitude: %f meters\n", gpsData.altitude);
}
#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
std::string filename = "/mnt/sd0/gps_log.txt";
std::ofstream gpsFile;
if (not std::filesystem::exists(filename)) {
gpsFile.open(filename, std::ofstream::out);
}
gpsFile.open(filename, std::ofstream::out | std::ofstream::app);
gpsFile.write("\n", 1);
gpsFile.write(reinterpret_cast<const char *>(start), len);
#endif
}
*foundLen = len;
*foundId = GpsHyperion::GPS_REPLY;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t GPSHyperionHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return 5000; }
ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::SPEED, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>());
@ -70,111 +168,36 @@ ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(localpool::DataPool &l
localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), true, 2.0, false);
return HasReturnvaluesIF::RETURN_OK;
}
void GPSHyperionHandler::fillCommandAndReplyMap() {
// Reply length does not matter, packets should always arrive periodically
insertInReplyMap(GpsHyperion::GPS_REPLY, 4, &gpsSet, 0, true);
insertInCommandMap(GpsHyperion::TRIGGER_RESET_PIN);
}
void GPSHyperionHandler::modeChanged() { internalState = InternalStates::NONE; }
void GPSHyperionHandler::setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void *args) {
this->resetCallback = resetCallback;
resetCallbackArgs = args;
}
void GPSHyperionHandler::debugInterface(uint8_t positionTracker, object_id_t objectId,
uint32_t parameter) {}
ReturnValue_t GPSHyperionHandler::initialize() {
ReturnValue_t result = ExtendedControllerBase::initialize();
ReturnValue_t result = DeviceHandlerBase::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
// Enable reply immediately for now
return updatePeriodicReply(true, GpsHyperion::GPS_REPLY);
}
ReturnValue_t GPSHyperionHandler::handleCommandMessage(CommandMessage *message) {
return ExtendedControllerBase::handleCommandMessage(message);
ReturnValue_t GPSHyperionHandler::acceptExternalDeviceCommands() {
return DeviceHandlerBase::acceptExternalDeviceCommands();
}
#ifdef FSFW_OSAL_LINUX
void GPSHyperionHandler::readGpsDataFromGpsd() {
// The data from the device will generally be read all at once. Therefore, we
// can set all field here
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;
}
PoolReadGuard pg(&gpsSet);
if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed" << std::endl;
#endif
}
// Print messages
if ((gps->set & MODE_SET) != MODE_SET) {
// Could not even set mode
gpsSet.setValidity(false, true);
return;
}
if (gps->satellites_used > 0) {
gpsSet.setValidity(true, true);
}
gpsSet.satInUse.value = gps->satellites_used;
gpsSet.satInView.value = gps->satellites_visible;
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
gpsSet.fixMode = gps->fix.mode;
if (std::isfinite(gps->fix.latitude)) {
// Negative latitude -> South direction
gpsSet.latitude.value = gps->fix.latitude;
} else {
gpsSet.latitude.setValid(false);
}
if (std::isfinite(gps->fix.longitude)) {
// Negative longitude -> West direction
gpsSet.longitude.value = gps->fix.longitude;
} else {
gpsSet.longitude.setValid(false);
}
if (std::isfinite(gps->fix.altitude)) {
gpsSet.altitude.value = gps->fix.altitude;
} else {
gpsSet.altitude.setValid(false);
}
if (std::isfinite(gps->fix.speed)) {
gpsSet.speed.value = gps->fix.speed;
} else {
gpsSet.speed.setValid(false);
}
gpsSet.unixSeconds.value = gps->fix.time.tv_sec;
timeval time = {};
time.tv_sec = gpsSet.unixSeconds.value;
time.tv_usec = gps->fix.time.tv_nsec / 1000;
Clock::TimeOfDay_t timeOfDay = {};
Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
gpsSet.year = timeOfDay.year;
gpsSet.month = timeOfDay.month;
gpsSet.day = timeOfDay.day;
gpsSet.hours = timeOfDay.hour;
gpsSet.minutes = timeOfDay.minute;
gpsSet.seconds = timeOfDay.second;
if (debugHyperionGps) {
sif::info << "-- Hyperion GPS Data --" << std::endl;
time_t timeRaw = gps->fix.time.tv_sec;
std::tm *time = gmtime(&timeRaw);
std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl;
std::cout << "Visible satellites: " << gps->satellites_visible << std::endl;
std::cout << "Satellites used: " << gps->satellites_used << std::endl;
std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
std::cout << "Latitude: " << gps->fix.latitude << std::endl;
std::cout << "Longitude: " << gps->fix.longitude << std::endl;
std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
}
}
#endif

49
mission/devices/GPSHyperionHandler.h
View File

@ -3,8 +3,8 @@
#include "devicedefinitions/GPSDefinitions.h"
#include "fsfw/FSFW.h"
#include "fsfw/controller/ExtendedControllerBase.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "lwgps/lwgps.h"
/**
* @brief Device handler for the Hyperion HT-GPS200 device
@ -12,35 +12,50 @@
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
*/
class GPSHyperionHandler : public ExtendedControllerBase {
class GPSHyperionHandler : public DeviceHandlerBase {
public:
GPSHyperionHandler(object_id_t objectId, object_id_t parentId, bool debugHyperionGps = false);
GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
bool debugHyperionGps = false);
virtual ~GPSHyperionHandler();
using gpioResetFunction_t = ReturnValue_t (*)(void* args);
using gpioResetFunction_t = ReturnValue_t (*)(void *args);
void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void *args);
ReturnValue_t acceptExternalDeviceCommands() override;
void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
ReturnValue_t initialize() override;
protected:
gpioResetFunction_t resetCallback = nullptr;
void* resetCallbackArgs = nullptr;
void *resetCallbackArgs = nullptr;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
enum class InternalStates { NONE, WAIT_FIRST_MESSAGE, IDLE };
InternalStates internalState = InternalStates::NONE;
bool commandExecuted = false;
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged() override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
uint32_t parameter = 0) override;
private:
lwgps_t gpsData = {};
GpsPrimaryDataset gpsSet;
bool debugHyperionGps = false;
void readGpsDataFromGpsd();
};
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

178
mission/devices/GPSHyperionLinuxController.cpp Normal file
View File

@ -0,0 +1,178 @@
#include "GPSHyperionLinuxController.h"
#include <cmath>
#include "devicedefinitions/GPSDefinitions.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/timemanager/Clock.h"
#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
#include <filesystem>
#include <fstream>
#endif
GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
bool debugHyperionGps)
: ExtendedControllerBase(objectId, objects::NO_OBJECT),
gpsSet(this),
myGpsmm(GPSD_SHARED_MEMORY, nullptr),
debugHyperionGps(debugHyperionGps) {}
GPSHyperionLinuxController::~GPSHyperionLinuxController() {}
void GPSHyperionLinuxController::performControlOperation() {
#ifdef FSFW_OSAL_LINUX
readGpsDataFromGpsd();
#endif
}
LocalPoolDataSetBase *GPSHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch (actionId) {
case (GpsHyperion::TRIGGER_RESET_PIN): {
if (resetCallback != nullptr) {
PoolReadGuard pg(&gpsSet);
// Set HK entries invalid
gpsSet.setValidity(false, true);
resetCallback(resetCallbackArgs);
return HasActionsIF::EXECUTION_FINISHED;
}
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::SPEED, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), true, 2.0, false);
return HasReturnvaluesIF::RETURN_OK;
}
void GPSHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
void *args) {
this->resetCallback = resetCallback;
resetCallbackArgs = args;
}
ReturnValue_t GPSHyperionLinuxController::initialize() {
ReturnValue_t result = ExtendedControllerBase::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
}
ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
return ExtendedControllerBase::handleCommandMessage(message);
}
#ifdef FSFW_OSAL_LINUX
void GPSHyperionLinuxController::readGpsDataFromGpsd() {
// The data from the device will generally be read all at once. Therefore, we
// can set all field here
if (not myGpsmm.is_open()) {
// Opening failed
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed" << std::endl;
#endif
}
gps_data_t *gps = nullptr;
gps = myGpsmm.read();
if (gps == nullptr) {
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed" << std::endl;
}
PoolReadGuard pg(&gpsSet);
if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading dataset failed" << std::endl;
#endif
}
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
gpsSet.fixMode.value = gps->fix.mode;
if (gps->fix.mode == 0 or gps->fix.mode == 1) {
gpsSet.setValidity(false, true);
} else if (gps->satellites_used > 0) {
gpsSet.setValidity(true, true);
}
gpsSet.satInUse.value = gps->satellites_used;
gpsSet.satInView.value = gps->satellites_visible;
if (std::isfinite(gps->fix.latitude)) {
// Negative latitude -> South direction
gpsSet.latitude.value = gps->fix.latitude;
} else {
gpsSet.latitude.setValid(false);
}
if (std::isfinite(gps->fix.longitude)) {
// Negative longitude -> West direction
gpsSet.longitude.value = gps->fix.longitude;
} else {
gpsSet.longitude.setValid(false);
}
if (std::isfinite(gps->fix.altitude)) {
gpsSet.altitude.value = gps->fix.altitude;
} else {
gpsSet.altitude.setValid(false);
}
if (std::isfinite(gps->fix.speed)) {
gpsSet.speed.value = gps->fix.speed;
} else {
gpsSet.speed.setValid(false);
}
gpsSet.unixSeconds.value = gps->fix.time.tv_sec;
timeval time = {};
time.tv_sec = gpsSet.unixSeconds.value;
time.tv_usec = gps->fix.time.tv_nsec / 1000;
Clock::TimeOfDay_t timeOfDay = {};
Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
gpsSet.year = timeOfDay.year;
gpsSet.month = timeOfDay.month;
gpsSet.day = timeOfDay.day;
gpsSet.hours = timeOfDay.hour;
gpsSet.minutes = timeOfDay.minute;
gpsSet.seconds = timeOfDay.second;
debugHyperionGps = true;
if (debugHyperionGps) {
sif::info << "-- Hyperion GPS Data --" << std::endl;
time_t timeRaw = gps->fix.time.tv_sec;
std::tm *time = gmtime(&timeRaw);
std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl;
std::cout << "Visible satellites: " << gps->satellites_visible << std::endl;
std::cout << "Satellites used: " << gps->satellites_used << std::endl;
std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
std::cout << "Latitude: " << gps->fix.latitude << std::endl;
std::cout << "Longitude: " << gps->fix.longitude << std::endl;
std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
}
}
#endif

55
mission/devices/GPSHyperionLinuxController.h Normal file
View File

@ -0,0 +1,55 @@
#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#include "devicedefinitions/GPSDefinitions.h"
#include "fsfw/FSFW.h"
#include "fsfw/controller/ExtendedControllerBase.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#ifdef FSFW_OSAL_LINUX
#include <gps.h>
#include <libgpsmm.h>
#endif
/**
* @brief Device handler for the Hyperion HT-GPS200 device
* @details
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
* This device handler can only be used on Linux system where the gpsd daemon with shared memory
* export is running.
*/
class GPSHyperionLinuxController : public ExtendedControllerBase {
public:
GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
bool debugHyperionGps = false);
virtual ~GPSHyperionLinuxController();
using gpioResetFunction_t = ReturnValue_t (*)(void* args);
void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
ReturnValue_t initialize() override;
protected:
gpioResetFunction_t resetCallback = nullptr;
void* resetCallbackArgs = nullptr;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
private:
GpsPrimaryDataset gpsSet;
gpsmm myGpsmm;
bool debugHyperionGps = false;
void readGpsDataFromGpsd();
};
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

35
mission/devices/GomspaceDeviceHandler.cpp
View File

@ -36,7 +36,7 @@ ReturnValue_t GomspaceDeviceHandler::buildTransitionDeviceCommand(DeviceCommandI
ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result;
ReturnValue_t result = childCommandHook(deviceCommand, commandData, commandDataLen);
switch (deviceCommand) {
case (GOMSPACE::PING): {
result = generatePingCommand(commandData, commandDataLen);
@ -82,7 +82,7 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(DeviceCommandId_t d
break;
}
default:
return deviceSpecificCommand(deviceCommand);
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_OK;
}
@ -170,6 +170,7 @@ ReturnValue_t GomspaceDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
if (*packet != PARAM_SET_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
setParamCallback(setParamCacher, true);
break;
}
case (GOMSPACE::REQUEST_HK_TABLE): {
@ -186,17 +187,20 @@ void GomspaceDeviceHandler::setNormalDatapoolEntriesInvalid() {}
ReturnValue_t GomspaceDeviceHandler::generateSetParamCommand(const uint8_t* commandData,
size_t commandDataLen) {
SetParamMessageUnpacker setParamMessageUnpacker;
ReturnValue_t result = setParamMessageUnpacker.deSerialize(&commandData, &commandDataLen,
SerializeIF::Endianness::BIG);
ReturnValue_t result =
setParamCacher.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "GomspaceDeviceHandler: Failed to deserialize set parameter "
"message"
<< std::endl;
return result;
}
result = setParamCallback(setParamCacher, false);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
/* Get and check address */
uint16_t address = setParamMessageUnpacker.getAddress();
uint16_t address = setParamCacher.getAddress();
if (address > maxConfigTableAddress) {
sif::error << "GomspaceDeviceHandler: Invalid address for set parameter "
<< "action" << std::endl;
@ -207,8 +211,8 @@ ReturnValue_t GomspaceDeviceHandler::generateSetParamCommand(const uint8_t* comm
uint16_t total = 0;
/* CSP reply only contains the transaction state */
uint16_t querySize = 1;
const uint8_t* parameterPtr = setParamMessageUnpacker.getParameter();
uint8_t parameterSize = setParamMessageUnpacker.getParameterSize();
const uint8_t* parameterPtr = setParamCacher.getParameter();
uint8_t parameterSize = setParamCacher.getParameterSize();
uint16_t payloadlength = sizeof(address) + parameterSize;
/* Generate command for CspComIF */
@ -335,6 +339,17 @@ void GomspaceDeviceHandler::generateRebootCommand() {
rawPacketLen = cspPacketLen;
}
ReturnValue_t GomspaceDeviceHandler::childCommandHook(DeviceCommandId_t cmd,
const uint8_t* commandData,
size_t commandDataLen) {
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
ReturnValue_t GomspaceDeviceHandler::setParamCallback(SetParamMessageUnpacker& unpacker,
bool afterExecution) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GomspaceDeviceHandler::generateResetWatchdogCmd() {
WatchdogResetCommand watchdogResetCommand;
size_t cspPacketLen = 0;
@ -386,10 +401,6 @@ LocalPoolDataSetBase* GomspaceDeviceHandler::getDataSetHandle(sid_t sid) {
}
}
ReturnValue_t GomspaceDeviceHandler::deviceSpecificCommand(DeviceCommandId_t cmd) {
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
void GomspaceDeviceHandler::setModeNormal() { mode = MODE_NORMAL; }
ReturnValue_t GomspaceDeviceHandler::printStatus(DeviceCommandId_t cmd) {

20
mission/devices/GomspaceDeviceHandler.h
View File

@ -1,6 +1,8 @@
#ifndef MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_
#define MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#include "returnvalues/classIds.h"
@ -101,17 +103,31 @@ class GomspaceDeviceHandler : public DeviceHandlerBase {
virtual LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
/**
* @brief Can be used by gomspace devices to implement device specific commands.
* @brief Can be overriden by child classes to implement device specific commands.
* @return Return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED to let this handler handle
* the command or RETURN_OK if the child handles the command
*/
virtual ReturnValue_t deviceSpecificCommand(DeviceCommandId_t cmd);
virtual ReturnValue_t childCommandHook(DeviceCommandId_t cmd, const uint8_t *commandData,
size_t commandDataLen);
private:
SetParamMessageUnpacker setParamCacher;
/**
* @brief Function to generate the command to set a parameter. Command
* will be sent to the ComIF over the rawPacket buffer.
*/
ReturnValue_t generateSetParamCommand(const uint8_t *commandData, size_t commandDataLen);
/**
* Callback is called on a parameter set command. It is called before executing it and after
* after successful execution
* @param unpacker Passed before
* @param beforeSet False for callback before execution, true if called after successful
* execution
* @return
*/
virtual ReturnValue_t setParamCallback(SetParamMessageUnpacker &unpacker, bool afterExecution);
/**
* @brief Function to generate the command to get a parameter from a
* gomspace device. Command will be sent to the ComIF over the

8
mission/devices/GyroADIS1650XHandler.cpp
View File

@ -55,7 +55,7 @@ void GyroADIS1650XHandler::doStartUp() {
}
if (internalState == InternalState::IDLE) {
if(goToNormalMode) {
if (goToNormalMode) {
setMode(MODE_NORMAL);
} else {
setMode(MODE_ON);
@ -211,7 +211,7 @@ ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
if (((adisType == ADIS1650X::Type::ADIS16507) and (readProdId != ADIS1650X::PROD_ID_16507)) or
((adisType == ADIS1650X::Type::ADIS16505) and (readProdId != ADIS1650X::PROD_ID_16505))) {
#if OBSW_VERBOSE_LEVEL >= 1
if(warningSwitch) {
if (warningSwitch) {
sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
<< readProdId << std::endl;
}
@ -327,9 +327,7 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t GyroADIS1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 6000;
}
uint32_t GyroADIS1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 6000; }
void GyroADIS1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
uint8_t valueTwo) {

15
mission/devices/IMTQHandler.cpp
View File

@ -2,7 +2,8 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/CRC.h>
#include <math.h>
#include <cmath>
#include "OBSWConfig.h"
@ -25,11 +26,11 @@ IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF* comC
IMTQHandler::~IMTQHandler() {}
void IMTQHandler::doStartUp() {
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
if (goToNormalMode) {
setMode(MODE_NORMAL);
} else {
setMode(_MODE_TO_ON);
}
}
void IMTQHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
@ -694,7 +695,7 @@ void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
#endif
}
void IMTQHandler::setModeNormal() { mode = MODE_NORMAL; }
void IMTQHandler::setToGoToNormal(bool enable) { this->goToNormalMode = enable; }
void IMTQHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
if (wiretappingMode == RAW) {

3
mission/devices/IMTQHandler.h
View File

@ -18,7 +18,7 @@ class IMTQHandler : public DeviceHandlerBase {
/**
* @brief Sets mode to MODE_NORMAL. Can be used for debugging.
*/
void setModeNormal();
void setToGoToNormal(bool enable);
protected:
void doStartUp() override;
@ -96,6 +96,7 @@ class IMTQHandler : public DeviceHandlerBase {
IMTQ::NegZSelfTestSet negZselfTestDataset;
uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE];
bool goToNormalMode = false;
enum class CommunicationStep {
GET_ENG_HK_DATA,

56
mission/devices/PDU1Handler.cpp
View File

@ -1,6 +1,7 @@
#include "PDU1Handler.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include "OBSWConfig.h"
@ -67,6 +68,61 @@ void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
#endif
}
void PDU1Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
this->channelSwitchHook = hook;
this->hookArgs = args;
}
ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
bool afterExecution) {
using namespace PDU1;
GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU1;
if (not afterExecution) {
return HasReturnvaluesIF::RETURN_OK;
}
if (channelSwitchHook != nullptr and unpacker.getParameterSize() == 1) {
switch (unpacker.getAddress()) {
case (CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3): {
channelSwitchHook(pdu, 0, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_SYRLINKS): {
channelSwitchHook(pdu, 1, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_STAR_TRACKER): {
channelSwitchHook(pdu, 2, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_MGT): {
channelSwitchHook(pdu, 3, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL): {
channelSwitchHook(pdu, 4, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP): {
channelSwitchHook(pdu, 5, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_PLOC): {
channelSwitchHook(pdu, 6, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A): {
channelSwitchHook(pdu, 7, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_CHANNEL8): {
channelSwitchHook(pdu, 8, unpacker.getParameter()[0], hookArgs);
break;
}
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
uint16_t dataOffset = 0;
PoolReadGuard pg(&pdu1HkTableDataset);

6
mission/devices/PDU1Handler.h
View File

@ -27,6 +27,8 @@ class PDU1Handler : public GomspaceDeviceHandler {
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
void assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void* args);
protected:
/**
* @brief In MODE_NORMAL, a command will be built periodically by this function.
@ -35,9 +37,13 @@ class PDU1Handler : public GomspaceDeviceHandler {
virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t* packet) override;
ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
ReturnValue_t setParamCallback(SetParamMessageUnpacker& unpacker, bool afterExectuion) override;
private:
/** Dataset for the housekeeping table of the PDU1 */
PDU1::PDU1HkTableDataset pdu1HkTableDataset;
GOMSPACE::ChannelSwitchHook channelSwitchHook = nullptr;
void* hookArgs = nullptr;
void printHkTable();
void parseHkTableReply(const uint8_t* packet);

55
mission/devices/PDU2Handler.cpp
View File

@ -49,6 +49,11 @@ void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
#endif
}
void PDU2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
this->channelSwitchHook = hook;
this->hookArgs = args;
}
void PDU2Handler::parseHkTableReply(const uint8_t *packet) {
uint16_t dataOffset = 0;
pdu2HkTableDataset.read();
@ -421,3 +426,53 @@ void PDU2Handler::printHkTable() {
<< std::setw(4) << pdu2HkTableDataset.voltageOutPayloadCamera.value << std::right
<< std::endl;
}
ReturnValue_t PDU2Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
bool afterExecution) {
using namespace PDU2;
GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;
if (not afterExecution) {
return HasReturnvaluesIF::RETURN_OK;
}
if (channelSwitchHook != nullptr and unpacker.getParameterSize() == 1) {
switch (unpacker.getAddress()) {
case (CONFIG_ADDRESS_OUT_EN_Q7S): {
channelSwitchHook(pdu, 0, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1): {
channelSwitchHook(pdu, 1, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_RW): {
channelSwitchHook(pdu, 2, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN): {
channelSwitchHook(pdu, 3, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT): {
channelSwitchHook(pdu, 4, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM): {
channelSwitchHook(pdu, 5, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6PLOC): {
channelSwitchHook(pdu, 6, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B): {
channelSwitchHook(pdu, 7, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA): {
channelSwitchHook(pdu, 8, unpacker.getParameter()[0], hookArgs);
break;
}
}
}
return HasReturnvaluesIF::RETURN_OK;
}

4
mission/devices/PDU2Handler.h
View File

@ -26,6 +26,7 @@ class PDU2Handler : public GomspaceDeviceHandler {
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
void assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void* args);
protected:
/**
@ -34,10 +35,13 @@ class PDU2Handler : public GomspaceDeviceHandler {
virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t* packet) override;
ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
ReturnValue_t setParamCallback(SetParamMessageUnpacker& unpacker, bool afterExecution) override;
private:
/** Dataset for the housekeeping table of the PDU2 */
PDU2::PDU2HkTableDataset pdu2HkTableDataset;
GOMSPACE::ChannelSwitchHook channelSwitchHook = nullptr;
void* hookArgs = nullptr;
void printHkTable();

2
mission/devices/devicedefinitions/GPSDefinitions.h
View File

@ -55,7 +55,7 @@ class GpsPrimaryDataset : public StaticLocalDataSet<18> {
lp_var_t<uint32_t>(sid.objectId, GpsHyperion::UNIX_SECONDS, this);
private:
friend class GPSHyperionHandler;
friend class GPSHyperionLinuxController;
GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
};

69
mission/devices/devicedefinitions/GomspaceDefinitions.h
View File

@ -1,11 +1,3 @@
/*
* GomspaceDefinitions.h
*
* @brief This file holds all definitions specific for devices from gomspace.
* @date 20.12.2020
* @author J. Meier
*/
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_
@ -16,6 +8,11 @@
#include <cstdint>
namespace GOMSPACE {
enum class Pdu { PDU1, PDU2 };
using ChannelSwitchHook = void (*)(Pdu pdu, uint8_t channel, bool on, void* args);
static const uint16_t IGNORE_CHECKSUM = 0xbb0;
/** The size of the header of a gomspace CSP packet. */
static const uint8_t GS_HDR_LENGTH = 12;
@ -363,6 +360,22 @@ enum P60SytemPoolIds : lp_id_t {
namespace P60Dock {
enum SwitchChannels : uint8_t {
ACU = 0,
PDU1 = 1,
X3_IDLE = 2,
PDU2_VCC = 3,
ACU_VBAT = 4,
PDU1_VBAT = 5,
X3_IDLE_VBAT = 6,
PDU2_VBAT = 7,
STACK_VBAT = 8,
STACK_3V3 = 9,
STACK_5V = 10,
GS3V3 = 11,
GS5V = 12
};
/** Max reply size reached when requesting full hk table */
static const uint16_t MAX_REPLY_LENGTH = 407;
@ -611,19 +624,32 @@ static const uint8_t HK_TABLE_ENTRIES = 73;
namespace PDU1 {
static const uint32_t HK_TABLE_DATA_SET_ID = 0x1; // hk table has table id 4
enum SwitchChannels : uint8_t {
TCS_BOARD_3V3 = 0,
SYRLINKS = 1,
STR = 2,
MGT = 3,
SUS_NOMINAL = 4,
SOL_CELL_EXPERIMENT = 5,
PLOC = 6,
ACS_A_SIDE = 7,
UNUSED = 8
};
/**
* Addresses within configuration table to enable or disable output channels. Refer also to
* gs-man-nanopower-p60-pdu-200.pdf on page 16.
*/
static const uint16_t CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3 = 0x48;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SYRLINKS = 0x49;
static const uint16_t CONFIG_ADDRESS_OUT_EN_STAR_TRACKER = 0x50;
static const uint16_t CONFIG_ADDRESS_OUT_EN_MGT = 0x51;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL = 0x52;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP = 0x53;
static const uint16_t CONFIG_ADDRESS_OUT_EN_PLOC = 0x54;
static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A = 0x55;
static const uint16_t CONFIG_ADDRESS_OUT_EN_CHANNEL8 = 0x56;
static const uint16_t CONFIG_ADDRESS_OUT_EN_STAR_TRACKER = 0x4A;
static const uint16_t CONFIG_ADDRESS_OUT_EN_MGT = 0x4B;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL = 0x4C;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP = 0x4D;
static const uint16_t CONFIG_ADDRESS_OUT_EN_PLOC = 0x4E;
static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A = 0x4F;
static const uint16_t CONFIG_ADDRESS_OUT_EN_CHANNEL8 = 0x50;
/**
* @brief This class defines a dataset for the hk table of the PDU1.
@ -799,6 +825,19 @@ class PDU1HkTableDataset : public StaticLocalDataSet<PDU::HK_TABLE_ENTRIES> {
namespace PDU2 {
static const uint32_t HK_TABLE_DATA_SET_ID = 0x2;
enum SwitchChannels : uint8_t {
Q7S = 0,
PAYLOAD_PCDU_CH1 = 1,
RW = 2,
TCS_HEATER_IN = 3,
SUS_REDUNDANT = 4,
DEPY_MECHANISM = 5,
PAYLOAD_PCDU_CH6 = 6,
ACS_B_SIDE = 7,
PAYLOAD_CAMERA = 8
};
/**
* Addresses within configuration table to enable or disable output channels. Refer also to
* gs-man-nanopower-p60-pdu-200.pdf on page 16.

52
mission/tmtc/CCSDSHandler.cpp
View File

@ -1,22 +1,24 @@
#include "CCSDSHandler.h"
#include <linux/obc/PdecHandler.h>
#include <linux/obc/PtmeConfig.h>
#include "fsfw/events/EventManagerIF.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serialize/SerializeAdapter.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
CCSDSHandler::CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
TxRateSetterIF* txRateSetterIF, GpioIF* gpioIF, gpioId_t enTxClock,
PtmeConfig* ptmeConfig, GpioIF* gpioIF, gpioId_t enTxClock,
gpioId_t enTxData)
: SystemObject(objectId),
ptmeId(ptmeId),
tcDestination(tcDestination),
parameterHelper(this),
actionHelper(this, nullptr),
txRateSetterIF(txRateSetterIF),
ptmeConfig(ptmeConfig),
gpioIF(gpioIF),
enTxClock(enTxClock),
enTxData(enTxData) {
@ -110,6 +112,15 @@ ReturnValue_t CCSDSHandler::initialize() {
#endif
return result;
}
result = ptmeConfig->initialize();
if (result != RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
#if OBSW_SYRLINKS_SIMULATED == 1
ptmeConfig->invertTxClock(true);
#endif /* OBSW_SYRLINKS_SIMULATED == 1*/
return result;
}
@ -189,26 +200,53 @@ MessageQueueId_t CCSDSHandler::getRequestQueue() {
ReturnValue_t CCSDSHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
ReturnValue_t result = RETURN_OK;
switch (actionId) {
case SET_LOW_RATE: {
txRateSetterIF->setRate(BitRates::RATE_400KHZ);
return EXECUTION_FINISHED;
result = ptmeConfig->setRate(RATE_100KBPS);
break;
}
case SET_HIGH_RATE: {
txRateSetterIF->setRate(BitRates::RATE_2000KHZ);
return EXECUTION_FINISHED;
result = ptmeConfig->setRate(RATE_500KBPS);
break;
}
case ARBITRARY_RATE: {
uint32_t bitrate = 0;
SerializeAdapter::deSerialize(&bitrate, &data, &size, SerializeIF::Endianness::BIG);
result = ptmeConfig->setRate(bitrate);
break;
}
case EN_TRANSMITTER: {
enableTransmit();
return EXECUTION_FINISHED;
}
case DIS_TRANSMITTER: {
case DISABLE_TRANSMITTER: {
disableTransmit();
return EXECUTION_FINISHED;
}
case ENABLE_TX_CLK_MANIPULATOR: {
result = ptmeConfig->configTxManipulator(true);
break;
}
case DISABLE_TX_CLK_MANIPULATOR: {
result = ptmeConfig->configTxManipulator(false);
break;
}
case UPDATE_ON_RISING_EDGE: {
result = ptmeConfig->invertTxClock(false);
break;
}
case UPDATE_ON_FALLING_EDGE: {
result = ptmeConfig->invertTxClock(true);
break;
}
default:
return COMMAND_NOT_IMPLEMENTED;
}
if (result != RETURN_OK) {
return result;
}
return EXECUTION_FINISHED;
}
void CCSDSHandler::checkEvents() {

29
mission/tmtc/CCSDSHandler.h
View File

@ -17,12 +17,15 @@
#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
#include "linux/obc/TxRateSetterIF.h"
#include "linux/obc/PtmeConfig.h"
/**
* @brief This class handles the data exchange with the CCSDS IP cores implemented in the
* programmable logic of the Q7S.
*
* @details After reboot default CADU bitrate is always set to 100 kbps (results in downlink rate
* of 200 kbps due to convolutional code added by syrlinks transceiver)
*
* @author J. Meier
*/
class CCSDSHandler : public SystemObject,
@ -48,8 +51,7 @@ class CCSDSHandler : public SystemObject,
* @param enTxData GPIO ID of RS485 tx data enable
*/
CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
TxRateSetterIF* txRateSetterIF, GpioIF* gpioIF, gpioId_t enTxClock,
gpioId_t enTxData);
PtmeConfig* ptmeConfig, GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData);
~CCSDSHandler();
@ -84,18 +86,31 @@ class CCSDSHandler : public SystemObject,
static const ActionId_t SET_LOW_RATE = 0;
static const ActionId_t SET_HIGH_RATE = 1;
static const ActionId_t EN_TRANSMITTER = 2;
static const ActionId_t DIS_TRANSMITTER = 3;
static const ActionId_t DISABLE_TRANSMITTER = 3;
static const ActionId_t ARBITRARY_RATE = 4;
static const ActionId_t ENABLE_TX_CLK_MANIPULATOR = 5;
static const ActionId_t DISABLE_TX_CLK_MANIPULATOR = 6;
// Will update data with respect to tx clock signal of cadu bitsream on rising edge
static const ActionId_t UPDATE_ON_RISING_EDGE = 7;
// Will update data with respect to tx clock signal of cadu bitsream on falling edge
static const ActionId_t UPDATE_ON_FALLING_EDGE = 8;
// Syrlinks supports two bitrates (200 kbps and 1000 kbps)
// Due to convolutional code added by the syrlinks the input frequency must be half the
// target frequency
static const uint32_t RATE_100KBPS = 100000;
static const uint32_t RATE_500KBPS = 500000;
//! [EXPORT] : [COMMENT] Received action message with unknown action id
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xA0);
#if TMTC_TEST_SETUP == 0
#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
// syrlinks must not be transmitting more than 15 minutes (according to datasheet)
static const uint32_t TRANSMITTER_TIMEOUT = 900000; // 900000 ms = 15 min
#else
// Set to high value when not sending via syrlinks
static const uint32_t TRANSMITTER_TIMEOUT = 86400000; // 1 day
#endif /* TMTC_TEST_SETUP == 0 */
#endif /* OBSW_SYRLINKS_DOWNLINK == 0 */
static const bool UP = true;
static const bool DOWN = false;
@ -119,7 +134,7 @@ class CCSDSHandler : public SystemObject,
MessageQueueId_t tcDistributorQueueId;
TxRateSetterIF* txRateSetterIF = nullptr;
PtmeConfig* ptmeConfig = nullptr;
GpioIF* gpioIF = nullptr;
gpioId_t enTxClock = gpio::NO_GPIO;

63
scripts/q7s-cp.py
View File

@ -1,44 +1,75 @@
#!/usr/bin/env python3
import argparse
import os
import sys
def main():
args = handle_args()
cmd = build_cmd(args)
# Run the command
print(f'Running command: {cmd}')
print(f"Running command: {cmd}")
result = os.system(cmd)
if result != 0:
print('')
print('Removing problematic SSH key and trying again..')
remove_ssh_key_cmd = 'ssh-keygen -f "${HOME}/.ssh/known_hosts" -R "[localhost]:1535"'
print("")
print("Removing problematic SSH key and trying again..")
remove_ssh_key_cmd = (
'ssh-keygen -f "${HOME}/.ssh/known_hosts" -R "[localhost]:1535"'
)
os.system(remove_ssh_key_cmd)
print(f'Running command "{cmd}"')
result = os.system(cmd)
def handle_args():
help_string = 'This script copies files to the Q7S as long as port forwarding is active.\n'
help_string += 'You can set up port forwarding with ' \
'"ssh -L 1535:192.168.133.10:22 <eive-flatsat-ip>" -t /bin/bash'
parser = argparse.ArgumentParser(
description=help_string
help_string = (
"This script copies files to the Q7S as long as port forwarding is active.\n"
)
help_string += (
"You can set up port forwarding with "
'"ssh -L 1535:192.168.133.10:22 <eive-flatsat-ip>" -t /bin/bash'
)
parser = argparse.ArgumentParser(description=help_string)
# Optional arguments
parser.add_argument('-r', '--recursive', dest='recursive', default=False, action='store_true')
parser.add_argument('-t', '--target', help='Target destination', default='/tmp')
parser.add_argument('-P', '--port', help='Target port', default=1535)
parser.add_argument(
"-r", "--recursive", dest="recursive", default=False, action="store_true"
)
parser.add_argument(
"-t",
"--target",
help="Target destination. If files are copied to Q7S, will be /tmp by default. "
"If files are copied back to host, will be current directory by default",
default="",
)
parser.add_argument("-P", "--port", help="Target port", default=1535)
parser.add_argument(
"-i",
"--invert",
default=False,
action="store_true",
help="Copy from Q7S to host instead. Always copies to current directory.",
)
# Positional argument(s)
parser.add_argument('source', help='Source files to copy')
parser.add_argument(
"source", help="Source files to copy or target files to copy back to host"
)
return parser.parse_args()
def build_cmd(args):
# Build run command
cmd = 'scp '
cmd = "scp "
if args.recursive:
cmd += '-r '
cmd += f'-P {args.port} {args.source} root@localhost:'
cmd += "-r "
target = args.target
if args.invert and target == "":
target = "."
elif target == "":
target = f"/tmp"
if args.invert:
cmd += f"-P {args.port} root@localhost:{args.source} {target}"
else:
cmd += f"-P {args.port} {args.source} root@localhost:{target}"
if args.target:
cmd += args.target
return cmd

2
tmtc

@ -1 +1 @@
Subproject commit 6f24d6a83995ca7a895c17a77a00bceac4d7f141
Subproject commit 8da50e2c3f709def5b26fd9df1cd23beac35482e