eive/eive-obsw
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WIP: SCEX Init #272

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muellerr wants to merge 62 commits from irini into develop
pull from: irini
merge into: eive:develop
Conversation 1 Commits 62 Files Changed 40 +387 -305
15 changed files with 387 additions and 305 deletions
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Showing only changes of commit 1d9fb354f7 - Show all commits

33
bsp_q7s/core/ObjectFactory.cpp
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@ -160,7 +160,9 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_MGT == 1
I2cCookie* imtqI2cCookie =
new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
pcdu::Switches::PDU1_CH3_MGT_5V);
imtqHandler->setPowerSwitcher(pwrSwitcher);
static_cast<void>(imtqHandler);
#if OBSW_DEBUG_IMTQ == 1
imtqHandler->setStartUpImmediately();
@ -187,12 +189,14 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_STAR_TRACKER == 1
UartCookie* starTrackerCookie =
new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, UartModes::NON_CANONICAL,
uart::STAR_TRACKER_BAUD, startracker::MAX_FRAME_SIZE * 2 + 2);
new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
starTrackerCookie->setNoFixedSizeReply();
StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, strHelper,
pcdu::PDU1_CH2_STAR_TRACKER_5V);
auto starTracker =
new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
starTracker->setPowerSwitcher(pwrSwitcher);
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
@ -625,14 +629,15 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
}
void ObjectFactory::createSyrlinksComponents() {
void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
UartCookie* syrlinksUartCookie =
new UartCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, UartModes::NON_CANONICAL,
uart::SYRLINKS_BAUD, syrlinks::MAX_REPLY_SIZE);
new UartCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
syrlinksUartCookie->setParityEven();
new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
pcdu::PDU1_CH1_SYRLINKS_12V);
auto syrlinksHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF,
syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V);
syrlinksHandler->setPowerSwitcher(pwrSwitcher);
}
void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
@ -646,8 +651,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
gpioComIF->addGpios(mpsocGpioCookie);
auto mpsocCookie =
new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
mpsocCookie->setNoFixedSizeReply();
auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
@ -663,8 +668,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
gpioComIF->addGpios(supvGpioCookie);
auto supervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL,
uart::PLOC_SUPERVISOR_BAUD, supv::MAX_PACKET_SIZE * 20);
q7s::UART_PLOC_SUPERVSIOR_DEV, uart::PLOC_SUPERVISOR_BAUD,
supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
supervisorCookie->setNoFixedSizeReply();
new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),

2
bsp_q7s/core/ObjectFactory.h
View File

@ -24,7 +24,7 @@ void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
PowerSwitchIF* pwrSwitcher);
void createHeaterComponents();
void createSolarArrayDeploymentComponents();
void createSyrlinksComponents();
void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);

66
linux/boardtest/UartTestClass.cpp
View File

@ -21,17 +21,17 @@
#endif
UartTestClass::UartTestClass(object_id_t objectId, ScexUartReader* reader)
: TestTask(objectId), reader(reader) {
: TestTask(objectId), reader(reader) {
mode = TestModes::SCEX;
scexMode = ScexModes::SIMPLE;
currCmd = scex::ScexCmds::FRAM;
scexMode = ScexModes::READER_TASK;
currCmd = scex::ScexCmds::PING;
if (scexMode == ScexModes::SIMPLE) {
auto encodingBuf = new std::array<uint8_t, 4096>;
DleParser::BufPair encodingBufPair {encodingBuf->data(), encodingBuf->size()};
DleParser::BufPair encodingBufPair{encodingBuf->data(), encodingBuf->size()};
auto decodedBuf = new std::array<uint8_t, 4096>;
DleParser::BufPair decodingBufPair {decodedBuf->data(), decodedBuf->size()};
dleParser =
new ScexDleParser(*(new SimpleRingBuffer(4096, true)), dleEncoder, encodingBufPair, decodingBufPair, &foundDlePacketHandler, this);
DleParser::BufPair decodingBufPair{decodedBuf->data(), decodedBuf->size()};
dleParser = new ScexDleParser(*(new SimpleRingBuffer(4096, true)), dleEncoder, encodingBufPair,
decodingBufPair, &foundDlePacketHandler, this);
}
}
@ -174,53 +174,55 @@ void UartTestClass::scexPeriodic() {
if (scexMode == ScexModes::SIMPLE) {
scexSimplePeriodic();
} else {
if (not cmdSent){
if (not cmdSent) {
size_t len = 0;
prepareScexCmd(scex::ScexCmds::PING, false, cmdBuf.data(), &len);
reader->sendMessage(uartCookie, cmdBuf.data(), len);
cmdSent = true;
cmdDone = false;
}
if (cmdSent and not cmdDone){
if (cmdSent and not cmdDone) {
uint8_t* decodedPacket = nullptr;
size_t len = 0;
ReturnValue_t result = reader->readReceivedMessage(uartCookie, &decodedPacket, &len);
if(len > 0){
sif::info<<"CmdByte: "<<(int)decodedPacket[0]<<endl;
if (len > 0) {
sif::info << "CmdByte: " << std::setw(2) << std::setfill('0') << std::hex
<< (int)decodedPacket[0] << std::dec << endl;
scex::ScexCmds cmd = static_cast<scex::ScexCmds>((decodedPacket[0] >> 1) & 0b11111);
sif::info << "Command: 0x" << std::setw(2) << std::setfill('0') << std::hex
<< static_cast<int>(cmd) << std::dec << std::endl;
size_t packetCounter = decodedPacket[1];
sif::info<<"PacketCounter: "<<packetCounter<<endl;
sif::info << "PacketCounter: " << packetCounter << endl;
size_t totalPacketCounter = decodedPacket[2];
sif::info<<"TotalPacketCount: "<<totalPacketCounter<<endl;
uint16_t packetLen = (decodedPacket[3]<< 8) | (decodedPacket[4]);
sif::info<<"PacketLength: "<< packetLen <<endl;
sif::info << "TotalPacketCount: " << totalPacketCounter << endl;
uint16_t packetLen = (decodedPacket[3] << 8) | (decodedPacket[4]);
sif::info << "PacketLength: " << packetLen << endl;
uint16_t expectedPacketLen = packetLen + 7;
sif::info<<"ExpectedPacketLength: "<< packetLen+7 <<endl;
if(expectedPacketLen != len){
sif::warning<<"ExpectedPacketLength " << expectedPacketLen <<" is not Length"<< len<<endl;
sif::info << "ExpectedPacketLength: " << packetLen + 7 << endl;
if (expectedPacketLen != len) {
sif::warning << "ExpectedPacketLength " << expectedPacketLen << " is not Length" << len
<< endl;
}
if(CRC::crc16ccitt(decodedPacket, expectedPacketLen) != 0){
sif::warning<<"CRC invalid"<<endl;
}else{
sif::info<<"CRC valid"<<endl;
if (CRC::crc16ccitt(decodedPacket, expectedPacketLen) != 0) {
sif::warning << "CRC invalid" << endl;
} else {
sif::info << "CRC valid" << endl;
}
if(packetCounter == totalPacketCounter){
if (packetCounter == totalPacketCounter) {
reader->finish();
sif::info<<"Reader is finished" << endl;
sif::info << "Reader is finished" << endl;
cmdDone = true;
if(cmd == scex::ScexCmds::PING){
// TODO: Bug in firmware, other command will be returned
cmdSent = false;
// if (cmd == scex::ScexCmds::PING) {
// cmdSent = false;
// }
}
}
}
}
}
}
void UartTestClass::scexSimpleInit() {
@ -249,8 +251,8 @@ void UartTestClass::scexSimpleInit() {
// Non-blocking mode, read until either line is 0.1 second idle or maximum of 255 bytes are
// received in one go
tty.c_cc[VTIME] = 10; // In units of 0.1 seconds
tty.c_cc[VMIN] = 255; // Read up to 255 bytes
tty.c_cc[VTIME] = 0; // In units of 0.1 seconds
tty.c_cc[VMIN] = 0; // Read up to 255 bytes
// Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
#if !defined(XIPHOS_Q7S)

27
linux/devices/ScexUartReader.cpp
View File

@ -5,6 +5,7 @@
#include <fsfw/ipc/MutexFactory.h>
#include <fsfw/ipc/MutexGuard.h>
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/linux/uart/UartCookie.h>
#include <linux/devices/ScexDleParser.h>
#include <unistd.h> // write(), read(), close()
@ -34,16 +35,17 @@ ReturnValue_t ScexUartReader::performOperation(uint8_t operationCode) {
semaphore->acquire();
sif::info << "task was started" << std::endl;
int bytesRead = 0;
while(true) {
while (true) {
bytesRead = read(serialPort, reinterpret_cast<void *>(recBuf.data()),
static_cast<unsigned int>(recBuf.size()));
if (bytesRead == 0) {
MutexGuard mg(lock);
States currentState = state;
if (currentState == States::FINISH) {
if (state == States::FINISH) {
sif::debug << "finish detected" << std::endl;
state = States::IDLE;
break;
}
TaskFactory::delayTask(1000);
} else if (bytesRead < 0) {
sif::warning << "ScexUartReader::performOperation: read call failed with error [" << errno
<< ", " << strerror(errno) << "]" << std::endl;
@ -63,7 +65,7 @@ ReturnValue_t ScexUartReader::performOperation(uint8_t operationCode) {
}
};
// task block comes here
std::cout << "done" << std::endl;
sif::info << "task was stopped" << std::endl;
}
return RETURN_OK;
}
@ -94,8 +96,8 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
tty.c_lflag &= ~(ICANON | ECHO);
// Non-blocking mode, use polling
tty.c_cc[VTIME] = 10; // Read for up to 1 seconds
tty.c_cc[VMIN] = 255; // Read as much as there is available
tty.c_cc[VTIME] = 0;
tty.c_cc[VMIN] = 0;
// Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
#if !defined(XIPHOS_Q7S)
@ -109,7 +111,7 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
<< std::endl;
}
// Flush received and unread data
tcflush(serialPort, TCIFLUSH);
tcflush(serialPort, TCIOFLUSH);
return RETURN_OK;
}
@ -172,12 +174,12 @@ void ScexUartReader::handleFoundDlePacket(uint8_t *packet, size_t len) {
sif::info << "Detected DLE encoded packet with decoded size " << len << std::endl;
MutexGuard mg(lock);
ReturnValue_t result = ipcQueue.insert(len);
if(result != RETURN_OK){
sif::warning<< "IPCQueue error" << std::endl;
if (result != RETURN_OK) {
sif::warning << "IPCQueue error" << std::endl;
}
result = ipcRingBuf.writeData(packet, len);
if(result != RETURN_OK){
sif::warning<< "IPCRingBuf error" << std::endl;
if (result != RETURN_OK) {
sif::warning << "IPCRingBuf error" << std::endl;
}
sif::info << "DLE handler done" << std::endl;
}
@ -189,7 +191,8 @@ ReturnValue_t ScexUartReader::readReceivedMessage(CookieIF *cookie, uint8_t **bu
*size = 0;
return RETURN_OK;
}
*size = ipcQueue.pop();
sif::info << "returning data" << std::endl;
ipcQueue.retrieve(size);
*buffer = ipcBuffer.data();
ReturnValue_t result = ipcRingBuf.readData(ipcBuffer.data(), *size, true);
if (result != RETURN_OK) {

19
mission/devices/IMTQHandler.cpp
View File

@ -7,7 +7,8 @@
#include "OBSWConfig.h"
IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie)
IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
power::Switch_t pwrSwitcher)
: DeviceHandlerBase(objectId, comIF, comCookie),
engHkDataset(this),
calMtmMeasurementSet(this),
@ -17,8 +18,9 @@ IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF* comC
posYselfTestDataset(this),
negYselfTestDataset(this),
posZselfTestDataset(this),
negZselfTestDataset(this) {
if (comCookie == NULL) {
negZselfTestDataset(this),
switcher(pwrSwitcher) {
if (comCookie == nullptr) {
sif::error << "IMTQHandler: Invalid com cookie" << std::endl;
}
}
@ -118,7 +120,7 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
case (IMTQ::START_ACTUATION_DIPOLE): {
/* IMTQ expects low byte first */
commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
if(commandData == nullptr) {
if (commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
commandBuffer[1] = commandData[1];
@ -2178,3 +2180,12 @@ std::string IMTQHandler::makeStepString(const uint8_t step) {
}
return stepString;
}
ReturnValue_t IMTQHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
if (switcher != power::NO_SWITCH) {
*numberOfSwitches = 1;
*switches = &switcher;
return RETURN_OK;
}
return DeviceHandlerBase::NO_SWITCH;
}

5
mission/devices/IMTQHandler.h
View File

@ -12,7 +12,8 @@
*/
class IMTQHandler : public DeviceHandlerBase {
public:
IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
power::Switch_t pwrSwitcher);
virtual ~IMTQHandler();
/**
@ -36,6 +37,7 @@ class IMTQHandler : public DeviceHandlerBase {
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::IMTQ_HANDLER;
@ -111,6 +113,7 @@ class IMTQHandler : public DeviceHandlerBase {
StartupStep startupStep = StartupStep::COMMAND_SELF_TEST;
power::Switch_t switcher = power::NO_SWITCH;
bool selfTestPerformed = false;
/**

4
mission/system/AcsSubsystem.cpp
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@ -1 +1,5 @@
#include "AcsSubsystem.h"
AcsSubsystem::AcsSubsystem(object_id_t setObjectId, object_id_t parent,
uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables)
: Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}

10
mission/system/AcsSubsystem.h
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@ -1,4 +1,14 @@
#ifndef MISSION_SYSTEM_ACSSUBSYSTEM_H_
#define MISSION_SYSTEM_ACSSUBSYSTEM_H_
#include <fsfw/subsystem/Subsystem.h>
class AcsSubsystem : public Subsystem {
public:
AcsSubsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables);
private:
};
#endif /* MISSION_SYSTEM_ACSSUBSYSTEM_H_ */

8
mission/system/CMakeLists.txt
View File

@ -1,9 +1,11 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE
EiveSystem.cpp
AcsSubsystem.cpp
ComSubsystem.cpp
PayloadSubsystem.cpp
AcsBoardAssembly.cpp
SusAssembly.cpp
AcsSubsystem.cpp
EiveSystem.cpp
ComSubsystem.cpp
DualLanePowerStateMachine.cpp
PowerStateMachineBase.cpp
DualLaneAssemblyBase.cpp

4
mission/system/ComSubsystem.cpp
View File

@ -1 +1,5 @@
#include "ComSubsystem.h"
ComSubsystem::ComSubsystem(object_id_t setObjectId, object_id_t parent,
uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables)
: Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}

10
mission/system/ComSubsystem.h
View File

@ -1,4 +1,14 @@
#ifndef MISSION_SYSTEM_COMSUBSYSTEM_H_
#define MISSION_SYSTEM_COMSUBSYSTEM_H_
#include <fsfw/subsystem/Subsystem.h>
class ComSubsystem : public Subsystem {
public:
ComSubsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables);
private:
};
#endif /* MISSION_SYSTEM_COMSUBSYSTEM_H_ */

4
mission/system/EiveSystem.cpp
View File

@ -1 +1,5 @@
#include "EiveSystem.h"
EiveSystem::EiveSystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables)
: Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}

10
mission/system/EiveSystem.h
View File

@ -1,4 +1,14 @@
#ifndef MISSION_SYSTEM_EIVESYSTEM_H_
#define MISSION_SYSTEM_EIVESYSTEM_H_
#include <fsfw/subsystem/Subsystem.h>
class EiveSystem : public Subsystem {
public:
EiveSystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables);
private:
};
#endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */

4
mission/system/PayloadSubsystem.cpp
View File

@ -1 +1,5 @@
#include "PayloadSubsystem.h"
PayloadSubsystem::PayloadSubsystem(object_id_t setObjectId, object_id_t parent,
uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables)
: Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}

10
mission/system/PayloadSubsystem.h
View File

@ -1,4 +1,14 @@
#ifndef MISSION_SYSTEM_PAYLOADSUBSYSTEM_H_
#define MISSION_SYSTEM_PAYLOADSUBSYSTEM_H_
#include <fsfw/subsystem/Subsystem.h>
class PayloadSubsystem : public Subsystem {
public:
PayloadSubsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables);
private:
};
#endif /* MISSION_SYSTEM_PAYLOADSUBSYSTEM_H_ */