eive/eive-obsw
eive/eive-obsw
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Update to v1.1.0 #29

Merged
muellerr merged 427 commits from develop into master 2021-04-25 12:43:23 +02:00
Conversation 0 Commits 427 Files Changed 381 +1385 -2209
165 changed files with 1385 additions and 2209 deletions
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Showing only changes of commit dce00e9b53 - Show all commits

4
Makefile
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@ -25,7 +25,7 @@ MISSION_PATH = mission
CONFIG_PATH = fsfwconfig CONFIG_PATH = fsfwconfig
TEST_PATH = test TEST_PATH = test
UNITTEST_PATH = unittest UNITTEST_PATH = unittest
GOMSPACE_PATH = gomspace LIBCSP_PATH = libcsp
# Board specific paths # Board specific paths
BSP_PATH = $(BOARD_FILE_ROOT) BSP_PATH = $(BOARD_FILE_ROOT)
@ -114,7 +114,7 @@ INCLUDES :=
# Directories where $(directoryname).mk files should be included from # Directories where $(directoryname).mk files should be included from
SUBDIRS := $(FRAMEWORK_PATH) $(TEST_PATH) $(BSP_PATH) $(UNITTEST_PATH)\ SUBDIRS := $(FRAMEWORK_PATH) $(TEST_PATH) $(BSP_PATH) $(UNITTEST_PATH)\
$(CONFIG_PATH) $(MISSION_PATH) $(GOMSPACE_PATH) $(CONFIG_PATH) $(MISSION_PATH) $(LIBCSP_PATH)
# INCLUDES += framework/test/catch2 # INCLUDES += framework/test/catch2
# ETL library include. # ETL library include.

25
README.md
View File

@ -323,3 +323,28 @@ git merge upstream/master
Alternatively, changes from other upstreams (forks) and branches can be merged like that in Alternatively, changes from other upstreams (forks) and branches can be merged like that in
the same way. the same way.
## PCDU
Connect to serial console of P60 Dock
````
picocom -b 500000 /dev/ttyUSBx
````
General information
````
cmp ident
````
List parameter table:
x values: 1,2 or 4
````
param table x
````
Table 4 lists HK parameters
Changing parameters
First switch to table where parameter shall be changed (here table id is 1)
````
p60-dock # param mem 1
p60-dock # param set out_en[0] 1
p60-dock # param get out_en[0]
GET out_en[0] = 1
````

32
bsp_linux/InitMission.cpp
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@ -11,6 +11,7 @@
#include <fsfw/tasks/TaskFactory.h> #include <fsfw/tasks/TaskFactory.h>
#include <fsfwconfig/objects/systemObjectList.h> #include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/OBSWConfig.h> #include <fsfwconfig/OBSWConfig.h>
#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
#include <iostream> #include <iostream>
@ -129,6 +130,23 @@ void InitMission::initTasks(){
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
// PeriodicTaskIF* P60DockTask = TaskFactory::instance()->
// createPeriodicTask("P60Dock Task", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE*4,
// 1.6, nullptr);
// result = P60DockTask->addComponent(objects::P60DOCK_HANDLER);
// if(result!=HasReturnvaluesIF::RETURN_OK){
// sif::error << "Object add component failed" << std::endl;
// }
FixedTimeslotTaskIF* GomSpacePstTask = TaskFactory::instance()->
createFixedTimeslotTask("GS_PST_TASK", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 1.0, nullptr);
result = pst::gomspacePstInit(GomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization "
<< "failed!" << std::endl;
}
#if ADD_TEST_CODE == 1 #if ADD_TEST_CODE == 1
// FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()-> // FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()->
@ -140,13 +158,6 @@ void InitMission::initTasks(){
// << "failed!" << std::endl; // << "failed!" << std::endl;
// } // }
PeriodicTaskIF* P60DockTestTask =
TaskFactory::instance()->createPeriodicTask("P60 Dock", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, nullptr);
result = PusLowPrio->addComponent(objects::P60DOCK_TEST_TASK);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
#endif #endif
//Main thread sleep //Main thread sleep
@ -155,15 +166,18 @@ void InitMission::initTasks(){
UdpBridgeTask->startTask(); UdpBridgeTask->startTask();
UdpPollingTask->startTask(); UdpPollingTask->startTask();
GomSpacePstTask->startTask();
PusVerification->startTask(); PusVerification->startTask();
PusEvents->startTask(); PusEvents->startTask();
PusHighPrio->startTask(); PusHighPrio->startTask();
PusMedPrio->startTask(); PusMedPrio->startTask();
PusLowPrio->startTask(); PusLowPrio->startTask();
// P60DockTask->startTask();
#if ADD_TEST_CODE == 1 #if ADD_TEST_CODE == 1
// TestTimeslotTask->startTask(); // TestTimeslotTask->startTask();
P60DockTestTask->startTask();
#endif #endif
sif::info << "Tasks started.." << std::endl; sif::info << "Tasks started.." << std::endl;
} }

2
bsp_linux/bsp_linux.mk
View File

@ -1,4 +1,6 @@
CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp) CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/comIF/cookies/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp)
CSRC += $(wildcard $(CURRENTPATH)/*.c) CSRC += $(wildcard $(CURRENTPATH)/*.c)
CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c) CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c)

324
bsp_linux/comIF/ArduinoComIF.cpp
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@ -1,324 +0,0 @@
#include "ArduinoCookie.h"
#include "ArduinoComIF.h"
#include <fsfw/globalfunctions/DleEncoder.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <fsfw/globalfunctions/CRC.h>
#include <termios.h>
ArduinoCommInterface::ArduinoCommInterface(object_id_t setObjectId,
const char *serialDevice) :
spiMap(MAX_NUMBER_OF_SPI_DEVICES), rxBuffer(
MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true), SystemObject(setObjectId) {
initialized = false;
serialPort = ::open("/dev/ttyUSB0", O_RDWR);
if (serialPort < 0) {
//configuration error
printf("Error %i from open: %s\n", errno, strerror(errno));
return;
}
struct termios tty;
memset(&tty, 0, sizeof tty);
// Read in existing settings, and handle any error
if (tcgetattr(serialPort, &tty) != 0) {
printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
return;
}
tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
tty.c_cflag |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_lflag &= ~ICANON; //Disable Canonical Mode
tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
tty.c_cc[VTIME] = 0; // Non Blocking
tty.c_cc[VMIN] = 0;
cfsetispeed(&tty, B9600); //Baudrate
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
//printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
return;
}
initialized = true;
}
ArduinoCommInterface::~ArduinoCommInterface() {
::close(serialPort);
}
ReturnValue_t ArduinoCommInterface::open(Cookie **cookie, uint32_t address,
uint32_t maxReplyLen) {
//This is a hack, will be gone with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19
switch ((address >> 8) & 0xff) {
case 0:
*cookie = new ArduinoCookie(ArduinoCookie::SPI, address, maxReplyLen);
spiMap.insert(address, (ArduinoCookie*) *cookie); //Yes, I *do* know that it is an ArduinoSpiCookie, I just new'd it
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ArduinoCommInterface::reOpen(Cookie *cookie, uint32_t address,
uint32_t maxReplyLen) {
//too lazy right now will be irrelevant with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19
return HasReturnvaluesIF::RETURN_FAILED;
}
void ArduinoCommInterface::close(Cookie *cookie) {
//too lazy as well, find the correct Map, delete it there, then the cookie...
}
ReturnValue_t ArduinoCommInterface::sendMessage(Cookie *cookie, uint8_t *data,
uint32_t len) {
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
if (arduinoCookie == NULL) {
return INVALID_COOKIE_TYPE;
}
return sendMessage(arduinoCookie->command, arduinoCookie->address, data,
len);
}
ReturnValue_t ArduinoCommInterface::getSendSuccess(Cookie *cookie) {
return RETURN_OK;
}
ReturnValue_t ArduinoCommInterface::requestReceiveMessage(Cookie *cookie) {
return RETURN_OK;
}
ReturnValue_t ArduinoCommInterface::readReceivedMessage(Cookie *cookie,
uint8_t **buffer, uint32_t *size) {
handleSerialPortRx();
ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
if (arduinoCookie == NULL) {
return INVALID_COOKIE_TYPE;
}
*buffer = arduinoCookie->replyBuffer;
*size = arduinoCookie->receivedDataLen;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ArduinoCommInterface::setAddress(Cookie *cookie,
uint32_t address) {
//not implemented
return RETURN_FAILED;
}
uint32_t ArduinoCommInterface::getAddress(Cookie *cookie) {
//not implemented
return 0;
}
ReturnValue_t ArduinoCommInterface::setParameter(Cookie *cookie,
uint32_t parameter) {
//not implemented
return RETURN_FAILED;
}
uint32_t ArduinoCommInterface::getParameter(Cookie *cookie) {
//not implemented
return 0;
}
ReturnValue_t ArduinoCommInterface::sendMessage(uint8_t command,
uint8_t address, const uint8_t *data, size_t dataLen) {
if (dataLen > UINT16_MAX) {
return TOO_MUCH_DATA;
}
//being conservative here
uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
sendBuffer[0] = DleEncoder::STX;
uint8_t *currentPosition = sendBuffer + 1;
size_t remainingLen = sizeof(sendBuffer) - 1;
uint32_t encodedLen;
ReturnValue_t result = DleEncoder::encode(&command, 1, currentPosition,
remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
result = DleEncoder::encode(&address, 1, currentPosition, remainingLen,
&encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
uint8_t temporaryBuffer[2];
//note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
temporaryBuffer[0] = dataLen >> 8; //we checked dataLen above
temporaryBuffer[1] = dataLen;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
//encoding the actual data
result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen,
&encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
uint16_t crc = CRC::crc16ccitt(&command, 1);
crc = CRC::crc16ccitt(&address, 1, crc);
//fortunately the length is still there
crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
crc = CRC::crc16ccitt(data, dataLen, crc);
temporaryBuffer[0] = crc >> 8;
temporaryBuffer[1] = crc;
result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
remainingLen, &encodedLen, false);
if (result != RETURN_OK) {
return result;
}
currentPosition += encodedLen;
remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
if (remainingLen > 0) {
*currentPosition = DleEncoder::ETX;
}
remainingLen -= 1;
encodedLen = sizeof(sendBuffer) - remainingLen;
ssize_t writtenlen = write(serialPort, sendBuffer, encodedLen);
if (writtenlen < 0) {
//we could try to find out what happened...
return RETURN_FAILED;
}
if (writtenlen != encodedLen) {
//the OS failed us, we do not try to block until everything is written, as
//we can not block the whole system here
return RETURN_FAILED;
}
return RETURN_OK;
}
void ArduinoCommInterface::handleSerialPortRx() {
uint32_t availableSpace = rxBuffer.availableWriteSpace();
uint8_t dataFromSerial[availableSpace];
ssize_t bytesRead = read(serialPort, dataFromSerial,
sizeof(dataFromSerial));
if (bytesRead < 0) {
return;
}
rxBuffer.writeData(dataFromSerial, bytesRead);
uint8_t dataReceivedSoFar[rxBuffer.maxSize()];
uint32_t dataLenReceivedSoFar = 0;
rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true,
&dataLenReceivedSoFar);
//look for STX
size_t firstSTXinRawData = 0;
while ((firstSTXinRawData < dataLenReceivedSoFar)
&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX)) {
firstSTXinRawData++;
}
if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX) {
//there is no STX in our data, throw it away...
rxBuffer.deleteData(dataLenReceivedSoFar);
return;
}
uint8_t packet[MAX_PACKET_SIZE];
uint32_t packetLen;
uint32_t readSize;
ReturnValue_t result = DleEncoder::decode(
dataReceivedSoFar + firstSTXinRawData,
dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet,
sizeof(packet), &packetLen);
size_t toDelete = firstSTXinRawData;
if (result == HasReturnvaluesIF::RETURN_OK) {
handlePacket(packet, packetLen);
//after handling the packet, we can delete it from the raw stream, it has been copied to packet
toDelete += readSize;
}
//remove Data which was processed
rxBuffer.deleteData(toDelete);
}
void ArduinoCommInterface::handlePacket(uint8_t *packet, size_t packetLen) {
uint16_t crc = CRC::crc16ccitt(packet, packetLen);
if (crc != 0) {
//CRC error
return;
}
uint8_t command = packet[0];
uint8_t address = packet[1];
uint16_t size = (packet[2] << 8) + packet[3];
if (size != packetLen - 6) {
//Invalid Length
return;
}
switch (command) {
case ArduinoCookie::SPI: {
ArduinoCookie **itsComplicated;
ReturnValue_t result = spiMap.find(address, &itsComplicated);
if (result != RETURN_OK) {
//we do no know this address
return;
}
ArduinoCookie *theActualCookie = *itsComplicated;
if (packetLen > theActualCookie->maxReplySize + 6) {
packetLen = theActualCookie->maxReplySize + 6;
}
memcpy(theActualCookie->replyBuffer, packet + 4, packetLen - 6);
theActualCookie->receivedDataLen = packetLen - 6;
}
break;
default:
return;
}
}

73
bsp_linux/comIF/ArduinoComIF.h
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@ -1,73 +0,0 @@
//#ifndef MISSION_ARDUINOCOMMINTERFACE_H_
//#define MISSION_ARDUINOCOMMINTERFACE_H_
//
//#include <bits/stdint-uintn.h>
//#include <framework/container/FixedMap.h>
//#include <framework/container/SimpleRingBuffer.h>
//#include <framework/devicehandlers/DeviceCommunicationIF.h>
//#include <framework/returnvalues/HasReturnvaluesIF.h>
//#include <stddef.h>
//
//#include "../../framework/objectmanager/SystemObject.h"
//#include "ArduinoCookie.h"
//
////Forward declaration, so users don't peek
//class ArduinoCookie;
//
//class ArduinoComIF: public SystemObject,
// public DeviceCommunicationIF {
//public:
// static const uint8_t MAX_NUMBER_OF_SPI_DEVICES = 8;
// static const uint8_t MAX_PACKET_SIZE = 64;
//
// static const uint8_t COMMAND_INVALID = -1;
// static const uint8_t COMMAND_SPI = 1;
//
// ArduinoComIF(object_id_t setObjectId, const char *serialDevice);
// virtual ~ArduinoComIF();
//
// virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
// uint32_t maxReplyLen);
//
// virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
// uint32_t maxReplyLen);
//
// virtual void close(Cookie *cookie);
//
// //SHOULDDO can data be const?
// virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
// uint32_t len);
//
// virtual ReturnValue_t getSendSuccess(Cookie *cookie);
//
// virtual ReturnValue_t requestReceiveMessage(Cookie *cookie);
//
// virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
// uint32_t *size);
//
// virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address);
//
// virtual uint32_t getAddress(Cookie *cookie);
//
// virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter);
//
// virtual uint32_t getParameter(Cookie *cookie);
//private:
// //remembering if the initialization in the ctor worked
// //if not, all calls are disabled
// bool initialized;
// int serialPort;
// //used to know where to put the data if a reply is received
// FixedMap<uint8_t, ArduinoCookie*> spiMap;
//
// SimpleRingBuffer rxBuffer;
//
// ReturnValue_t sendMessage(uint8_t command, uint8_t address,
// const uint8_t *data, size_t dataLen);
//
// void handleSerialPortRx();
//
// void handlePacket(uint8_t *packet, size_t packetLen);
//};
//
//#endif /* MISSION_ARDUINOCOMMINTERFACE_H_ */

12
bsp_linux/comIF/ArduinoCookie.cpp
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@ -1,12 +0,0 @@
//#include <mission/Arduino/ArduinoCookie.h>
//
//ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address,
// size_t maxReplySize) :
// command(protocol), address(address), receivedDataLen(0), maxReplySize(
// maxReplySize) {
// replyBuffer = new uint8_t[maxReplySize];
//}
//
//ArduinoCookie::~ArduinoCookie() {
// delete[] replyBuffer;
//}

25
bsp_linux/comIF/ArduinoCookie.h
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@ -1,25 +0,0 @@
//#ifndef MISSION_ARDUINO_ARDUINOCOOKIE_H_
//#define MISSION_ARDUINO_ARDUINOCOOKIE_H_
//
//#include <framework/devicehandlers/Cookie.h>
//
//#include <stdint.h>
//#include <stdlib.h>
//
//class ArduinoCookie: public Cookie {
//public:
// enum Protocol_t {
// INVALID = 0, SPI = 1
// };
// ArduinoCookie(Protocol_t protocol, uint8_t address, size_t maxReplySize);
// virtual ~ArduinoCookie();
//
// uint8_t command;
// uint8_t address;
// uint8_t *replyBuffer;
// size_t receivedDataLen;
// size_t maxReplySize;
//
//};
//
//#endif /* MISSION_ARDUINO_ARDUINOCOOKIE_H_ */

211
bsp_linux/comIF/CspComIF.cpp Normal file
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@ -0,0 +1,211 @@
#include "CspComIF.h"
#include <bsp_linux/comIF/cookies/CspCookie.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <csp/drivers/can_socketcan.h>
#include <fsfw/serialize/SerializeAdapter.h>
CspComIF::CspComIF(object_id_t objectId) :
SystemObject(objectId) {
}
CspComIF::~CspComIF() {
}
ReturnValue_t CspComIF::initializeInterface(CookieIF *cookie) {
if(cookie == nullptr) {
return NULLPOINTER;
}
CspCookie* cspCookie = dynamic_cast<CspCookie*>(cookie);
if(cspCookie == nullptr) {
return NULLPOINTER;
}
/* Perform CAN and CSP initialization only once */
if(cspDeviceMap.empty()){
/* Define the memory to allocate for the CSP stack */
int buf_count = 10;
int buf_size = 300;
/* Init CSP and CSP buffer system */
if (csp_init(cspClientAddress) != CSP_ERR_NONE
|| csp_buffer_init(buf_count, buf_size) != CSP_ERR_NONE) {
sif::error << "Failed to init CSP\r\n" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
int promisc = 0; // Set filter mode on
csp_iface_t *csp_if_ptr = &csp_if;
csp_if_ptr = csp_can_socketcan_init(canInterface, bitrate, promisc);
/* Set default route and start router */
uint8_t address = CSP_DEFAULT_ROUTE;
uint8_t netmask = 0;
uint8_t mac = CSP_NODE_MAC;
int result = csp_rtable_set(address, netmask, csp_if_ptr, mac);
if(result != CSP_ERR_NONE){
sif::error << "Failed to add can interface to router table"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
/* Start the route task */
unsigned int task_stack_size = 500;
unsigned int priority = 0;
result = csp_route_start_task(task_stack_size, priority);
if(result != CSP_ERR_NONE){
sif::error << "Failed to start csp route task" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t cspAddress = cspCookie->getCspAddress();
uint16_t maxReplyLength = cspCookie->getMaxReplyLength();
if(cspDeviceMap.find(cspAddress) == cspDeviceMap.end()){
/* Insert device information in CSP map */
cspDeviceMap.emplace(cspAddress, vectorBuffer(maxReplyLength));
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::sendMessage(CookieIF *cookie,
const uint8_t * sendData, size_t sendLen) {
int result;
if(cookie == NULL){
return HasReturnvaluesIF::RETURN_FAILED;
}
CspCookie* cspCookie = dynamic_cast<CspCookie*> (cookie);
if(cspCookie == NULL){
return HasReturnvaluesIF::RETURN_FAILED;
}
/* Extract csp port and bytes to query from command buffer */
uint8_t cspPort;
uint16_t querySize;
result = getPortAndQuerySize(&sendData, &sendLen, &cspPort, &querySize);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
uint8_t cspAddress = cspCookie->getCspAddress();
switch(cspPort) {
case(Ports::CSP_PING): {
initiatePingRequest(cspAddress, querySize);
break;
}
case(Ports::CSP_REBOOT): {
csp_reboot(cspAddress);
break;
}
case(Ports::P60_PORT_GNDWDT_RESET):
case(Ports::P60_PORT_RPARAM): {
/* No CSP fixed port was selected. Send data to the specified port and
* wait for querySize number of bytes */
result = cspTransfer(cspAddress, cspPort, sendData, sendLen,
querySize);
if(result != HasReturnvaluesIF::RETURN_OK){
return HasReturnvaluesIF::RETURN_FAILED;
}
replySize = querySize;
break;
}
default:
sif::error << "CspComIF: Invalid port specified" << std::endl;
break;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::getSendSuccess(CookieIF *cookie) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::requestReceiveMessage(CookieIF *cookie,
size_t requestLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::readReceivedMessage(CookieIF *cookie,
uint8_t** buffer, size_t* size) {
if(cookie == NULL){
return HasReturnvaluesIF::RETURN_FAILED;
}
CspCookie* cspCookie = dynamic_cast<CspCookie*> (cookie);
if(cspCookie == NULL){
return HasReturnvaluesIF::RETURN_FAILED;
}
uint8_t cspAddress = cspCookie->getCspAddress();
*buffer = cspDeviceMap[cspAddress].data();
*size = replySize;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort,
const uint8_t* cmdBuffer, int cmdBufferLen, uint16_t querySize) {
uint32_t timeout_ms = 500;
vectorBufferIter iter = cspDeviceMap.find(cspAddress);
if(iter == cspDeviceMap.end()){
sif::error << "CSP device with address " << cspAddress << " no found in"
<< " device map" << std::endl;
}
uint8_t* replyBuffer = iter->second.data();
uint8_t tmpCmdBuffer[cmdBufferLen];
memcpy(tmpCmdBuffer, cmdBuffer, cmdBufferLen);
csp_conn_t * conn = csp_connect(CSP_PRIO_HIGH, cspAddress, cspPort, 0,
CSP_O_NONE);
int result = csp_transaction_persistent(conn, timeout_ms,
tmpCmdBuffer, cmdBufferLen, replyBuffer, querySize);
if(querySize != 0){
if(result != querySize){
sif::error << "CSP transfer failed to receive all requested bytes "
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
} else {
if(result != 1){
sif::error << "CSP transfer failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
csp_close(conn);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::getPortAndQuerySize(const uint8_t** sendData,
size_t* sendLen, uint8_t* cspPort, uint16_t* querySize) {
ReturnValue_t result = SerializeAdapter::deSerialize(cspPort, sendData,
sendLen, SerializeIF::Endianness::BIG);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "CspComIF: Failed to deserialize CSP port from command "
<< "buffer" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
SerializeAdapter::deSerialize(querySize, sendData, sendLen,
SerializeIF::Endianness::BIG);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "CspComIF: Failed to deserialize querySize from command "
<< "buffer" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
void CspComIF::initiatePingRequest(uint8_t cspAddress, uint16_t querySize){
uint32_t timeout_ms = 500;
uint32_t replyTime = csp_ping(cspAddress, timeout_ms, querySize,
CSP_O_NONE);
sif::info << "Ping address: " << cspAddress << ", reply after "
<< replyTime << " ms" << std::endl;
/* Store reply time in reply buffer * */
uint8_t* replyBuffer = cspDeviceMap[cspAddress].data();
memcpy(replyBuffer, &replyTime, sizeof(replyTime));
replySize = sizeof(replyTime);
}

89
bsp_linux/comIF/CspComIF.h Normal file
View File

@ -0,0 +1,89 @@
#ifndef BSP_LINUX_COMIF_COOKIES_CSPCOMIF_H_
#define BSP_LINUX_COMIF_COOKIES_CSPCOMIF_H_
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <csp/csp.h>
#include <vector>
#include <unordered_map>
/**
* @brief This class serves as the communication interface to devices
* supporting the CSP protocol. As physical layer can0 is used
* in this implementation.
* @author J. Meier
*/
class CspComIF: public DeviceCommunicationIF, public SystemObject {
public:
CspComIF(object_id_t objectId);
virtual ~CspComIF();
ReturnValue_t initializeInterface(CookieIF * cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie,
uint8_t **readData, size_t *readLen) override;
private:
/**
* @brief This function initiates the CSP transfer.
*
* @param cspAddress The CSP address of the target device.
* @param cspPort The port of the target device.
* @param timeout The timeout to wait for csp_send and csp_read
* functions. Specifies how long the functions wait
* for a successful operation.
* @param cmdBuffer The data to send.
* @param cmpBuffer The number of bytes to send.
* @param querySize The size of the requested message.
*/
ReturnValue_t cspTransfer(uint8_t cspAddress, uint8_t cspPort,
const uint8_t* cmdBuffer, int cmdBufferLen, uint16_t querySize);
enum Ports {
CSP_PING = 1,
CSP_REBOOT = 4,
P60_PORT_RPARAM = 7,
P60_PORT_GNDWDT_RESET = 9
};
typedef uint8_t node_t;
using vectorBuffer = std::vector<uint8_t>;
using VectorBufferMap = std::unordered_map<node_t, vectorBuffer>;
using vectorBufferIter = VectorBufferMap::iterator;
/* In this map assigns reply buffers to a CSP device */
VectorBufferMap cspDeviceMap;
uint16_t replySize = 0;
/* This is the CSP address of the OBC. */
node_t cspClientAddress = 1;
/* Interface struct for csp protocol stack */
csp_iface_t csp_if;
char canInterface[5] = "can0";
int bitrate = 1000;
/**
* @brief Function to extract the csp port and the query size from the
* command buffer.
*/
ReturnValue_t getPortAndQuerySize(const uint8_t** sendData, size_t* sendLen,
uint8_t* cspPort, uint16_t* querySize);
/**
* @brief This function initiates the ping request.
*/
void initiatePingRequest(uint8_t cspAddress, uint16_t querySize);
};
#endif /* BSP_LINUX_COMIF_COOKIES_CSPCOMIF_H_ */

16
bsp_linux/comIF/cookies/CspCookie.cpp Normal file
View File

@ -0,0 +1,16 @@
#include "CspCookie.h"
CspCookie::CspCookie(uint16_t maxReplyLength_, uint8_t cspAddress_) :
maxReplyLength(maxReplyLength_), cspAddress(cspAddress_) {
}
CspCookie::~CspCookie() {
}
uint16_t CspCookie::getMaxReplyLength(){
return maxReplyLength;
}
uint8_t CspCookie::getCspAddress(){
return cspAddress;
}

27
bsp_linux/comIF/cookies/CspCookie.h Normal file
View File

@ -0,0 +1,27 @@
#ifndef BSP_LINUX_COMIF_COOKIES_CSPCOOKIE_H_
#define BSP_LINUX_COMIF_COOKIES_CSPCOOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <stdint.h>
/**
* @brief This is the cookie for devices supporting the CSP (CubeSat Space
* Protocol).
* @author J. Meier
*/
class CspCookie: public CookieIF {
public:
CspCookie(uint16_t maxReplyLength_, uint8_t cspAddress_);
virtual ~CspCookie();
uint16_t getMaxReplyLength();
uint8_t getCspAddress();
private:
uint16_t maxReplyLength;
uint8_t cspAddress;
};
#endif /* BSP_LINUX_COMIF_COOKIES_CSPCOOKIE_H_ */

2
fsfw

@ -1 +1 @@
Subproject commit 6bedc9b805d9e51fbca0d4b881fab39f52b59a07 Subproject commit 113397c6c6ae4c46341f4880710e4e4d9b6e7630

2
fsfwconfig/OBSWConfig.h
View File

@ -6,7 +6,7 @@
#ifndef FSFWCONFIG_OBSWCONFIG_H_ #ifndef FSFWCONFIG_OBSWCONFIG_H_
#define FSFWCONFIG_OBSWCONFIG_H_ #define FSFWCONFIG_OBSWCONFIG_H_
#define ADD_TEST_CODE 1 #define ADD_TEST_CODE 0
// Define not used yet, PUS stack and TMTC tasks are always started // Define not used yet, PUS stack and TMTC tasks are always started
#define ADD_PUS_STACK 1 #define ADD_PUS_STACK 1

2
fsfwconfig/devices/logicalAddresses.cpp → fsfwconfig/devices/addresses.cpp
View File

@ -4,7 +4,7 @@
* \date 06.11.2019 * \date 06.11.2019
*/ */
#include <fsfwconfig/devices/logicalAddresses.h> #include "addresses.h"

35
fsfwconfig/devices/addresses.h Normal file
View File

@ -0,0 +1,35 @@
/**
* \file addresses.cpp
*
* \date 07.11.2019
*/
#ifndef FSFWCONFIG_DEVICES_ADDRESSES_H_
#define FSFWCONFIG_DEVICES_ADDRESSES_H_
#include <stdint.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfwconfig/objects/systemObjectList.h>
namespace addresses {
/* Logical addresses have uint32_t datatype */
enum logicalAddresses: address_t {
PCDU,
/* Dummy and Test Addresses */
DUMMY_ECHO = 129,
DUMMY_GPS0 = 130,
DUMMY_GPS1 = 131,
};
/* Addresses of devices supporting the CSP protocol */
enum cspAddresses: uint8_t {
P60DOCK = 4,
ACU = 2,
PDU1 = 3,
/* PDU2 occupies X4 slot of P60Dock */
PDU2 = 6
};
}
#endif /* FSFWCONFIG_DEVICES_ADDRESSES_H_ */

26
fsfwconfig/devices/logicalAddresses.h
View File

@ -1,26 +0,0 @@
/**
* \file logicalAddresses.cpp
*
* \date 07.11.2019
*/
#ifndef FSFWCONFIG_DEVICES_LOGICALADDRESSES_H_
#define FSFWCONFIG_DEVICES_LOGICALADDRESSES_H_
#include <stdint.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfwconfig/objects/systemObjectList.h>
namespace addresses {
/* Logical addresses have uint32_t datatype */
enum logicalAddresses: address_t {
PCDU,
/* Dummy and Test Addresses */
DUMMY_ECHO = 129,
DUMMY_GPS0 = 130,
DUMMY_GPS1 = 131,
};
}
#endif /* FSFWCONFIG_DEVICES_LOGICALADDRESSES_H_ */

9
fsfwconfig/objects/systemObjectList.h
View File

@ -27,10 +27,17 @@ namespace objects {
TEST_TASK = 0x42694269, TEST_TASK = 0x42694269,
DUMMY_INTERFACE = 0xCAFECAFE, DUMMY_INTERFACE = 0xCAFECAFE,
DUMMY_HANDLER = 0x4400AFFE, DUMMY_HANDLER = 0x4400AFFE,
P60DOCK_TEST_TASK = 0x00005060,
/* 0x49 ('I') for Communication Interfaces **/ /* 0x49 ('I') for Communication Interfaces **/
ARDUINO_COM_IF = 0x49000001, ARDUINO_COM_IF = 0x49000001,
P60DOCK_TEST_TASK = 0x00005060 CSP_COM_IF = 0x49000002,
/* 0x44 ('D') for device handlers */
P60DOCK_HANDLER = 0x44000001,
PDU1_HANDLER = 0x44000002,
PDU2_HANDLER = 0x44000003,
ACU_HANDLER = 0x44000004
}; };
} }

49
fsfwconfig/pollingsequence/PollingSequenceFactory.cpp
View File

@ -28,3 +28,52 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
} }
} }
ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.25, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0.25, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0.25, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.25, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.5, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0.5, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0.5, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.5, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.75, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0.75, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0.75, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.75, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
sif::error << "Initialization of GomSpace PST failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}

7
fsfwconfig/pollingsequence/PollingSequenceFactory.h
View File

@ -26,6 +26,13 @@ namespace pst {
/* 0.4 second period init*/ /* 0.4 second period init*/
ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence); ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
/**
* @brief This function creates the PST for all gomspace devices. They are
* scheduled in a separate PST because the gomspace library uses
* blocking calls when requesting data from devices.
*/
ReturnValue_t gomspacePstInit(FixedTimeslotTaskIF *thisSequence);
} }
#endif /* POLLINGSEQUENCEINIT_H_ */ #endif /* POLLINGSEQUENCEINIT_H_ */

11
gomspace/gomspace.mk
View File

@ -1,11 +0,0 @@
CSRC += $(wildcard $(CURRENTPATH)/libcsp/src/drivers/can/*.c)
CSRC += $(wildcard $(CURRENTPATH)/libcsp/src/*.c)
CSRC += $(wildcard $(CURRENTPATH)/libcsp/src/interfaces/*.c)
CSRC += $(wildcard $(CURRENTPATH)/libcsp/src/rtable/csp_rtable_cidr.c)
CSRC += $(wildcard $(CURRENTPATH)/libcsp/src/crypto/*.c)
CSRC += $(wildcard $(CURRENTPATH)/libcsp/src/arch/posix/*.c)
CSRC += $(wildcard $(CURRENTPATH)/libcsp/src/transport/*.c)
INCLUDES += $(CURRENTPATH)/libcsp/include
INCLUDES += $(CURRENTPATH)/libcsp/include/csp/crypto
INCLUDES += $(CURRENTPATH)/libcsp

111
gomspace/include/port.h
View File

@ -1,111 +0,0 @@
#ifndef LIBGSCSP_INCLUDE_GS_CSP_PORT_H
#define LIBGSCSP_INCLUDE_GS_CSP_PORT_H
/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
/**
@file
Port definitions for standard CSP and GomSpace services.
*/
#include <csp/csp_types.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
Port definitions for standard CSP and GomSpace services.
*/
typedef enum {
/**
CSP Management Protocol - standard CSP service.
*/
GS_CSP_CMP = CSP_CMP, // 0
/**
Ping - standard CSP service.
*/
GS_CSP_PING = CSP_PING, // 1
/**
Show process status - standard CSP service.
*/
GS_CSP_PS = CSP_PS, // 2
/**
Show memory free - standard CSP service.
*/
GS_CSP_MEM_FREE = CSP_MEMFREE, // 3
GS_CSP_MEMFREE = GS_CSP_MEM_FREE,
/**
Reboot/reset request - standard CSP service.
*/
GS_CSP_REBOOT = CSP_REBOOT, // 4
/**
Show number of free CSP buffers - standard CSP service.
*/
GS_CSP_BUF_FREE = CSP_BUF_FREE, // 5
/**
Show uptime (time since last reset) - standard CSP service.
*/
GS_CSP_UPTIME = CSP_UPTIME, // 6
/**
Parameter service (libparam)
*/
GS_CSP_PORT_RPARAM = 7,
/**
File Transfer Service (libftp)
*/
GS_CSP_PORT_FTP = 9,
/**
Remote log service (liblog)
*/
GS_CSP_PORT_RLOG = 11,
/**
Remote GOSH service (librgosh)
*/
GS_CSP_PORT_RGOSH = 12,
/**
AIS command port (libais).
*/
GS_CSP_PORT_AIS = 13,
/**
ADS-B command port (libadsb).
*/
GS_CSP_PORT_ADSB = 14,
/**
GomSpace Sensor Bus (libgssb).
*/
GS_CSP_PORT_GSSB = 16,
/**
Flight Planner (libfp).
*/
GS_CSP_PORT_FP = 18,
/**
ADCS (libadcs).
*/
GS_CSP_PORT_ADCS = 20,
/**
House Keeping (libhk).
*/
GS_CSP_PORT_HK = 21,
/**
G(omSpace) script service (libgosh)
*/
GS_CSP_PORT_GSCRIPT = 22,
/**
Remote shell (libgosh).
Executes shell commands (linux server only).
Requires CSP_O_RDP.
*/
GS_CSP_PORT_REMOTE_SHELL = 27,
/**
House keeping beacon port (libhk).
Default port for sending beacons from satellite to ground (configurable).
*/
GS_CSP_PORT_HK_BEACON = 30,
} gs_csp_port_t;
#ifdef __cplusplus
}
#endif
#endif

141
gomspace/include/rparam.h
View File

@ -1,141 +0,0 @@
#ifndef GS_PARAM_INTERNAL_RPARAM_H
#define GS_PARAM_INTERNAL_RPARAM_H
/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
#ifdef __cplusplus
extern "C" {
#endif
/**
Max query payload in a single message (bytes).
*/
#define GS_RPARAM_QUERY_MAX_PAYLOAD 180
/**
Macro for calculating total query message size, header + payload.
*/
#define RPARAM_QUERY_LENGTH(query, payload_size) (sizeof(*query) - sizeof(query->payload) + payload_size)
/**
R(emote) parameter request codes.
*/
typedef enum {
/**
Get one or more parameters.
*/
RPARAM_GET = 0x00,
/**
Reply to a request.
*/
RPARAM_REPLY = 0x55,
/**
Set one or more parameters.
*/
RPARAM_SET = 0xFF,
// RPARAM_SET_TO_FILE = 0xEE,
/**
Download table specification.
*/
RPARAM_TABLE = 0x44,
/**
Copy memory slot to memory slot.
@version 4.x: Not supported.
*/
RPARAM_COPY = 0x77,
/**
Load from file (slot) to memory (slot).
@version 4.x: Only load from primary store - file (slot) is ignored.
*/
RPARAM_LOAD = 0x88,
/**
Load from file (slot) to memory (slot).
@version 4.x: load by name(s).
*/
RPARAM_LOAD_FROM_STORE = 0x89,
/**
Save from memory (slot) to file (slot).
@version 4.x: Only save to primary store - file (slot) is ignored.
*/
RPARAM_SAVE = 0x99,
/**
Save from memory (slot) to file (slot).
@version 4.x: save by name(s).
*/
RPARAM_SAVE_TO_STORE = 0x9a,
// RPARAM_CLEAR = 0xAA, - completely removed
} gs_rparam_action_t;
/**
R(emote) parameter reply/completion codes.
*/
typedef enum {
RPARAM_SET_OK = 1,
RPARAM_LOAD_OK = 2,
RPARAM_SAVE_OK = 3,
RPARAM_COPY_OK = 4,
// RPARAM_CLEAR_OK = 5,
RPARAM_ERROR = 0xFF,
} gs_rparam_reply_t;
/**
Payload - save/load to/from stores
@version 4
*/
typedef struct __attribute__ ((packed)) {
char table[25 + 1];
char store[25 + 1];
char slot[25 + 1];
} gs_rparam_query_payload_store_t;
/**
Payload.
*/
typedef union __attribute__ ((packed)) {
uint16_t addr[0]; //! action = RPARAM_GET
uint8_t packed[0]; //! action = RPARAM_REPLY | RPARAM_SET
struct { //! action = RPARAM_COPY | RPARAM_LOAD | RPARM_SAVE
uint8_t from;
uint8_t to;
} copy;
} gs_rparam_query_payload_t;
/**
Protocol between client and server.
@version 4.x: layout (size) has not changed - only naming of certain fields.
*/
typedef struct __attribute__ ((packed)) {
/**
Request (gs_rparam_action_t) or Reply (gs_rparam_reply_t).
*/
uint8_t action;
/**
Table id.
Name changed in 4.0 from \a mem.
*/
uint8_t table_id;
/**
Length/size of \a payload in bytes.
*/
uint16_t length;
/**
Fletcher's checksum.
*/
uint16_t checksum;
/**
Sequence number when split over multiple frames (messages).
*/
uint16_t seq;
/**
Total number of frames.
*/
uint16_t total;
/**
Payload.
*/
gs_rparam_query_payload_t payload;
} gs_rparam_query_t;
#ifdef __cplusplus
}
#endif
#endif

113
gomspace/libcsp/CHANGELOG
View File

@ -1,113 +0,0 @@
libcsp 1.4, 07-05-2015
----------------------
- new: General rtable interface with support for STATIC or CIDR format
- new: CIDR (classless interdomain routing) route table format with netmasks
- new: Bridge capability
- new: Added routing table (de)serialization functions for load/save
- new: Automatic packet deduplication using CRC32 (compile time option)
- new: Autogenerated python bindings using ctypesgen
- new: Task-less operation with router invocation from external scheduler function
- api: Refactor route_if_add to csp_iflist_add
- api: Refactor route_set and friends to rtable_set
- api: Refactor csp_fifo_qos to csp_qfifo
- api: Added defined to be backwards compatible with 1.x
- interfaces: Drop packets on LOOP interface not for own address (blackhole)
- interfaces: New ZMQHUB interface (using zeroMQ over TCP)
- other: Increase stack size from 250 to 1100 for csp_can_rx_task
- other: Cleanup in csp_route.c
- other: Show incoming interface name in debug message
- other: Remove newlines from debug calls
- improvement: Reduce debug hook function complexity with valist passing
- fix: csp_sleep_ms did not work
libcsp 1.3, 07-05-2015
----------------------
- new: Split long process lists into multiple packets
- new: Added posix csp_clock.h
- new: cmp clock functions (requires that you provide csp_clock.h implementation)
- new: Added SFP (Small fragmentation protocol) for larger data chunks
- fix: csp_if_fifo example
- fix: NULL char at the end of rps
- doc: Updated mtu documentation
- other: Tested with FreeRTOS 8.0
- other: Added disable-stlib option to build only object files
libcsp 1.2, 25-10-2013
----------------------
- Feature release
- New: CMP service for peek and poke of memory
- New: CMP interface statistics struct is now packed
- New: Faster O(1) buffer system with reference counting and automatic alignment
- New: Thread safe KISS driver with support for multiple interfaces
- New: CSP interface struct now holds an opaque pointer to driver handle
- New: removed TXBUF from KISS driver entirely to minimize stack usage, added TX lock instead
- New: Pre-calculated CRC table .romem or PROGMEM on __avr__
- New: Added buffer overflow protection to KISS interface
- New: Allow posting null pointers on conn RX queues
- New: Lower memory usage on AVR8
- New: csp_route_save and csp_route_load functions
- New: option --disable-verbose to disable filenames and linenumber on debug
- Protocol: KISS uses csp_crc32 instead of it own embedded crc32
- Improvement: Use buffer clone function to copy promisc packets
- Bugfix: Fix pointer size (32/16bit) in cmp_peek/poke
- Bugfix: Issue with double free in KISS fixed
- Bugfix: Change rdp_send timeout from packet to connection timeout to make sending task block longer
- Bugfix: Fix conn pool leak when using security check and discarding new packets
- Bugfix: Add packet too short check for CRC32
- Bugfix: Accept CRC32 responses from nodes without CRC support
- Bugfix: Ensure csp_ping works for packets > 256 bytes
- Bugfix: Cleanup printf inside ISR functions
- Bugfix: Do not add forwarded packets to promisc queue twice
- Bugfix: Fix return value bug of csp_buffer_get when out of buffers
- Bugfix: Always post null pointer with lowest priority, not highest
- Bugfix: Add check on debug level before calling do_csp_debug, fixes #35
- Other: Export csp/arch include files
- Other: Remove the use of bool type from csp_debug
- Other: Moved csp debug functions to csp_debug.h instead of csp.h
- Other: Ensure assignment of id happens using the uint32_t .ext value of the union, quenches warning
libcsp 1.1, 24-08-2012
----------------------
- Feature release
- Defacto stable since Feb 2012
- New: I2C interface
- New: KISS interface
- New: USART drivers for Linux, Mac and Windows
- New: Windows/MinGW support
- New: MacOSX support
- New: Interface register function
- New: Interface search function
- New: CMP service for remote route updating
- New: CMP service for interface statistics
- Improvement: Better QoS support
- Improvement: Send RDP control messages with high priority
- Improvement: WAF distcheck now works
- Improvement: Automatic endian discovery
- Improvement: Accept packets with CRC32 checksum if compiled without CRC32 support
- Improvement: Do not wake the router task if RDP is not enabled
- Improvement: Save 102 bytes of RAM by packing route entries
- Cleanup: Simplify CAN configuration
- Cleanup: Move architecture specific code to src/arch
- Bugfix: CSP_MEMFREE gives wrong answer on freertos AVR due to truncation
- Bugfix: Fixed wrong 64-bit size_t in csp_service_handler
- Bugfix: Fixed problem in csp_if_kiss when out of buffers
- Bigfix: Handle bus-off CAN IRQ for AT90CAN128
libcsp 1.0.1, 30-10-2011
------------------------
- Hotfix release
- Bugfix: missing extern in csp_if_lo.h
libcsp 1.0, 24-10-2011
----------------------
- First official release
- New: CSP 32-bit header 1.0
- Features: Network Router with promiscous mode, broadcast and QoS
- Features: Connection-oriented transport protocol w. flow-control
- Features: Connection-less "UDP" like transport
- Features: Encryption, Authentication and message check
- Features: Loopback interface
- Features: Python Bindings
- Features: CAN interface w. drivers for several chips
- Features: CSP-services (ping, reboot, uptime, memfree, buffree, ident)

3
gomspace/libcsp/CONTRIBUTORS
View File

@ -1,3 +0,0 @@
Jeppe Ledet-Pedersen <jeppe@ledets.dk>
Johan De Claville Christiansen <johan@gomspace.com>
Dan Erik Holmstrøm <holmstro@stud.ntnu.no>

503
gomspace/libcsp/COPYING
View File

@ -1,503 +0,0 @@
GNU LESSER GENERAL PUBLIC LICENSE
Version 2.1, February 1999
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Everyone is permitted to copy and distribute verbatim copies
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That's all there is to it!

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@ -1,30 +0,0 @@
How to install LibCSP
=====================
CSP uses the `waf` build system (http://code.google.com/p/waf/). In order to
compile CSP, you first need to configure the toolchain, what operating system
to compile for, the location of required libraries and whether to enable
certain optional features.
To configure CSP to build with the AVR32 toolchain for FreeRTOS and output
the compiled libcsp.a and header files to the install directory, issue:
.. code-block:: bash
./waf configure --toolchain=avr32- --with-os=freertos --prefix=install
When compiling for FreeRTOS, the path to the FreeRTOS header files must be
specified with `--with-freertos=PATH.`
A number of optional features can be enabled by from the configure script.
Support for XTEA encryption can e.g. be enabled with `--enable-xtea`. Run
`./waf configure --help` to list the available configure options.
The CAN drivers can be enabled by appending the configure option `--with-driver-can=CHIP`,
where CHIP is one of 'socketcan', 'at91sam7a1', 'at91sam7a3' or 'at90can128'.
To build and copy the library to the location specified with --prefix, use:
.. code-block:: bash
./waf build install

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gomspace/libcsp/README.rst
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@ -1,41 +0,0 @@
The Cubesat Space Protocol
==========================
Cubesat Space Protocol (CSP) is a small protocol stack written in C. CSP is designed to ease communication between distributed embedded systems in smaller networks, such as Cubesats. The design follows the TCP/IP model and includes a transport protocol, a routing protocol and several MAC-layer interfaces. The core of libcsp includes a router, a socket buffer pool and a connection oriented socket API.
The protocol is based on a 32-bit header containing both transport and network-layer information. Its implementation is designed for, but not limited to, embedded systems such as the 8-bit AVR microprocessor and the 32-bit ARM and AVR from Atmel. The implementation is written in GNU C and is currently ported to run on FreeRTOS or POSIX operating systems such as Linux.
The idea is to give sub-system developers of cubesats the same features of a TCP/IP stack, but without adding the huge overhead of the IP header. The small footprint and simple implementation allows a small 8-bit system with less than 4 kB of RAM to be fully connected on the network. This allows all subsystems to provide their services on the same network level, without any master node required. Using a service oriented architecture has several advantages compared to the traditional mater/slave topology used on many cubesats.
* Standardised network protocol: All subsystems can communicate with eachother
* Service loose coupling: Services maintain a relationship that minimizes dependencies between subsystems
* Service abstraction: Beyond descriptions in the service contract, services hide logic from the outside world
* Service reusability: Logic is divided into services with the intention of promoting reuse.
* Service autonomy: Services have control over the logic they encapsulate.
* Service Redundancy: Easily add redundant services to the bus
* Reduces single point of failure: The complexity is moved from a single master node to several well defines services on the network
The implementation of LibCSP is written with simplicity in mind, but it's compile time configuration allows it to have some rather advanced features as well:
Features
--------
* Thread safe Socket API
* Router task with Quality of Services
* Connection-oriented operation (RFC 908 and 1151).
* Connection-less operation (similar to UDP)
* ICMP-like requests such as ping and buffer status.
* Loopback interface
* Very Small Footprint 48 kB code and less that 1kB ram required on ARM
* Zero-copy buffer and queue system
* Modular network interface system
* Modular OS interface, ported to FreeRTOS, windows (cygwin) and Linux
* Broadcast traffic
* Promiscuous mode
* Encrypted packets with XTEA in CTR mode
* Truncated HMAC-SHA1 Authentication (RFC 2104)
LGPL Software license
---------------------
The source code is available under an LGPL 2.1 license. See COPYING for the license text.

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gomspace/libcsp/wscript
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#!/usr/bin/env python
# encoding: utf-8
# Cubesat Space Protocol - A small network-layer protocol designed for Cubesats
# Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com)
# Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk)
#
# This library is free software; you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation; either
# version 2.1 of the License, or (at your option) any later version.
#
# This library is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# Lesser General Public License for more details.
#
# You should have received a copy of the GNU Lesser General Public
# License along with this library; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
import os
APPNAME = 'libcsp'
VERSION = '1.5'
top = '.'
out = 'build'
def options(ctx):
# Load GCC options
ctx.load('gcc')
ctx.add_option('--toolchain', default=None, help='Set toolchain prefix')
# Set libcsp options
gr = ctx.add_option_group('libcsp options')
gr.add_option('--includes', default='', help='Add additional include paths. Separate with comma')
gr.add_option('--install-csp', action='store_true', help='Installs CSP headers and lib')
gr.add_option('--disable-output', action='store_true', help='Disable CSP output')
gr.add_option('--disable-stlib', action='store_true', help='Build objects only')
gr.add_option('--enable-rdp', action='store_true', help='Enable RDP support')
gr.add_option('--enable-qos', action='store_true', help='Enable Quality of Service support')
gr.add_option('--enable-promisc', action='store_true', help='Enable promiscuous mode support')
gr.add_option('--enable-crc32', action='store_true', help='Enable CRC32 support')
gr.add_option('--enable-hmac', action='store_true', help='Enable HMAC-SHA1 support')
gr.add_option('--enable-xtea', action='store_true', help='Enable XTEA support')
gr.add_option('--enable-bindings', action='store_true', help='Enable Python bindings')
gr.add_option('--enable-python3-bindings', action='store_true', help='Enable Python3 bindings')
gr.add_option('--enable-examples', action='store_true', help='Enable examples')
gr.add_option('--enable-dedup', action='store_true', help='Enable packet deduplicator')
# Interfaces
gr.add_option('--enable-if-i2c', action='store_true', help='Enable I2C interface')
gr.add_option('--enable-if-kiss', action='store_true', help='Enable KISS/RS.232 interface')
gr.add_option('--enable-if-can', action='store_true', help='Enable CAN interface')
gr.add_option('--enable-if-zmqhub', action='store_true', help='Enable ZMQHUB interface')
# Drivers
gr.add_option('--enable-can-socketcan', action='store_true', help='Enable Linux socketcan driver')
gr.add_option('--with-driver-usart', default=None, metavar='DRIVER', help='Build USART driver. [windows, linux, None]')
# OS
gr.add_option('--with-os', metavar='OS', default='posix', help='Set operating system. Must be either \'posix\', \'macosx\', \'windows\' or \'freertos\'')
gr.add_option('--enable-init-shutdown', action='store_true', help='Use init system commands for shutdown/reboot')
# Options
gr.add_option('--with-rdp-max-window', metavar='SIZE', type=int, default=20, help='Set maximum window size for RDP')
gr.add_option('--with-max-bind-port', metavar='PORT', type=int, default=31, help='Set maximum bindable port')
gr.add_option('--with-max-connections', metavar='COUNT', type=int, default=10, help='Set maximum number of concurrent connections')
gr.add_option('--with-conn-queue-length', metavar='SIZE', type=int, default=100, help='Set maximum number of packets in queue for a connection')
gr.add_option('--with-router-queue-length', metavar='SIZE', type=int, default=10, help='Set maximum number of packets to be queued at the input of the router')
gr.add_option('--with-padding', metavar='BYTES', type=int, default=8, help='Set padding bytes before packet length field')
gr.add_option('--with-loglevel', metavar='LEVEL', default='debug', help='Set minimum compile time log level. Must be one of \'error\', \'warn\', \'info\' or \'debug\'')
gr.add_option('--with-rtable', metavar='TABLE', default='static', help='Set routing table type')
gr.add_option('--with-connection-so', metavar='CSP_SO', type=int, default='0x0000', help='Set outgoing connection socket options, see csp.h for valid values')
gr.add_option('--with-bufalign', metavar='BYTES', type=int, help='Set buffer alignment')
def configure(ctx):
# Validate OS
if not ctx.options.with_os in ('posix', 'windows', 'freertos', 'macosx'):
ctx.fatal('--with-os must be either \'posix\', \'windows\', \'macosx\' or \'freertos\'')
# Validate USART drivers
if not ctx.options.with_driver_usart in (None, 'windows', 'linux'):
ctx.fatal('--with-driver-usart must be either \'windows\' or \'linux\'')
if not ctx.options.with_loglevel in ('error', 'warn', 'info', 'debug'):
ctx.fatal('--with-loglevel must be either \'error\', \'warn\', \'info\' or \'debug\'')
# Setup and validate toolchain
if (len(ctx.stack_path) <= 1) and ctx.options.toolchain:
ctx.env.CC = ctx.options.toolchain + 'gcc'
ctx.env.AR = ctx.options.toolchain + 'ar'
ctx.load('gcc')
# Set git revision define
git_rev = os.popen('git describe --always 2> /dev/null || echo unknown').read().strip()
# Setup DEFINES
ctx.define('GIT_REV', git_rev)
# Set build output format
ctx.env.FEATURES = ['c']
if not ctx.options.disable_stlib:
ctx.env.FEATURES += ['cstlib']
# Setup CFLAGS
if (len(ctx.stack_path) <= 1) and (len(ctx.env.CFLAGS) == 0):
ctx.env.prepend_value('CFLAGS', ["-std=gnu99", "-g", "-Os", "-Wall", "-Wextra", "-Wshadow", "-Wcast-align", "-Wwrite-strings", "-Wno-unused-parameter"])
# Setup extra includes
ctx.env.append_unique('INCLUDES_CSP', ['include'] + ctx.options.includes.split(','))
# Add default files
ctx.env.append_unique('FILES_CSP', ['src/*.c','src/interfaces/csp_if_lo.c','src/transport/csp_udp.c','src/arch/{0}/**/*.c'.format(ctx.options.with_os)])
# Store OS as env variable
ctx.env.append_unique('OS', ctx.options.with_os)
# Libs
if 'posix' in ctx.env.OS:
ctx.env.append_unique('LIBS', ['rt', 'pthread', 'util'])
elif 'macosx' in ctx.env.OS:
ctx.env.append_unique('LIBS', ['pthread'])
# Check for recursion
if ctx.path == ctx.srcnode:
ctx.options.install_csp = True
# Windows build flags
if ctx.options.with_os == 'windows':
ctx.env.append_unique('CFLAGS', ['-D_WIN32_WINNT=0x0600'])
ctx.define_cond('CSP_FREERTOS', ctx.options.with_os == 'freertos')
ctx.define_cond('CSP_POSIX', ctx.options.with_os == 'posix')
ctx.define_cond('CSP_WINDOWS', ctx.options.with_os == 'windows')
ctx.define_cond('CSP_MACOSX', ctx.options.with_os == 'macosx')
# Add CAN driver
if ctx.options.enable_can_socketcan:
ctx.env.append_unique('FILES_CSP', 'src/drivers/can/can_socketcan.c')
# Add USART driver
if ctx.options.with_driver_usart != None:
ctx.env.append_unique('FILES_CSP', 'src/drivers/usart/usart_{0}.c'.format(ctx.options.with_driver_usart))
# Interfaces
if ctx.options.enable_if_can:
ctx.env.append_unique('FILES_CSP', 'src/interfaces/csp_if_can.c')
ctx.env.append_unique('FILES_CSP', 'src/interfaces/csp_if_can_pbuf.c')
if ctx.options.enable_if_i2c:
ctx.env.append_unique('FILES_CSP', 'src/interfaces/csp_if_i2c.c')
if ctx.options.enable_if_kiss:
ctx.env.append_unique('FILES_CSP', 'src/interfaces/csp_if_kiss.c')
if ctx.options.enable_if_zmqhub:
ctx.env.append_unique('FILES_CSP', 'src/interfaces/csp_if_zmqhub.c')
ctx.check_cfg(package='libzmq', args='--cflags --libs')
ctx.env.append_unique('LIBS', ctx.env.LIB_LIBZMQ)
# Store configuration options
ctx.env.ENABLE_BINDINGS = ctx.options.enable_bindings
ctx.env.ENABLE_EXAMPLES = ctx.options.enable_examples
# Check for python development
if ctx.options.enable_bindings:
ctx.env.LIBCSP_PYTHON2 = ctx.check_cfg(package='python2', args='--cflags --libs', atleast_version='2.7', mandatory=False)
if ctx.options.enable_python3_bindings:
ctx.env.LIBCSP_PYTHON3 = ctx.check_cfg(package='python3', args='--cflags --libs', atleast_version='3.5', mandatory=False)
# Create config file
if not ctx.options.disable_output:
ctx.env.append_unique('FILES_CSP', 'src/csp_debug.c')
else:
ctx.env.append_unique('EXCL_CSP', 'src/csp_debug.c')
if ctx.options.enable_rdp:
ctx.env.append_unique('FILES_CSP', 'src/transport/csp_rdp.c')
if ctx.options.enable_crc32:
ctx.env.append_unique('FILES_CSP', 'src/csp_crc32.c')
else:
ctx.env.append_unique('EXCL_CSP', 'src/csp_crc32.c')
if not ctx.options.enable_dedup:
ctx.env.append_unique('EXCL_CSP', 'src/csp_dedup.c')
if ctx.options.enable_hmac:
ctx.env.append_unique('FILES_CSP', 'src/crypto/csp_hmac.c')
ctx.env.append_unique('FILES_CSP', 'src/crypto/csp_sha1.c')
if ctx.options.enable_xtea:
ctx.env.append_unique('FILES_CSP', 'src/crypto/csp_xtea.c')
ctx.env.append_unique('FILES_CSP', 'src/crypto/csp_sha1.c')
ctx.env.append_unique('FILES_CSP', 'src/rtable/csp_rtable_' + ctx.options.with_rtable + '.c')
ctx.define_cond('CSP_DEBUG', not ctx.options.disable_output)
ctx.define_cond('CSP_USE_RDP', ctx.options.enable_rdp)
ctx.define_cond('CSP_USE_CRC32', ctx.options.enable_crc32)
ctx.define_cond('CSP_USE_HMAC', ctx.options.enable_hmac)
ctx.define_cond('CSP_USE_XTEA', ctx.options.enable_xtea)
ctx.define_cond('CSP_USE_PROMISC', ctx.options.enable_promisc)
ctx.define_cond('CSP_USE_QOS', ctx.options.enable_qos)
ctx.define_cond('CSP_USE_DEDUP', ctx.options.enable_dedup)
ctx.define_cond('CSP_USE_INIT_SHUTDOWN', ctx.options.enable_init_shutdown)
ctx.define_cond('CSP_USE_CAN', ctx.options.enable_if_can)
ctx.define_cond('CSP_USE_I2C', ctx.options.enable_if_i2c)
ctx.define_cond('CSP_USE_KISS', ctx.options.enable_if_kiss)
ctx.define_cond('CSP_USE_ZMQHUB', ctx.options.enable_if_zmqhub)
ctx.define('CSP_CONN_MAX', ctx.options.with_max_connections)
ctx.define('CSP_CONN_QUEUE_LENGTH', ctx.options.with_conn_queue_length)
ctx.define('CSP_FIFO_INPUT', ctx.options.with_router_queue_length)
ctx.define('CSP_MAX_BIND_PORT', ctx.options.with_max_bind_port)
ctx.define('CSP_RDP_MAX_WINDOW', ctx.options.with_rdp_max_window)
ctx.define('CSP_PADDING_BYTES', ctx.options.with_padding)
ctx.define('CSP_CONNECTION_SO', ctx.options.with_connection_so)
if ctx.options.with_bufalign != None:
ctx.define('CSP_BUFFER_ALIGN', ctx.options.with_bufalign)
# Set logging level
ctx.define_cond('CSP_LOG_LEVEL_DEBUG', ctx.options.with_loglevel in ('debug'))
ctx.define_cond('CSP_LOG_LEVEL_INFO', ctx.options.with_loglevel in ('debug', 'info'))
ctx.define_cond('CSP_LOG_LEVEL_WARN', ctx.options.with_loglevel in ('debug', 'info', 'warn'))
ctx.define_cond('CSP_LOG_LEVEL_ERROR', ctx.options.with_loglevel in ('debug', 'info', 'warn', 'error'))
# Check compiler endianness
endianness = ctx.check_endianness()
ctx.define_cond('CSP_LITTLE_ENDIAN', endianness == 'little')
ctx.define_cond('CSP_BIG_ENDIAN', endianness == 'big')
# Check for stdbool.h
ctx.check_cc(header_name='stdbool.h', mandatory=False, define_name='CSP_HAVE_STDBOOL_H', type='cstlib')
# Check for libsocketcan.h
if ctx.options.enable_if_can and ctx.options.enable_can_socketcan:
have_socketcan = ctx.check_cc(lib='socketcan', mandatory=False, define_name='CSP_HAVE_LIBSOCKETCAN')
if have_socketcan:
ctx.env.append_unique('LIBS', ['socketcan'])
ctx.define('LIBCSP_VERSION', VERSION)
ctx.write_config_header('include/csp/csp_autoconfig.h')
def build(ctx):
# Set install path for header files
install_path = False
if ctx.options.install_csp:
install_path = '${PREFIX}/lib'
ctx.install_files('${PREFIX}/include/csp', ctx.path.ant_glob('include/csp/*.h'))
ctx.install_files('${PREFIX}/include/csp/interfaces', 'include/csp/interfaces/csp_if_lo.h')
if 'src/interfaces/csp_if_can.c' in ctx.env.FILES_CSP:
ctx.install_files('${PREFIX}/include/csp/interfaces', 'include/csp/interfaces/csp_if_can.h')
if 'src/interfaces/csp_if_i2c.c' in ctx.env.FILES_CSP:
ctx.install_files('${PREFIX}/include/csp/interfaces', 'include/csp/interfaces/csp_if_i2c.h')
if 'src/interfaces/csp_if_kiss.c' in ctx.env.FILES_CSP:
ctx.install_files('${PREFIX}/include/csp/interfaces', 'include/csp/interfaces/csp_if_kiss.h')
if 'src/interfaces/csp_if_zmqhub.c' in ctx.env.FILES_CSP:
ctx.install_files('${PREFIX}/include/csp/interfaces', 'include/csp/interfaces/csp_if_zmqhub.h')
if 'src/drivers/usart/usart_{0}.c'.format(ctx.options.with_driver_usart) in ctx.env.FILES_CSP:
ctx.install_as('${PREFIX}/include/csp/drivers/usart.h', 'include/csp/drivers/usart.h')
if 'src/drivers/can/can_socketcan.c' in ctx.env.FILES_CSP:
ctx.install_as('${PREFIX}/include/csp/drivers/can_socketcan.h', 'include/csp/drivers/can_socketcan.h')
ctx.install_files('${PREFIX}/include/csp', 'include/csp/csp_autoconfig.h', cwd=ctx.bldnode)
ctx(export_includes='include', name='csp_h')
ctx(features=ctx.env.FEATURES,
source=ctx.path.ant_glob(ctx.env.FILES_CSP, excl=ctx.env.EXCL_CSP),
target = 'csp',
includes= ctx.env.INCLUDES_CSP,
export_includes = ctx.env.INCLUDES_CSP,
use = 'include freertos_h',
install_path = install_path,
)
# Build shared library for Python bindings
if ctx.env.ENABLE_BINDINGS:
ctx.shlib(source = ctx.path.ant_glob(ctx.env.FILES_CSP, excl=ctx.env.EXCL_CSP),
name = 'csp_shlib',
target = 'csp',
includes = ctx.env.INCLUDES_CSP,
export_includes = 'include',
use = ['include'],
lib = ctx.env.LIBS)
# python3 bindings
if ctx.env.LIBCSP_PYTHON3:
ctx.shlib(source = ['src/bindings/python/pycsp.c'],
target = 'csp_py3',
includes = ctx.env.INCLUDES_CSP + ctx.env.INCLUDES_PYTHON3,
export_includes = 'include',
use = ['csp_shlib', 'include'],
lib = ctx.env.LIBS)
# python2 bindings
if ctx.env.LIBCSP_PYTHON2:
ctx.shlib(source = ['src/bindings/python/pycsp.c'],
target = 'csp_py2',
includes = ctx.env.INCLUDES_CSP + ctx.env.INCLUDES_PYTHON2,
export_includes = 'include',
use = ['csp_shlib', 'include'],
lib = ctx.env.LIBS)
if ctx.env.ENABLE_EXAMPLES:
ctx.program(source = ctx.path.ant_glob('examples/simple.c'),
target = 'simple',
includes = ctx.env.INCLUDES_CSP,
lib = ctx.env.LIBS,
use = 'csp')
if ctx.options.enable_if_kiss:
ctx.program(source = 'examples/kiss.c',
target = 'kiss',
includes = ctx.env.INCLUDES_CSP,
lib = ctx.env.LIBS,
use = 'csp')
if ctx.options.enable_if_zmqhub:
ctx.program(source = 'examples/zmqproxy.c',
target = 'zmqproxy',
includes = ctx.env.INCLUDES_CSP,
lib = ctx.env.LIBS,
use = 'csp')
if 'posix' in ctx.env.OS:
ctx.program(source = 'examples/csp_if_fifo.c',
target = 'fifo',
includes = ctx.env.INCLUDES_CSP,
lib = ctx.env.LIBS,
use = 'csp')
if 'windows' in ctx.env.OS:
ctx.program(source = ctx.path.ant_glob('examples/csp_if_fifo_windows.c'),
target = 'csp_if_fifo',
includes = ctx.env.INCLUDES_CSP,
use = 'csp')
def dist(ctx):
ctx.excl = 'build/* **/.* **/*.pyc **/*.o **/*~ *.tar.gz'

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gomspace/libcsp/doc/example.rst → libcsp/doc/example.rst
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gomspace/libcsp/doc/history.rst → libcsp/doc/history.rst
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gomspace/libcsp/doc/interfaces.rst → libcsp/doc/interfaces.rst
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gomspace/libcsp/doc/libcsp.rst → libcsp/doc/libcsp.rst
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gomspace/libcsp/doc/memory.rst → libcsp/doc/memory.rst
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gomspace/libcsp/doc/mtu.rst → libcsp/doc/mtu.rst
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gomspace/libcsp/doc/protocolstack.rst → libcsp/doc/protocolstack.rst
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gomspace/libcsp/doc/structure.rst → libcsp/doc/structure.rst
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gomspace/libcsp/doc/topology.rst → libcsp/doc/topology.rst
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gomspace/libcsp/examples/csp_if_fifo.c → libcsp/examples/csp_if_fifo.c
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0
gomspace/libcsp/examples/csp_if_fifo_windows.c → libcsp/examples/csp_if_fifo_windows.c
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gomspace/libcsp/examples/kiss.c → libcsp/examples/kiss.c
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gomspace/libcsp/examples/python_bindings_example_client.py → libcsp/examples/python_bindings_example_client.py
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gomspace/libcsp/examples/python_bindings_example_client_can.py → libcsp/examples/python_bindings_example_client_can.py
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gomspace/libcsp/examples/python_bindings_example_server.py → libcsp/examples/python_bindings_example_server.py
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gomspace/libcsp/examples/simple.c → libcsp/examples/simple.c
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gomspace/libcsp/examples/zmqproxy.c → libcsp/examples/zmqproxy.c
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gomspace/libcsp/include/csp/arch/csp_clock.h → libcsp/include/csp/arch/csp_clock.h
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gomspace/libcsp/include/csp/arch/csp_malloc.h → libcsp/include/csp/arch/csp_malloc.h
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gomspace/libcsp/include/csp/arch/csp_queue.h → libcsp/include/csp/arch/csp_queue.h
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gomspace/libcsp/include/csp/arch/csp_semaphore.h → libcsp/include/csp/arch/csp_semaphore.h
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gomspace/libcsp/include/csp/arch/csp_system.h → libcsp/include/csp/arch/csp_system.h
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gomspace/libcsp/include/csp/arch/csp_thread.h → libcsp/include/csp/arch/csp_thread.h
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gomspace/libcsp/include/csp/arch/csp_time.h → libcsp/include/csp/arch/csp_time.h
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gomspace/libcsp/include/csp/arch/posix/pthread_queue.h → libcsp/include/csp/arch/posix/pthread_queue.h
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gomspace/libcsp/include/csp/crypto/csp_hmac.h → libcsp/include/csp/crypto/csp_hmac.h
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gomspace/libcsp/include/csp/crypto/csp_sha1.h → libcsp/include/csp/crypto/csp_sha1.h
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gomspace/libcsp/include/csp/crypto/csp_xtea.h → libcsp/include/csp/crypto/csp_xtea.h
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gomspace/libcsp/include/csp/csp.h → libcsp/include/csp/csp.h
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gomspace/libcsp/include/csp/csp_autoconfig.h → libcsp/include/csp/csp_autoconfig.h
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gomspace/libcsp/include/csp/csp_buffer.h → libcsp/include/csp/csp_buffer.h
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gomspace/libcsp/include/csp/csp_cmp.h → libcsp/include/csp/csp_cmp.h
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gomspace/libcsp/include/csp/csp_crc32.h → libcsp/include/csp/csp_crc32.h
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gomspace/libcsp/include/csp/csp_debug.h → libcsp/include/csp/csp_debug.h
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gomspace/libcsp/include/csp/csp_endian.h → libcsp/include/csp/csp_endian.h
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gomspace/libcsp/include/csp/csp_error.h → libcsp/include/csp/csp_error.h
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gomspace/libcsp/include/csp/csp_iflist.h → libcsp/include/csp/csp_iflist.h
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gomspace/libcsp/include/csp/csp_interface.h → libcsp/include/csp/csp_interface.h
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gomspace/libcsp/include/csp/csp_platform.h → libcsp/include/csp/csp_platform.h
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gomspace/libcsp/include/csp/csp_rtable.h → libcsp/include/csp/csp_rtable.h
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gomspace/libcsp/include/csp/csp_types.h → libcsp/include/csp/csp_types.h
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gomspace/libcsp/include/csp/drivers/can_socketcan.h → libcsp/include/csp/drivers/can_socketcan.h
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gomspace/libcsp/include/csp/drivers/i2c.h → libcsp/include/csp/drivers/i2c.h
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gomspace/libcsp/include/csp/drivers/usart.h → libcsp/include/csp/drivers/usart.h
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gomspace/libcsp/include/csp/interfaces/csp_if_can.h → libcsp/include/csp/interfaces/csp_if_can.h
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gomspace/libcsp/include/csp/interfaces/csp_if_i2c.h → libcsp/include/csp/interfaces/csp_if_i2c.h
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gomspace/libcsp/include/csp/interfaces/csp_if_kiss.h → libcsp/include/csp/interfaces/csp_if_kiss.h
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gomspace/libcsp/include/csp/interfaces/csp_if_lo.h → libcsp/include/csp/interfaces/csp_if_lo.h
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gomspace/libcsp/include/csp/interfaces/csp_if_zmqhub.h → libcsp/include/csp/interfaces/csp_if_zmqhub.h
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libcsp/libcsp.mk Normal file
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@ -0,0 +1,12 @@
CSRC += $(wildcard $(CURRENTPATH)/src/drivers/can/*.c)
CSRC += $(wildcard $(CURRENTPATH)/src/*.c)
CSRC += $(wildcard $(CURRENTPATH)/src/interfaces/*.c)
CSRC += $(wildcard $(CURRENTPATH)/src/rtable/csp_rtable_cidr.c)
CSRC += $(wildcard $(CURRENTPATH)/src/crypto/*.c)
CSRC += $(wildcard $(CURRENTPATH)/src/arch/posix/*.c)
CSRC += $(wildcard $(CURRENTPATH)/src/transport/*.c)
INCLUDES += $(CURRENTPATH)/include
INCLUDES += $(CURRENTPATH)/include/csp
INCLUDES += $(CURRENTPATH)/include/csp/crypto
INCLUDES += $(CURRENTPATH)

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gomspace/libcsp/src/arch/freertos/csp_malloc.c → libcsp/src/arch/freertos/csp_malloc.c
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gomspace/libcsp/src/arch/freertos/csp_queue.c → libcsp/src/arch/freertos/csp_queue.c
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gomspace/libcsp/src/arch/freertos/csp_semaphore.c → libcsp/src/arch/freertos/csp_semaphore.c
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gomspace/libcsp/src/arch/freertos/csp_system.c → libcsp/src/arch/freertos/csp_system.c
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gomspace/libcsp/src/arch/freertos/csp_thread.c → libcsp/src/arch/freertos/csp_thread.c
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gomspace/libcsp/src/arch/freertos/csp_time.c → libcsp/src/arch/freertos/csp_time.c
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gomspace/libcsp/src/arch/macosx/csp_malloc.c → libcsp/src/arch/macosx/csp_malloc.c
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gomspace/libcsp/src/arch/macosx/csp_queue.c → libcsp/src/arch/macosx/csp_queue.c
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gomspace/libcsp/src/arch/macosx/csp_semaphore.c → libcsp/src/arch/macosx/csp_semaphore.c
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gomspace/libcsp/src/arch/macosx/csp_system.c → libcsp/src/arch/macosx/csp_system.c
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gomspace/libcsp/src/arch/macosx/csp_thread.c → libcsp/src/arch/macosx/csp_thread.c
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gomspace/libcsp/src/arch/macosx/csp_time.c → libcsp/src/arch/macosx/csp_time.c
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gomspace/libcsp/src/arch/macosx/pthread_queue.c → libcsp/src/arch/macosx/pthread_queue.c
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gomspace/libcsp/src/arch/posix/csp_malloc.c → libcsp/src/arch/posix/csp_malloc.c
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gomspace/libcsp/src/arch/posix/csp_queue.c → libcsp/src/arch/posix/csp_queue.c
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gomspace/libcsp/src/arch/posix/csp_semaphore.c → libcsp/src/arch/posix/csp_semaphore.c
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gomspace/libcsp/src/arch/posix/csp_system.c → libcsp/src/arch/posix/csp_system.c
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gomspace/libcsp/src/arch/posix/csp_thread.c → libcsp/src/arch/posix/csp_thread.c
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gomspace/libcsp/src/arch/posix/csp_time.c → libcsp/src/arch/posix/csp_time.c
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