Update Package #38
6
.dockerignore
Normal file
6
.dockerignore
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@ -0,0 +1,6 @@
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/build*
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generators
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misc
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tmtc
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doc
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80
README.md
80
README.md
@ -33,9 +33,7 @@ The CMake build system can be used to generate build systems as well (see helper
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### Installing Vivado the the Xilinx development tools
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It's also possible to perform debugging with a normal Eclipse installation by installing
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the TCF plugin. Still, it is necessary to install Vivado to get the toolchain for generating
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C++ applications. Alternatively you can download the toolchain
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[from the cloud](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Arbeitsdaten/08_Used%20Components/Q7S/Toolchain&fileid=422486).
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the TCF plugin and downloading the cross-compiler as specified in the section below.
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* Install Vivado 2018.2 and Xilinx SDK from https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/vivado-design-tools/archive.html.
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Install the Vivado Design Suite - HLx Editions - 2018.2 Full Product Installation instead of the updates. It is recommended to use the installer.
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@ -53,6 +51,24 @@ C++ applications. Alternatively you can download the toolchain
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`<XilinxInstallation>\SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin`
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or set up path each time before debugging.
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### Installing toolchain without Vivado
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You can download the toolchains for Windows and Linux
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[from the EIVE cloud](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files?dir=/EIVE_IRS/Software/tools&fileid=831898).
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If `wget` is available (e.g. MinGW64), you can use the following command to download the
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toolchain for Windows
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```sh
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wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/rfoaistRd67yBbH/download/gcc-arm-linux-gnueabi-win.zip
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```
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or the following command for Linux (could be useful for CI/CD)
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```sh
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wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/2Fp2ag6NGnbtAsK/download/gcc-arm-linux-gnueabi.tar.gz
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```
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### Installing CMake and MSYS2 on Windows
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1. Install [MSYS2](https://www.msys2.org/) and [CMake](https://cmake.org/download/) first.
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@ -89,7 +105,15 @@ C++ applications. Alternatively you can download the toolchain
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## Getting the Q7S system root
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It is necessary to copy the Q7S system root to your local development machine for libraries
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like `libgpio`. You can find the system root [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Arbeitsdaten/08_Used%20Components/Q7S/Toolchain&fileid=422486). Download it and unzip it somewhere in the Xilinx installation folder.
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like `libgpio`. You can find the system root for the Q7S, the Raspberry Pi and the
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Beagle Bone Black for download here
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[here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/rootfs&fileid=831849).
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Download it and unzip it somewhere in the Xilinx installation folder.
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You can use the following command if `wget` can be used or for CI/CD:
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```
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wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/agnJGYeRf6fw2ci/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz
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```
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Then, create a new environmental variables `Q7S_SYSROOT` and set it to the local system root path.
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@ -116,8 +140,16 @@ When using Windows, run theses steps in MSYS2.
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or to set up the [PATH and the CROSS_COMPILE variable permanently](https://unix.stackexchange.com/questions/26047/how-to-correctly-add-a-path-to-path)
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in the `.profile` file.
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4. Run the CMake configuration to create the build system in a `Debug` folder.
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Navigate into the `eive_obsw` folder first.
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4. Run the CMake configuration to create the build system in a `build-Debug-Q7S` folder.
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Add `-G "MinGW Makefiles` in MinGW64 on Windows.
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```sh
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mkdir build-Debug-Q7S && cd build-Debug-Q7S
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cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug -DOS_FSFW=linux ..
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cmake --build . -j
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```
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You can also use provided shell scripts to perform these commands
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```sh
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cd cmake/scripts/Q7S
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@ -128,6 +160,10 @@ When using Windows, run theses steps in MSYS2.
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This will invoke a Python script which in turn invokes CMake with the correct
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arguments to configure CMake for Q7S cross-compilation.
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You can build the hosted variant of the OBSW by replacing `-DOS_FSFW=linux` with
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`-DOS_FSFW=host`. There are also different values for `-DTGT_BSP` to build for the Raspberry Pi
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or the Beagle Bone Black: `arm/raspberrypi` and `arm/beagleboneblack`.
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5. Build the software with
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```sh
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cd Debug
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@ -529,6 +565,38 @@ GET out_en[0] = 1
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* Local File Path: Path to eiveobsw-linux.elf (in _bin\linux\devel)
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* Remote File Path: /tmp/eive_obsw.elf
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## Running cppcheck on the Software
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Static code analysis can be useful to find bugs.
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`cppcheck` can be used for this purpose. On Windows you can use MinGW64 to do this.
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```sh
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pacman -S mingw-w64-x86_64-cppcheck
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```
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On Ubuntu, install with
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```sh
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sudo apt-get install cppcheck
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```
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You can use the Eclipse integration or you can perform the scanning manually from the command line.
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CMake will be used for this.
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Run the CMake build generation commands specified above but supply
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`-DCMAKE_EXPORT_COMPILE_COMMANDS=ON` to the build generation. Invoking the build command will
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generate a `compile_commands.json` file which can be used by cppcheck.
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```sh
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cppcheck --project=compile_commands.json --xml 2> report.xml
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```
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Finally, you can convert the generated `.xml` file to HTML with the following command
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```sh
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cppcheck-htmlreport --file=report.xml --report-dir=cppcheck --source-dir=..
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```
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## Libgpiod
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Detect all gpio device files:
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18
bsp_hosted/Dockerfile
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18
bsp_hosted/Dockerfile
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@ -0,0 +1,18 @@
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FROM ubuntu:latest
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# FROM alpine:latest
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RUN apt-get update && apt-get install -y cmake g++
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# RUN apk add cmake make g++
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WORKDIR /usr/src/app
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COPY . .
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RUN set -ex; \
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rm -rf build-hosted; \
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mkdir build-hosted; \
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cd build-hosted; \
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cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=linux ..;
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ENTRYPOINT ["cmake", "--build", "build-hosted"]
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CMD ["-j"]
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# CMD ["bash"]
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37
bsp_linux_board/Dockerfile
Normal file
37
bsp_linux_board/Dockerfile
Normal file
@ -0,0 +1,37 @@
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FROM ubuntu:latest
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# FROM alpine:latest
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RUN apt-get update && apt-get install -y curl wget cmake g++
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# Raspberry Pi rootfs
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RUN mkdir -p /usr/rootfs; \
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curl https://eive-cloud.irs.uni-stuttgart.de/index.php/s/kJe3nCnGPRGKFCz/download/rpi-rootfs.tar.gz /usr/rootfs \
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| tar xvz -C /usr/rootfs
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# Raspberry Pi toolchain
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RUN mkdir -p /opt; \
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cd /opt; \
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wget https://github.com/Pro/raspi-toolchain/releases/latest/download/raspi-toolchain.tar.gz; \
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tar xfz raspi-toolchain.tar.gz --strip-components=1 -C .; \
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rm -rf raspi-toolchain.tar.gz
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# RUN apk add cmake make g++
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# Required for cmake build
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ENV RASPBERRY_VERSION="4"
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ENV RASPBIAN_ROOTFS="/usr/rootfs/rootfs"
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ENV PATH=$PATH:"/opt/cross-pi-gcc/bin"
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ENV CROSS_COMPILE="arm-linux-gnueabihf"
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WORKDIR /usr/src/app
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COPY . .
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RUN set -ex; \
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rm -rf build-rpi; \
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mkdir build-rpi; \
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cd build-rpi; \
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cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=linux -DTGT_BSP="arm/raspberrypi" ..;
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ENTRYPOINT ["cmake", "--build", "build-rpi"]
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CMD ["-j"]
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# CMD ["bash"]
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@ -1,9 +1,9 @@
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#include "InitMission.h"
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#include "ObjectFactory.h"
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#include <fsfwconfig/objects/systemObjectList.h>
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#include <fsfwconfig/OBSWConfig.h>
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#include <fsfwconfig/pollingsequence/pollingSequenceFactory.h>
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#include "objects/systemObjectList.h"
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#include "OBSWConfig.h"
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#include "pollingsequence/pollingSequenceFactory.h"
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#include <mission/utility/InitMission.h>
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#include <fsfw/objectmanager/ObjectManagerIF.h>
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@ -125,10 +125,10 @@ void initmission::initTasks() {
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initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
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}
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#if RPI_TEST_ACS_BOARD == 1
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FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
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#if OBSW_ADD_TEST_PST == 1
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FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
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"ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
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result = pst::pollingSequenceAcsTest(acsTask);
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result = pst::pollingSequenceTest(pstTestTask);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;
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}
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@ -170,8 +170,8 @@ void initmission::initTasks() {
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testTask->startTask();
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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#if RPI_TEST_ACS_BOARD == 1
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acsTask->startTask();
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#if OBSW_ADD_TEST_PST == 1
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pstTestTask->startTask();
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#endif /* RPI_TEST_ACS_BOARD == 1 */
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sif::info << "Tasks started.." << std::endl;
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}
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@ -1,12 +1,12 @@
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#include "ObjectFactory.h"
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#include <fsfwconfig/objects/systemObjectList.h>
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#include <fsfwconfig/devices/addresses.h>
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#include <fsfwconfig/devices/gpioIds.h>
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#include <fsfwconfig/OBSWConfig.h>
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#include <fsfwconfig/tmtc/apid.h>
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#include <fsfwconfig/tmtc/pusIds.h>
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#include <fsfwconfig/devices/spi.h>
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#include "objects/systemObjectList.h"
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#include "devices/addresses.h"
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#include "devices/gpioIds.h"
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#include "OBSWConfig.h"
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#include "tmtc/apid.h"
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#include "tmtc/pusIds.h"
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#include "spiConf.h"
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#include <linux/boardtest/LibgpiodTest.h>
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#include <linux/boardtest/SpiTestClass.h>
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@ -16,6 +16,7 @@
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#include <mission/utility/TmFunnel.h>
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#include <mission/devices/MGMHandlerLIS3MDL.h>
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#include <mission/devices/MGMHandlerRM3100.h>
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#include <mission/devices/GyroADIS16507Handler.h>
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#include <fsfw/datapoollocal/LocalDataPoolManager.h>
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#include <fsfw/tmtcservices/CommandingServiceBase.h>
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@ -56,9 +57,7 @@ void ObjectFactory::produce(){
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Factory::setStaticFrameworkObjectIds();
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ObjectFactory::produceGenericObjects();
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new UdpTmTcBridge(objects::UDP_BRIDGE,
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objects::CCSDS_PACKET_DISTRIBUTOR,
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objects::TM_STORE, objects::TC_STORE);
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new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
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new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
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GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
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@ -122,4 +121,18 @@ void ObjectFactory::produce(){
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gyroL3gHandler->setStartUpImmediately();
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#endif /* RPI_TEST_ACS_BOARD == 1 */
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#if RPI_TEST_ADIS16507 == 1
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GpioCookie* gpioCookieAcsBoard = new GpioCookie();
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
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"GYRO_0_ADIS", gpio::Direction::OUT, 1);
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gpioIF->addGpios(gpioCookieAcsBoard);
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std::string spiDev = "/dev/spidev0.0";
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SpiCookie* spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
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ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED,
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nullptr, nullptr);
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auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
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adisGyroHandler->setStartUpImmediately();
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#endif /* RPI_TEST_ADIS16507 == 1 */
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}
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@ -6,6 +6,8 @@
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#define RPI_ADD_GPIO_TEST 0
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#define RPI_LOOPBACK_TEST_GPIO 0
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#define RPI_TEST_ADIS16507 1
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/* Only one of those 2 should be enabled! */
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#define RPI_ADD_SPI_TEST 0
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#define RPI_TEST_ACS_BOARD 0
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32
bsp_q7s/Dockerfile
Normal file
32
bsp_q7s/Dockerfile
Normal file
@ -0,0 +1,32 @@
|
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FROM ubuntu:latest
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# FROM alpine:latest
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RUN apt-get update && apt-get install -y curl cmake g++
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# Q7S root filesystem, required for cross-compilation
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RUN mkdir -p /usr/rootfs; \
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curl https://eive-cloud.irs.uni-stuttgart.de/index.php/s/agnJGYeRf6fw2ci/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz \
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| tar xvz -C /usr/rootfs
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# Q7S C++ cross-compiler
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RUN mkdir -p /usr/tools; \
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curl https://eive-cloud.irs.uni-stuttgart.de/index.php/s/2Fp2ag6NGnbtAsK/download/gcc-arm-linux-gnueabi.tar.gz \
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| tar xvz -C /usr/tools
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# RUN apk add cmake make g++
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# Required for cmake build
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ENV Q7S_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
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ENV PATH=$PATH:"/usr/tools/gcc-arm-linux-gnueabi/bin"
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WORKDIR /usr/src/app
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COPY . .
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RUN set -ex; \
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rm -rf build-q7s; \
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mkdir build-q7s; \
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cd build-q7s; \
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cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=linux -DTGT_BSP="arm/q7s" ..;
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ENTRYPOINT ["cmake", "--build", "build-q7s"]
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CMD ["-j"]
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# CMD ["bash"]
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@ -5,7 +5,7 @@
|
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#include "devices/gpioIds.h"
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#include "tmtc/pusIds.h"
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#include "devices/powerSwitcherList.h"
|
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#include "devices/spi.h"
|
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#include "spiConf.h"
|
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|
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#include <bsp_q7s/gpio/gpioCallbacks.h>
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@ -17,7 +17,7 @@ fi
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os_fsfw="linux"
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tgt_bsp="arm/raspberrypi"
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build_generator=""
|
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build_dir="Debug-RPi"
|
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build_dir="build-Debug-RPi"
|
||||
if [ "${OS}" = "Windows_NT" ]; then
|
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build_generator="MinGW Makefiles"
|
||||
# Could be other OS but this works for now.
|
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||||
@ -17,7 +17,7 @@ fi
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os_fsfw="linux"
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tgt_bsp="arm/raspberrypi"
|
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build_generator=""
|
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build_dir="Release-RPi"
|
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build_dir="build-Release-RPi"
|
||||
if [ "${OS}" = "Windows_NT" ]; then
|
||||
build_generator="MinGW Makefiles"
|
||||
# Could be other OS but this works for now.
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
#ifndef FSFWCONFIG_DEVICES_SPI_H_
|
||||
#define FSFWCONFIG_DEVICES_SPI_H_
|
||||
#ifndef COMMON_CONFIG_SPICONF_H_
|
||||
#define COMMON_CONFIG_SPICONF_H_
|
||||
|
||||
#include <cstdint>
|
||||
#include <fsfw_hal/linux/spi/spiDefinitions.h>
|
||||
@ -23,8 +23,9 @@ static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
|
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static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000;
|
||||
static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
|
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|
||||
static constexpr uint32_t DEFAULT_ADIS16507_SPEED = 976'000;
|
||||
static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
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||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
#endif /* FSFWCONFIG_DEVICES_SPI_H_ */
|
||||
#endif /* COMMON_CONFIG_SPICONF_H_ */
|
||||
18
docker-compose.yml
Normal file
18
docker-compose.yml
Normal file
@ -0,0 +1,18 @@
|
||||
version: "3.8"
|
||||
|
||||
services:
|
||||
build-host:
|
||||
build:
|
||||
context: .
|
||||
dockerfile: bsp_hosted/Dockerfile
|
||||
|
||||
build-obsw:
|
||||
build:
|
||||
context: .
|
||||
dockerfile: bsp_q7s/Dockerfile
|
||||
|
||||
build-rpi:
|
||||
build:
|
||||
context: .
|
||||
dockerfile: bsp_linux_board/Dockerfile
|
||||
|
||||
2
fsfw_hal
2
fsfw_hal
@ -1 +1 @@
|
||||
Subproject commit a0f698fffa4dd5c9f86337c5d6170f9321cb8de7
|
||||
Subproject commit 4ba4e45789a9fc37c8ff45d09b7986ee1dbd53ca
|
||||
@ -1,5 +1,4 @@
|
||||
add_subdirectory(csp)
|
||||
add_subdirectory(uart)
|
||||
add_subdirectory(utility)
|
||||
add_subdirectory(boardtest)
|
||||
add_subdirectory(devices)
|
||||
|
||||
@ -82,7 +82,7 @@ ReturnValue_t CspComIF::sendMessage(CookieIF *cookie,
|
||||
|
||||
/* Extract csp port and bytes to query from command buffer */
|
||||
uint8_t cspPort;
|
||||
uint16_t querySize;
|
||||
uint16_t querySize = 0;
|
||||
result = getPortAndQuerySize(&sendData, &sendLen, &cspPort, &querySize);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
|
||||
@ -68,4 +68,6 @@ static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
|
||||
static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
|
||||
}
|
||||
|
||||
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
|
||||
|
||||
#endif /* CONFIG_FSFWCONFIG_H_ */
|
||||
|
||||
@ -19,6 +19,8 @@ debugging. */
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||||
#define OBSW_VERBOSE_LEVEL 1
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||||
#define OBSW_PRINT_MISSED_DEADLINES 1
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||||
#define OBSW_ADD_TEST_CODE 1
|
||||
#define OBSW_ADD_TEST_PST 1
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||||
|
||||
#define TEST_LIBGPIOD 0
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||||
#define TEST_RADIATION_SENSOR_HANDLER 1
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#define TEST_SUS_HANDLER 1
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||||
@ -33,9 +35,14 @@ debugging. */
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||||
#define ACU_DEBUG 0
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||||
#define SYRLINKS_DEBUG 0
|
||||
#define IMQT_DEBUG 0
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||||
#define ADIS16507_DEBUG 1
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||||
#define L3GD20_GYRO_DEBUG 0
|
||||
#define DEBUG_RAD_SENSOR 1
|
||||
#define DEBUG_SUS 1
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||||
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||||
// Leave at one as the BSP is linux. Used by the ADIS16507 device handler
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||||
#define OBSW_ADIS16507_LINUX_COM_IF 1
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||||
|
||||
#include "OBSWVersion.h"
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||||
|
||||
/* Can be used to switch device to NORMAL mode immediately */
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||||
|
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@ -471,6 +471,16 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
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thisSequence->addSlot(objects::ACU_HANDLER,
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length * 0.8, DeviceHandlerIF::GET_READ);
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||||
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Initialization of GomSpace PST failed" << std::endl;
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||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
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||||
}
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|
||||
ReturnValue_t pst::pollingSequenceTest(FixedTimeslotTaskIF* thisSequence) {
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||||
/* Length of a communication cycle */
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uint32_t length = thisSequence->getPeriodMs();
|
||||
#if OBSW_ADD_ACS_BOARD == 1
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||||
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
@ -540,14 +550,23 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
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||||
DeviceHandlerIF::SEND_READ);
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||||
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
|
||||
DeviceHandlerIF::GET_READ);
|
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|
||||
#endif
|
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|
||||
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
|
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sif::error << "Initialization of GomSpace PST failed" << std::endl;
|
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return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
#if RPI_TEST_ADIS16507 == 1
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
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||||
DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
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#endif
|
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|
||||
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
sif::error << "PollingSequence::initialize has errors!" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
|
||||
|
||||
@ -34,7 +34,7 @@ ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
|
||||
*/
|
||||
ReturnValue_t gomspacePstInit(FixedTimeslotTaskIF *thisSequence);
|
||||
|
||||
ReturnValue_t pollingSequenceAcsTest(FixedTimeslotTaskIF* thisSequence);
|
||||
ReturnValue_t pollingSequenceTest(FixedTimeslotTaskIF* thisSequence);
|
||||
|
||||
/**
|
||||
* @brief This polling sequence will be created when the software is compiled for the TE0720.
|
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|
||||
@ -1,8 +0,0 @@
|
||||
target_sources(${TARGET_NAME} PUBLIC
|
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UartComIF.cpp
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||||
UartCookie.cpp
|
||||
)
|
||||
|
||||
|
||||
|
||||
|
||||
@ -1,371 +0,0 @@
|
||||
#include "UartComIF.h"
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|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
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#include <string.h>
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <termios.h>
|
||||
#include <unistd.h>
|
||||
|
||||
UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){
|
||||
}
|
||||
|
||||
UartComIF::~UartComIF() {}
|
||||
|
||||
ReturnValue_t UartComIF::initializeInterface(CookieIF * cookie) {
|
||||
|
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std::string deviceFile;
|
||||
UartDeviceMapIter uartDeviceMapIter;
|
||||
|
||||
if(cookie == nullptr) {
|
||||
return NULLPOINTER;
|
||||
}
|
||||
|
||||
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
|
||||
if (uartCookie == nullptr) {
|
||||
sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
|
||||
return NULLPOINTER;
|
||||
}
|
||||
|
||||
deviceFile = uartCookie->getDeviceFile();
|
||||
|
||||
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
if(uartDeviceMapIter == uartDeviceMap.end()) {
|
||||
int fileDescriptor = configureUartPort(uartCookie);
|
||||
if (fileDescriptor < 0) {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
size_t maxReplyLen = uartCookie->getMaxReplyLen();
|
||||
UartElements_t uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
|
||||
std::pair status = uartDeviceMap.emplace(deviceFile, uartElements);
|
||||
if (status.second == false) {
|
||||
sif::debug << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
|
||||
<< "to Uart device map" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
else {
|
||||
sif::debug << "UartComIF::initializeInterface: Uart device " << deviceFile << "already in "
|
||||
<< "use" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
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||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
int UartComIF::configureUartPort(UartCookie* uartCookie) {
|
||||
|
||||
struct termios options;
|
||||
|
||||
std::string deviceFile = uartCookie->getDeviceFile();
|
||||
int fd = open(deviceFile.c_str(), O_RDWR);
|
||||
|
||||
if (fd < 0) {
|
||||
sif::debug << "UartComIF::configureUartPort: Failed to open uart " << deviceFile << "with"
|
||||
<< " error code " << errno << strerror(errno) << std::endl;
|
||||
return fd;
|
||||
}
|
||||
|
||||
/* Read in existing settings */
|
||||
if(tcgetattr(fd, &options) != 0) {
|
||||
sif::debug << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
|
||||
<< strerror(errno) << std::endl;
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||||
return fd;
|
||||
}
|
||||
|
||||
setParityOptions(&options, uartCookie);
|
||||
setStopBitOptions(&options, uartCookie);
|
||||
setDatasizeOptions(&options, uartCookie);
|
||||
setFixedOptions(&options);
|
||||
|
||||
/* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
|
||||
options.c_cc[VTIME] = 0;
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||||
options.c_cc[VMIN] = 0;
|
||||
|
||||
configureBaudrate(&options, uartCookie);
|
||||
|
||||
/* Save option settings */
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||||
if (tcsetattr(fd, TCSANOW, &options) != 0) {
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sif::debug << "UartComIF::configureUartPort: Failed to set options with error " << errno
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||||
<< ": " << strerror(errno);
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||||
return fd;
|
||||
}
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return fd;
|
||||
}
|
||||
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||||
void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) {
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/* Clear parity bit */
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options->c_cflag &= ~PARENB;
|
||||
switch (uartCookie->getParity()) {
|
||||
case Parity::EVEN:
|
||||
options->c_cflag |= PARENB;
|
||||
options->c_cflag &= ~PARODD;
|
||||
break;
|
||||
case Parity::ODD:
|
||||
options->c_cflag |= PARENB;
|
||||
options->c_cflag |= PARODD;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
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/* Clear stop field. Sets stop bit to one bit */
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options->c_cflag &= ~CSTOPB;
|
||||
switch (uartCookie->getStopBits()) {
|
||||
case StopBits::TWO_STOP_BITS:
|
||||
options->c_cflag |= CSTOPB;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
|
||||
/* Clear size bits */
|
||||
options->c_cflag &= ~CSIZE;
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switch (uartCookie->getBitsPerWord()) {
|
||||
case 5:
|
||||
options->c_cflag |= CS5;
|
||||
break;
|
||||
case 6:
|
||||
options->c_cflag |= CS6;
|
||||
break;
|
||||
case 7:
|
||||
options->c_cflag |= CS7;
|
||||
break;
|
||||
case 8:
|
||||
options->c_cflag |= CS8;
|
||||
break;
|
||||
default:
|
||||
sif::debug << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void UartComIF::setFixedOptions(struct termios* options) {
|
||||
/* Disable RTS/CTS hardware flow control */
|
||||
options->c_cflag &= ~CRTSCTS;
|
||||
/* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
|
||||
options->c_cflag |= CREAD | CLOCAL;
|
||||
/* Disable canonical mode */
|
||||
options->c_lflag &= ~ICANON;
|
||||
/* Disable echo */
|
||||
options->c_lflag &= ~ECHO;
|
||||
/* Disable erasure */
|
||||
options->c_lflag &= ~ECHOE;
|
||||
/* Disable new-line echo */
|
||||
options->c_lflag &= ~ECHONL;
|
||||
/* Disable interpretation of INTR, QUIT and SUSP */
|
||||
options->c_lflag &= ~ISIG;
|
||||
/* Turn off s/w flow ctrl */
|
||||
options->c_iflag &= ~(IXON | IXOFF | IXANY);
|
||||
/* Disable any special handling of received bytes */
|
||||
options->c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL);
|
||||
/* Prevent special interpretation of output bytes (e.g. newline chars) */
|
||||
options->c_oflag &= ~OPOST;
|
||||
/* Prevent conversion of newline to carriage return/line feed */
|
||||
options->c_oflag &= ~ONLCR;
|
||||
}
|
||||
|
||||
void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
|
||||
switch (uartCookie->getBaudrate()) {
|
||||
case 50:
|
||||
cfsetispeed(options, B50);
|
||||
cfsetospeed(options, B50);
|
||||
break;
|
||||
case 75:
|
||||
cfsetispeed(options, B75);
|
||||
cfsetospeed(options, B75);
|
||||
break;
|
||||
case 110:
|
||||
cfsetispeed(options, B110);
|
||||
cfsetospeed(options, B110);
|
||||
break;
|
||||
case 134:
|
||||
cfsetispeed(options, B134);
|
||||
cfsetospeed(options, B134);
|
||||
break;
|
||||
case 150:
|
||||
cfsetispeed(options, B150);
|
||||
cfsetospeed(options, B150);
|
||||
break;
|
||||
case 200:
|
||||
cfsetispeed(options, B200);
|
||||
cfsetospeed(options, B200);
|
||||
break;
|
||||
case 300:
|
||||
cfsetispeed(options, B300);
|
||||
cfsetospeed(options, B300);
|
||||
break;
|
||||
case 600:
|
||||
cfsetispeed(options, B600);
|
||||
cfsetospeed(options, B600);
|
||||
break;
|
||||
case 1200:
|
||||
cfsetispeed(options, B1200);
|
||||
cfsetospeed(options, B1200);
|
||||
break;
|
||||
case 1800:
|
||||
cfsetispeed(options, B1800);
|
||||
cfsetospeed(options, B1800);
|
||||
break;
|
||||
case 2400:
|
||||
cfsetispeed(options, B2400);
|
||||
cfsetospeed(options, B2400);
|
||||
break;
|
||||
case 4800:
|
||||
cfsetispeed(options, B4800);
|
||||
cfsetospeed(options, B4800);
|
||||
break;
|
||||
case 9600:
|
||||
cfsetispeed(options, B9600);
|
||||
cfsetospeed(options, B9600);
|
||||
break;
|
||||
case 19200:
|
||||
cfsetispeed(options, B19200);
|
||||
cfsetospeed(options, B19200);
|
||||
break;
|
||||
case 38400:
|
||||
cfsetispeed(options, B38400);
|
||||
cfsetospeed(options, B38400);
|
||||
break;
|
||||
case 57600:
|
||||
cfsetispeed(options, B57600);
|
||||
cfsetospeed(options, B57600);
|
||||
break;
|
||||
case 115200:
|
||||
cfsetispeed(options, B115200);
|
||||
cfsetospeed(options, B115200);
|
||||
break;
|
||||
case 230400:
|
||||
cfsetispeed(options, B230400);
|
||||
cfsetospeed(options, B230400);
|
||||
break;
|
||||
case 460800:
|
||||
cfsetispeed(options, B460800);
|
||||
cfsetospeed(options, B460800);
|
||||
break;
|
||||
default:
|
||||
sif::debug << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
|
||||
const uint8_t *sendData, size_t sendLen) {
|
||||
|
||||
int fd;
|
||||
std::string deviceFile;
|
||||
UartDeviceMapIter uartDeviceMapIter;
|
||||
|
||||
if(sendData == nullptr) {
|
||||
sif::debug << "UartComIF::sendMessage: Send Data is nullptr" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
if(sendLen == 0) {
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
|
||||
if(uartCookie == nullptr) {
|
||||
sif::debug << "UartComIF::sendMessasge: Invalid Uart Cookie!" << std::endl;
|
||||
return NULLPOINTER;
|
||||
}
|
||||
|
||||
deviceFile = uartCookie->getDeviceFile();
|
||||
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
if (uartDeviceMapIter == uartDeviceMap.end()) {
|
||||
sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in uart map"
|
||||
<< std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
fd = uartDeviceMapIter->second.fileDescriptor;
|
||||
|
||||
if (write(fd, sendData, sendLen) != (int)sendLen) {
|
||||
sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
|
||||
<< ": Error description: " << strerror(errno) << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie,
|
||||
size_t requestLen) {
|
||||
|
||||
int fd;
|
||||
std::string deviceFile;
|
||||
UartDeviceMapIter uartDeviceMapIter;
|
||||
uint8_t* bufferPtr;
|
||||
|
||||
if(requestLen == 0) {
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
|
||||
if(uartCookie == nullptr) {
|
||||
sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
|
||||
return NULLPOINTER;
|
||||
}
|
||||
|
||||
deviceFile = uartCookie->getDeviceFile();
|
||||
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
if (uartDeviceMapIter == uartDeviceMap.end()) {
|
||||
sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
|
||||
<< " not in uart map" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
fd = uartDeviceMapIter->second.fileDescriptor;
|
||||
bufferPtr = uartDeviceMapIter->second.replyBuffer.data();
|
||||
int bytesRead = read(fd, bufferPtr, requestLen);
|
||||
if (bytesRead != static_cast<int>(requestLen)) {
|
||||
sif::debug << "UartComIF::requestReceiveMessage: Only read " << bytesRead
|
||||
<< " of " << requestLen << " bytes" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
else {
|
||||
uartDeviceMapIter->second.replyLen = bytesRead;
|
||||
}
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
|
||||
uint8_t **buffer, size_t* size) {
|
||||
|
||||
std::string deviceFile;
|
||||
UartDeviceMapIter uartDeviceMapIter;
|
||||
|
||||
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
|
||||
if(uartCookie == nullptr) {
|
||||
sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
|
||||
return NULLPOINTER;
|
||||
}
|
||||
|
||||
deviceFile = uartCookie->getDeviceFile();
|
||||
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
if (uartDeviceMapIter == uartDeviceMap.end()) {
|
||||
sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile
|
||||
<< " not in uart map" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
*buffer = uartDeviceMapIter->second.replyBuffer.data();
|
||||
*size = uartDeviceMapIter->second.replyLen;
|
||||
|
||||
/* Length is reset to 0 to prevent reading the same data twice */
|
||||
uartDeviceMapIter->second.replyLen = 0;
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
@ -1,94 +0,0 @@
|
||||
#ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
|
||||
#define BSP_Q7S_COMIF_UARTCOMIF_H_
|
||||
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
|
||||
|
||||
#include <unordered_map>
|
||||
#include <vector>
|
||||
|
||||
#include "UartCookie.h"
|
||||
|
||||
/**
|
||||
* @brief This is the communication interface to access serial ports on linux based operating
|
||||
* systems.
|
||||
*
|
||||
* @details The implementation follows the instructions from https://blog.mbedded.ninja/programming/
|
||||
* operating-systems/linux/linux-serial-ports-using-c-cpp/#disabling-canonical-mode
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class UartComIF: public DeviceCommunicationIF, public SystemObject {
|
||||
public:
|
||||
UartComIF(object_id_t objectId);
|
||||
|
||||
virtual ~UartComIF();
|
||||
|
||||
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 **buffer,
|
||||
size_t *size) override;
|
||||
|
||||
private:
|
||||
|
||||
using UartDeviceFile_t = std::string;
|
||||
|
||||
typedef struct UartElements {
|
||||
int fileDescriptor;
|
||||
std::vector<uint8_t> replyBuffer;
|
||||
/** Number of bytes read will be written to this variable */
|
||||
size_t replyLen;
|
||||
} UartElements_t;
|
||||
|
||||
using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements_t>;
|
||||
using UartDeviceMapIter = UartDeviceMap::iterator;
|
||||
|
||||
/**
|
||||
* The uart devie map stores informations of initialized uart ports.
|
||||
*/
|
||||
UartDeviceMap uartDeviceMap;
|
||||
|
||||
/**
|
||||
* @brief This function opens and configures a uart device by using the information stored
|
||||
* in the uart cookie.
|
||||
* @param uartCookie Pointer to uart cookie with information about the uart. Contains the
|
||||
* uart device file, baudrate, parity, stopbits etc.
|
||||
* @return The file descriptor of the configured uart.
|
||||
*/
|
||||
int configureUartPort(UartCookie* uartCookie);
|
||||
|
||||
/**
|
||||
* @brief This function adds the parity settings to the termios options struct.
|
||||
*
|
||||
* @param options Pointer to termios options struct which will be modified to enable or disable
|
||||
* parity checking.
|
||||
* @param uartCookie Pointer to uart cookie containing the information about the desired
|
||||
* parity settings.
|
||||
*
|
||||
*/
|
||||
void setParityOptions(struct termios* options, UartCookie* uartCookie);
|
||||
|
||||
void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
|
||||
|
||||
/**
|
||||
* @brief This function sets options which are not configurable by the uartCookie.
|
||||
*/
|
||||
void setFixedOptions(struct termios* options);
|
||||
|
||||
/**
|
||||
* @brief With this function the datasize settings are added to the termios options struct.
|
||||
*/
|
||||
void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);
|
||||
|
||||
/**
|
||||
* @brief This functions adds the baudrate specified in the uartCookie to the termios options
|
||||
* struct.
|
||||
*/
|
||||
void configureBaudrate(struct termios* options, UartCookie* uartCookie);
|
||||
};
|
||||
|
||||
#endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */
|
||||
@ -1,63 +0,0 @@
|
||||
#include "UartCookie.h"
|
||||
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
|
||||
UartCookie::UartCookie(std::string deviceFile, uint32_t baudrate, size_t maxReplyLen) :
|
||||
deviceFile(deviceFile), baudrate(baudrate), maxReplyLen(maxReplyLen) {
|
||||
}
|
||||
|
||||
UartCookie::~UartCookie() {}
|
||||
|
||||
uint32_t UartCookie::getBaudrate() const {
|
||||
return baudrate;
|
||||
}
|
||||
|
||||
size_t UartCookie::getMaxReplyLen() const {
|
||||
return maxReplyLen;
|
||||
}
|
||||
|
||||
std::string UartCookie::getDeviceFile() const {
|
||||
return deviceFile;
|
||||
}
|
||||
|
||||
void UartCookie::setParityOdd() {
|
||||
parity = Parity::ODD;
|
||||
}
|
||||
|
||||
void UartCookie::setParityEven() {
|
||||
parity = Parity::EVEN;
|
||||
}
|
||||
|
||||
Parity UartCookie::getParity() const {
|
||||
return parity;
|
||||
}
|
||||
|
||||
void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
|
||||
switch(bitsPerWord_) {
|
||||
case 5:
|
||||
case 6:
|
||||
case 7:
|
||||
case 8:
|
||||
break;
|
||||
default:
|
||||
sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
|
||||
return;
|
||||
}
|
||||
bitsPerWord = bitsPerWord_;
|
||||
}
|
||||
|
||||
uint8_t UartCookie::getBitsPerWord() const {
|
||||
return bitsPerWord;
|
||||
}
|
||||
|
||||
StopBits UartCookie::getStopBits() const {
|
||||
return stopBits;
|
||||
}
|
||||
|
||||
void UartCookie::setTwoStopBits() {
|
||||
stopBits = StopBits::TWO_STOP_BITS;
|
||||
}
|
||||
|
||||
void UartCookie::setOneStopBit() {
|
||||
stopBits = StopBits::ONE_STOP_BIT;
|
||||
}
|
||||
@ -1,81 +0,0 @@
|
||||
#ifndef SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
|
||||
#define SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
|
||||
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <string>
|
||||
|
||||
enum class Parity {
|
||||
NONE,
|
||||
EVEN,
|
||||
ODD
|
||||
};
|
||||
|
||||
enum class StopBits {
|
||||
ONE_STOP_BIT,
|
||||
TWO_STOP_BITS
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Cookie for the UartComIF. There are many options available to configure the uart driver.
|
||||
* The constructor only requests for common options like the baudrate. Other options can
|
||||
* be set by member functions.
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class UartCookie: public CookieIF {
|
||||
public:
|
||||
|
||||
/**
|
||||
* @brief Constructor for the uart cookie.
|
||||
* @param deviceFile The device file specifying the uart to use. E.g. "/dev/ttyPS1".
|
||||
* @param baudrate The baudrate to use for input and output. Possible Baudrates are: 50,
|
||||
* 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
|
||||
* 38400, 57600, 115200, 230400, 460800
|
||||
* @param maxReplyLen The maximum size an object using this cookie expects.
|
||||
*
|
||||
* @details Default configuration: No parity
|
||||
* 8 databits (number of bits transfered with one uart frame)
|
||||
* One stop bit
|
||||
*
|
||||
*
|
||||
*/
|
||||
UartCookie(std::string deviceFile, uint32_t baudrate, size_t maxReplyLen);
|
||||
|
||||
virtual ~UartCookie();
|
||||
|
||||
uint32_t getBaudrate() const;
|
||||
size_t getMaxReplyLen() const;
|
||||
std::string getDeviceFile() const;
|
||||
Parity getParity() const;
|
||||
uint8_t getBitsPerWord() const;
|
||||
StopBits getStopBits() const;
|
||||
|
||||
/**
|
||||
* Functions two enable parity checking.
|
||||
*/
|
||||
void setParityOdd();
|
||||
void setParityEven();
|
||||
|
||||
/**
|
||||
* Function two set number of bits per UART frame.
|
||||
*/
|
||||
void setBitsPerWord(uint8_t bitsPerWord_);
|
||||
|
||||
/**
|
||||
* Function to specify the number of stopbits.
|
||||
*/
|
||||
void setTwoStopBits();
|
||||
void setOneStopBit();
|
||||
|
||||
|
||||
private:
|
||||
|
||||
std::string deviceFile;
|
||||
uint32_t baudrate;
|
||||
size_t maxReplyLen = 0;
|
||||
Parity parity = Parity::NONE;
|
||||
uint8_t bitsPerWord = 8;
|
||||
StopBits stopBits = StopBits::ONE_STOP_BIT;
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -19,7 +19,7 @@
|
||||
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<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug-Host}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
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@ -121,7 +121,7 @@
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<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug}" command="cmake" id="cdt.managedbuild.target.gnu.builder.base.1977029024" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
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@ -178,7 +178,7 @@
|
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<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075." name="/" resourcePath="">
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|
||||
<builder arguments="-f Makefile-Hosted" buildPath="${workspace_loc:/eive_obsw/build-Release-Linux}" command="make" id="cdt.managedbuild.target.gnu.builder.base.124593156" incrementalBuildTarget="release" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
|
||||
<builder arguments="-f Makefile-Hosted" command="make" id="cdt.managedbuild.target.gnu.builder.base.124593156" incrementalBuildTarget="release" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.archiver.base.977464664" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.1522927967" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.1753272978" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
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@ -310,7 +310,7 @@
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||||
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||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.1227132942" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
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||||
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|
||||
<builder arguments="--build ." autoBuildTarget="all" buildPath="${workspace_loc:/eive_obsw/Debug-RPi}" cleanBuildTarget="clean" command="cmake" enableAutoBuild="false" enableCleanBuild="true" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.342223596" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
|
||||
<builder arguments="--build ." autoBuildTarget="all" buildPath="${workspace_loc:/eive_obsw/build-Debug-RPi}" cleanBuildTarget="clean" command="cmake" enableAutoBuild="false" enableCleanBuild="true" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.342223596" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
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||||
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@ -461,7 +461,7 @@
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||||
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||||
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||||
<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/build-Release-RPi}" command="cmake" id="ilg.gnuarmeclipse.managedbuild.cross.builder.292623790" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
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||||
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@ -520,9 +520,9 @@
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
<externalSettings/>
|
||||
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@ -535,7 +535,7 @@
|
||||
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@ -667,10 +667,10 @@
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@ -683,128 +683,128 @@
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||||
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||||
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|
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize.903608509" name="GNU Arm Cross Print Size" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format.83719916" name="Size format" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format"/>
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||||
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</folderInfo>
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||||
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|
||||
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|
||||
<storageModule moduleId="refreshScope" versionNumber="2">
|
||||
@ -825,9 +825,6 @@
|
||||
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|
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|
||||
</configuration>
|
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|
||||
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
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||||
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|
||||
<configuration configurationName="eive-mingw-release"/>
|
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<configuration configurationName="eive-rpi-release-win"/>
|
||||
<configuration configurationName="eive-linux-host-release"/>
|
||||
@ -846,48 +843,43 @@
|
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<path value=""/>
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<buildCommand>make</buildCommand>
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<buildArguments>-f Makefile-Hosted -j16</buildArguments>
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<buildTarget>hardclean</buildTarget>
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||||
@ -15,6 +15,7 @@ target_sources(${TARGET_NAME} PUBLIC
|
||||
IMTQHandler.cpp
|
||||
PlocHandler.cpp
|
||||
RadiationSensorHandler.cpp
|
||||
GyroADIS16507Handler.cpp
|
||||
)
|
||||
|
||||
|
||||
|
||||
369
mission/devices/GyroADIS16507Handler.cpp
Normal file
369
mission/devices/GyroADIS16507Handler.cpp
Normal file
@ -0,0 +1,369 @@
|
||||
#include <fsfw/datapool/PoolReadGuard.h>
|
||||
#include <fsfw_hal/linux/utility.h>
|
||||
|
||||
#include "GyroADIS16507Handler.h"
|
||||
|
||||
#if OBSW_ADIS16507_LINUX_COM_IF == 1
|
||||
#include "fsfw_hal/linux/spi/SpiCookie.h"
|
||||
#include "fsfw_hal/linux/spi/SpiComIF.h"
|
||||
#include "fsfw_hal/linux/UnixFileGuard.h"
|
||||
#include <sys/ioctl.h>
|
||||
#include <unistd.h>
|
||||
#endif
|
||||
|
||||
GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
|
||||
object_id_t deviceCommunication, CookieIF * comCookie):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
|
||||
configDataset(this) {
|
||||
#if ADIS16507_DEBUG == 1
|
||||
debugDivider = new PeriodicOperationDivider(5);
|
||||
#endif
|
||||
|
||||
#if OBSW_ADIS16507_LINUX_COM_IF == 1
|
||||
SpiCookie* cookie = dynamic_cast<SpiCookie*>(comCookie);
|
||||
if(cookie != nullptr) {
|
||||
cookie->setCallbackMode(&spiSendCallback, this);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void GyroADIS16507Handler::doStartUp() {
|
||||
if(internalState == InternalState::STARTUP) {
|
||||
if(commandExecuted) {
|
||||
commandExecuted = false;
|
||||
internalState = InternalState::IDLE;
|
||||
}
|
||||
}
|
||||
if(internalState == InternalState::IDLE) {
|
||||
setMode(MODE_NORMAL);
|
||||
}
|
||||
}
|
||||
|
||||
void GyroADIS16507Handler::doShutDown() {
|
||||
}
|
||||
|
||||
ReturnValue_t GyroADIS16507Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
|
||||
*id = ADIS16507::READ_SENSOR_DATA;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
}
|
||||
|
||||
ReturnValue_t GyroADIS16507Handler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
||||
switch(internalState) {
|
||||
case(InternalState::STARTUP): {
|
||||
*id = ADIS16507::READ_OUT_CONFIG;
|
||||
buildCommandFromCommand(*id, nullptr, 0);
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
/* Might be a configuration error. */
|
||||
sif::debug << "GyroADIS16507Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state!" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroADIS16507Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t *commandData, size_t commandDataLen) {
|
||||
switch(deviceCommand) {
|
||||
case(ADIS16507::READ_OUT_CONFIG): {
|
||||
this->rawPacketLen = ADIS16507::CONFIG_READOUT_SIZE;
|
||||
uint8_t regList[5];
|
||||
regList[0] = ADIS16507::DIAG_STAT_REG;
|
||||
regList[1] = ADIS16507::FILTER_CTRL_REG;
|
||||
regList[2] = ADIS16507::MSC_CTRL_REG;
|
||||
regList[3] = ADIS16507::DEC_RATE_REG;
|
||||
regList[4] = ADIS16507::PROD_ID_REG;
|
||||
prepareReadCommand(regList, sizeof(regList));
|
||||
this->rawPacket = commandBuffer.data();
|
||||
break;
|
||||
}
|
||||
case(ADIS16507::READ_SENSOR_DATA): {
|
||||
std::memcpy(commandBuffer.data(), ADIS16507::BURST_READ_ENABLE.data(),
|
||||
ADIS16507::BURST_READ_ENABLE.size());
|
||||
std::memset(commandBuffer.data() + 2, 0, 10 * 2);
|
||||
this->rawPacketLen = ADIS16507::SENSOR_READOUT_SIZE;
|
||||
this->rawPacket = commandBuffer.data();
|
||||
break;
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void GyroADIS16507Handler::fillCommandAndReplyMap() {
|
||||
insertInCommandAndReplyMap(ADIS16507::READ_SENSOR_DATA, 1, &primaryDataset);
|
||||
insertInCommandAndReplyMap(ADIS16507::READ_OUT_CONFIG, 1, &configDataset);
|
||||
}
|
||||
|
||||
ReturnValue_t GyroADIS16507Handler::scanForReply(const uint8_t *start, size_t remainingSize,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
/* For SPI, the ID will always be the one of the last sent command. */
|
||||
*foundId = this->getPendingCommand();
|
||||
*foundLen = this->rawPacketLen;
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroADIS16507Handler::interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) {
|
||||
switch(id) {
|
||||
case(ADIS16507::READ_OUT_CONFIG): {
|
||||
PoolReadGuard rg(&configDataset);
|
||||
uint16_t readProdId = packet[10] << 8 | packet[11];
|
||||
if (readProdId != ADIS16507::PROD_ID) {
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
sif::debug << "GyroADIS16507Handler::interpretDeviceReply: Invalid product ID!"
|
||||
<< std::endl;
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
configDataset.diagStatReg.value = packet[2] << 8 | packet[3];
|
||||
configDataset.filterSetting.value = packet[4] << 8 | packet[5];
|
||||
configDataset.mscCtrlReg.value = packet[6] << 8 | packet[7];
|
||||
configDataset.decRateReg.value = packet[8] << 8 | packet[9];
|
||||
configDataset.setValidity(true, true);
|
||||
if(internalState == InternalState::STARTUP) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(ADIS16507::READ_SENSOR_DATA): {
|
||||
return handleSensorData(packet);
|
||||
}
|
||||
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
|
||||
BurstModes burstMode = getBurstMode();
|
||||
switch(burstMode) {
|
||||
case(BurstModes::BURST_16_BURST_SEL_1):
|
||||
case(BurstModes::BURST_32_BURST_SEL_1): {
|
||||
sif::warning << "GyroADIS16507Handler::interpretDeviceReply: Analysis with BURST_SEL1"
|
||||
" not implemented!" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
case(BurstModes::BURST_16_BURST_SEL_0): {
|
||||
uint16_t checksum = packet[20] << 8 | packet[21];
|
||||
/* Now verify the read checksum with the expected checksum
|
||||
according to datasheet p. 20 */
|
||||
uint16_t calcChecksum = 0;
|
||||
for(size_t idx = 2; idx < 20; idx ++) {
|
||||
calcChecksum += packet[idx];
|
||||
}
|
||||
if(checksum != calcChecksum) {
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
sif::warning << "GyroADIS16507Handler::interpretDeviceReply: "
|
||||
"Invalid checksum detected!" << std::endl;
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t result = configDataset.diagStatReg.read();
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
configDataset.diagStatReg.value = packet[2] << 8 | packet[3];
|
||||
configDataset.diagStatReg.setValid(true);
|
||||
}
|
||||
configDataset.diagStatReg.commit();
|
||||
|
||||
{
|
||||
PoolReadGuard pg(&primaryDataset);
|
||||
int16_t angVelocXRaw = packet[4] << 8 | packet[5];
|
||||
primaryDataset.angVelocX.value = static_cast<float>(angVelocXRaw) / INT16_MAX *
|
||||
ADIS16507::GYRO_RANGE;
|
||||
int16_t angVelocYRaw = packet[6] << 8 | packet[7];
|
||||
primaryDataset.angVelocY.value = static_cast<float>(angVelocYRaw) / INT16_MAX *
|
||||
ADIS16507::GYRO_RANGE;
|
||||
int16_t angVelocZRaw = packet[8] << 8 | packet[9];
|
||||
primaryDataset.angVelocZ.value = static_cast<float>(angVelocZRaw) / INT16_MAX *
|
||||
ADIS16507::GYRO_RANGE;
|
||||
|
||||
int16_t accelXRaw = packet[10] << 8 | packet[11];
|
||||
primaryDataset.accelX.value = static_cast<float>(accelXRaw) / INT16_MAX *
|
||||
ADIS16507::ACCELEROMETER_RANGE;
|
||||
int16_t accelYRaw = packet[12] << 8 | packet[13];
|
||||
primaryDataset.accelY.value = static_cast<float>(accelYRaw) / INT16_MAX *
|
||||
ADIS16507::ACCELEROMETER_RANGE;
|
||||
int16_t accelZRaw = packet[14] << 8 | packet[15];
|
||||
primaryDataset.accelZ.value = static_cast<float>(accelZRaw) / INT16_MAX *
|
||||
ADIS16507::ACCELEROMETER_RANGE;
|
||||
|
||||
int16_t temperatureRaw = packet[16] << 8 | packet[17];
|
||||
primaryDataset.temperature.value = static_cast<float>(temperatureRaw) * 0.1;
|
||||
// Ignore data counter for now
|
||||
primaryDataset.setValidity(true, true);
|
||||
}
|
||||
|
||||
#if ADIS16507_DEBUG == 1
|
||||
if(debugDivider->checkAndIncrement()) {
|
||||
sif::info << "GyroADIS16507Handler: Angular velocities in deg / s" << std::endl;
|
||||
sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;
|
||||
sif::info << "Y: " << primaryDataset.angVelocY.value << std::endl;
|
||||
sif::info << "Z: " << primaryDataset.angVelocZ.value << std::endl;
|
||||
sif::info << "GyroADIS16507Handler: Accelerations in m / s^2: " << std::endl;
|
||||
sif::info << "X: " << primaryDataset.accelX.value << std::endl;
|
||||
sif::info << "Y: " << primaryDataset.accelY.value << std::endl;
|
||||
sif::info << "Z: " << primaryDataset.accelZ.value << std::endl;
|
||||
}
|
||||
#endif
|
||||
|
||||
break;
|
||||
}
|
||||
case(BurstModes::BURST_32_BURST_SEL_0): {
|
||||
break;
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
uint32_t GyroADIS16507Handler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
|
||||
return 5000;
|
||||
}
|
||||
|
||||
void GyroADIS16507Handler::prepareReadCommand(uint8_t *regList, size_t len) {
|
||||
for(size_t idx = 0; idx < len; idx++) {
|
||||
commandBuffer[idx * 2] = regList[idx];
|
||||
commandBuffer[idx * 2 + 1] = 0x00;
|
||||
}
|
||||
commandBuffer[len * 2] = 0x00;
|
||||
commandBuffer[len * 2 + 1] = 0x00;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroADIS16507Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(ADIS16507::ANG_VELOC_X, new PoolEntry<double>({0.0}));
|
||||
localDataPoolMap.emplace(ADIS16507::ANG_VELOC_Y, new PoolEntry<double>({0.0}));
|
||||
localDataPoolMap.emplace(ADIS16507::ANG_VELOC_Z, new PoolEntry<double>({0.0}));
|
||||
localDataPoolMap.emplace(ADIS16507::ACCELERATION_X, new PoolEntry<double>({0.0}));
|
||||
localDataPoolMap.emplace(ADIS16507::ACCELERATION_Y, new PoolEntry<double>({0.0}));
|
||||
localDataPoolMap.emplace(ADIS16507::ACCELERATION_Z, new PoolEntry<double>({0.0}));
|
||||
localDataPoolMap.emplace(ADIS16507::TEMPERATURE, new PoolEntry<float>({0.0}));
|
||||
|
||||
localDataPoolMap.emplace(ADIS16507::DIAG_STAT_REGISTER, new PoolEntry<uint16_t>());
|
||||
localDataPoolMap.emplace(ADIS16507::FILTER_SETTINGS, new PoolEntry<uint8_t>());
|
||||
localDataPoolMap.emplace(ADIS16507::MSC_CTRL_REGISTER, new PoolEntry<uint16_t>());
|
||||
localDataPoolMap.emplace(ADIS16507::DEC_RATE_REGISTER, new PoolEntry<uint16_t>());
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
GyroADIS16507Handler::BurstModes GyroADIS16507Handler::getBurstMode() {
|
||||
configDataset.mscCtrlReg.read();
|
||||
uint16_t currentCtrlReg = configDataset.mscCtrlReg.value;
|
||||
configDataset.mscCtrlReg.commit();
|
||||
if((currentCtrlReg & ADIS16507::BURST_32_BIT) == ADIS16507::BURST_32_BIT) {
|
||||
if((currentCtrlReg & ADIS16507::BURST_SEL_BIT) == ADIS16507::BURST_SEL_BIT) {
|
||||
return BurstModes::BURST_32_BURST_SEL_1;
|
||||
}
|
||||
else {
|
||||
return BurstModes::BURST_32_BURST_SEL_0;
|
||||
}
|
||||
}
|
||||
else {
|
||||
if((currentCtrlReg & ADIS16507::BURST_SEL_BIT) == ADIS16507::BURST_SEL_BIT) {
|
||||
return BurstModes::BURST_16_BURST_SEL_1;
|
||||
}
|
||||
else {
|
||||
return BurstModes::BURST_16_BURST_SEL_0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#if OBSW_ADIS16507_LINUX_COM_IF == 1
|
||||
|
||||
ReturnValue_t GyroADIS16507Handler::spiSendCallback(SpiComIF *comIf, SpiCookie *cookie,
|
||||
const uint8_t *sendData, size_t sendLen, void *args) {
|
||||
GyroADIS16507Handler* handler = reinterpret_cast<GyroADIS16507Handler*>(args);
|
||||
if(handler == nullptr) {
|
||||
sif::error << "GyroADIS16507Handler::spiSendCallback: Passed handler pointer is invalid!"
|
||||
<< std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
DeviceCommandId_t currentCommand = handler->getPendingCommand();
|
||||
switch(currentCommand) {
|
||||
case(ADIS16507::READ_SENSOR_DATA): {
|
||||
return comIf->performRegularSendOperation(cookie, sendData, sendLen);
|
||||
}
|
||||
case(ADIS16507::READ_OUT_CONFIG):
|
||||
default: {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
int retval = 0;
|
||||
// Prepare transfer
|
||||
int fileDescriptor = 0;
|
||||
std::string device = cookie->getSpiDevice();
|
||||
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: ");
|
||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return SpiComIF::OPENING_FILE_FAILED;
|
||||
}
|
||||
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
|
||||
uint32_t spiSpeed = 0;
|
||||
cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
|
||||
comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
|
||||
cookie->assignWriteBuffer(sendData);
|
||||
cookie->assignTransferSize(2);
|
||||
|
||||
gpioId_t gpioId = cookie->getChipSelectPin();
|
||||
GpioIF* gpioIF = comIf->getGpioInterface();
|
||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
|
||||
uint32_t timeoutMs = 0;
|
||||
MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
|
||||
if(mutex == nullptr or gpioIF == nullptr) {
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
sif::warning << "GyroADIS16507Handler::spiSendCallback: "
|
||||
"Mutex or GPIO interface invalid" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
#endif
|
||||
}
|
||||
|
||||
if(gpioId != gpio::NO_GPIO) {
|
||||
result = mutex->lockMutex(timeoutType, timeoutMs);
|
||||
if (result != RETURN_OK) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
}
|
||||
|
||||
size_t idx = 0;
|
||||
while(idx < sendLen) {
|
||||
// Pull SPI CS low. For now, no support for active high given
|
||||
if(gpioId != gpio::NO_GPIO) {
|
||||
gpioIF->pullLow(gpioId);
|
||||
}
|
||||
|
||||
// Execute transfer
|
||||
// Initiate a full duplex SPI transfer.
|
||||
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
|
||||
if(retval < 0) {
|
||||
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
|
||||
result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
|
||||
}
|
||||
#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
|
||||
comIf->performSpiWiretapping(cookie);
|
||||
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
|
||||
|
||||
if(gpioId != gpio::NO_GPIO) {
|
||||
gpioIF->pullHigh(gpioId);
|
||||
}
|
||||
|
||||
idx += 2;
|
||||
if(idx < sendLen) {
|
||||
usleep(ADIS16507::STALL_TIME_MICROSECONDS);
|
||||
}
|
||||
spi_ioc_transfer* transferStruct = cookie->getTransferStructHandle();
|
||||
transferStruct->tx_buf += 2;
|
||||
transferStruct->rx_buf += 2;
|
||||
}
|
||||
|
||||
if(gpioId != gpio::NO_GPIO) {
|
||||
mutex->unlockMutex();
|
||||
}
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
#endif /* OBSW_ADIS16507_LINUX_COM_IF == 1 */
|
||||
74
mission/devices/GyroADIS16507Handler.h
Normal file
74
mission/devices/GyroADIS16507Handler.h
Normal file
@ -0,0 +1,74 @@
|
||||
#ifndef MISSION_DEVICES_GYROADIS16507HANDLER_H_
|
||||
#define MISSION_DEVICES_GYROADIS16507HANDLER_H_
|
||||
|
||||
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
|
||||
#include "OBSWConfig.h"
|
||||
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
|
||||
#include "devicedefinitions/GyroADIS16507Definitions.h"
|
||||
|
||||
#if OBSW_ADIS16507_LINUX_COM_IF == 1
|
||||
class SpiComIF;
|
||||
class SpiCookie;
|
||||
#endif
|
||||
|
||||
class GyroADIS16507Handler: public DeviceHandlerBase {
|
||||
public:
|
||||
GyroADIS16507Handler(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF * comCookie);
|
||||
|
||||
/* DeviceHandlerBase abstract function implementation */
|
||||
void doStartUp() override;
|
||||
void doShutDown() override;
|
||||
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
|
||||
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
|
||||
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t * commandData, size_t commandDataLen) override;
|
||||
void fillCommandAndReplyMap() override;
|
||||
ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) override;
|
||||
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
private:
|
||||
std::array<uint8_t, 32> commandBuffer;
|
||||
|
||||
AdisGyroPrimaryDataset primaryDataset;
|
||||
AdisGyroConfigDataset configDataset;
|
||||
|
||||
enum class InternalState {
|
||||
STARTUP,
|
||||
IDLE
|
||||
};
|
||||
|
||||
enum class BurstModes {
|
||||
BURST_16_BURST_SEL_0,
|
||||
BURST_16_BURST_SEL_1,
|
||||
BURST_32_BURST_SEL_0,
|
||||
BURST_32_BURST_SEL_1
|
||||
};
|
||||
|
||||
InternalState internalState = InternalState::STARTUP;
|
||||
bool commandExecuted = false;
|
||||
|
||||
void prepareReadCommand(uint8_t* regList, size_t len);
|
||||
|
||||
BurstModes getBurstMode();
|
||||
|
||||
#if OBSW_ADIS16507_LINUX_COM_IF == 1
|
||||
static ReturnValue_t spiSendCallback(SpiComIF* comIf, SpiCookie *cookie,
|
||||
const uint8_t *sendData, size_t sendLen, void* args);
|
||||
#endif
|
||||
|
||||
#if ADIS16507_DEBUG == 1
|
||||
PeriodicOperationDivider* debugDivider;
|
||||
#endif
|
||||
|
||||
ReturnValue_t handleSensorData(const uint8_t* packet);
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_GYROADIS16507HANDLER_H_ */
|
||||
@ -7,7 +7,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
|
||||
CookieIF *comCookie):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
dataset(this) {
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
#if L3GD20_GYRO_DEBUG == 1
|
||||
debugDivider = new PeriodicOperationDivider(5);
|
||||
#endif
|
||||
}
|
||||
@ -65,8 +65,8 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
|
||||
}
|
||||
default:
|
||||
/* Might be a configuration error. */
|
||||
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
|
||||
<< "internal state!" << std::endl;
|
||||
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
|
||||
std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
@ -197,7 +197,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
||||
|
||||
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
|
||||
float temperature = 25.0 + temperaturOffset;
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
#if L3GD20_GYRO_DEBUG == 1
|
||||
if(debugDivider->checkAndIncrement()) {
|
||||
/* Set terminal to utf-8 if there is an issue with micro printout. */
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
|
||||
@ -70,7 +70,7 @@ private:
|
||||
|
||||
float scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
|
||||
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
#if L3GD20_GYRO_DEBUG == 1
|
||||
PeriodicOperationDivider* debugDivider = nullptr;
|
||||
#endif
|
||||
};
|
||||
|
||||
129
mission/devices/devicedefinitions/GyroADIS16507Definitions.h
Normal file
129
mission/devices/devicedefinitions/GyroADIS16507Definitions.h
Normal file
@ -0,0 +1,129 @@
|
||||
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
|
||||
#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
|
||||
|
||||
#include "fsfw/datapoollocal/StaticLocalDataSet.h"
|
||||
|
||||
#include <cstddef>
|
||||
|
||||
namespace ADIS16507 {
|
||||
|
||||
static constexpr size_t MAXIMUM_REPLY_SIZE = 64;
|
||||
|
||||
static constexpr uint32_t GYRO_RANGE = 125;
|
||||
static constexpr uint32_t ACCELEROMETER_RANGE = 392;
|
||||
|
||||
static constexpr uint32_t STALL_TIME_MICROSECONDS = 16;
|
||||
|
||||
static constexpr uint16_t PROD_ID = 16507;
|
||||
|
||||
static constexpr std::array<uint8_t, 2> BURST_READ_ENABLE = {0x68, 0x00};
|
||||
|
||||
static constexpr uint8_t DIAG_STAT_REG = 0x02;
|
||||
static constexpr uint8_t FILTER_CTRL_REG = 0x5c;
|
||||
static constexpr uint8_t MSC_CTRL_REG = 0x60;
|
||||
static constexpr uint8_t DEC_RATE_REG = 0x64;
|
||||
static constexpr uint8_t GLOB_CMD = 0x68;
|
||||
static constexpr uint8_t PROD_ID_REG = 0x72;
|
||||
|
||||
static constexpr DeviceCommandId_t READ_SENSOR_DATA = 0;
|
||||
static constexpr DeviceCommandId_t READ_OUT_CONFIG = 1;
|
||||
static constexpr DeviceCommandId_t SELF_TEST_SENSORS = 2;
|
||||
static constexpr DeviceCommandId_t SELF_TEST_MEMORY = 3;
|
||||
static constexpr DeviceCommandId_t UPDATE_NV_CONFIGURATION = 4;
|
||||
static constexpr DeviceCommandId_t SELECT_BURST_READ_MODE = 5;
|
||||
|
||||
static constexpr DeviceCommandId_t RESET_SENSOR_CONFIGURATION = 30;
|
||||
static constexpr DeviceCommandId_t SW_RESET = 31;
|
||||
static constexpr DeviceCommandId_t PRINT_CURRENT_CONFIGURATION = 32;
|
||||
|
||||
static constexpr uint16_t BURST_32_BIT = 1 << 9;
|
||||
static constexpr uint16_t BURST_SEL_BIT = 1 << 8;
|
||||
static constexpr uint16_t LIN_ACCEL_COMPENSATION_BIT = 1 << 7;
|
||||
static constexpr uint16_t POINT_PERCUSSION_COMPENSATION_BIT = 1 << 6;
|
||||
|
||||
static constexpr size_t CONFIG_READOUT_SIZE = 10 + 2;
|
||||
static constexpr size_t SENSOR_READOUT_SIZE = 20 + 2;
|
||||
|
||||
static constexpr uint32_t ADIS_DATASET_ID = READ_SENSOR_DATA;
|
||||
static constexpr uint32_t ADIS_CFG_DATASET_ID = READ_OUT_CONFIG;
|
||||
|
||||
enum PrimaryPoolIds: lp_id_t {
|
||||
ANG_VELOC_X,
|
||||
ANG_VELOC_Y,
|
||||
ANG_VELOC_Z,
|
||||
ACCELERATION_X,
|
||||
ACCELERATION_Y,
|
||||
ACCELERATION_Z,
|
||||
TEMPERATURE,
|
||||
DIAG_STAT_REGISTER,
|
||||
FILTER_SETTINGS,
|
||||
MSC_CTRL_REGISTER,
|
||||
DEC_RATE_REGISTER,
|
||||
};
|
||||
|
||||
enum FilterSettings: uint8_t {
|
||||
NO_FILTER = 0,
|
||||
TWO_TAPS = 1,
|
||||
FOUR_TAPS = 2,
|
||||
EIGHT_TAPS = 3,
|
||||
SIXTEEN_TAPS = 4,
|
||||
THIRTYTWO_TAPS = 5,
|
||||
SIXTYFOUR_TAPS = 6
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
class AdisGyroPrimaryDataset: public StaticLocalDataSet<8> {
|
||||
public:
|
||||
|
||||
/** Constructor for data users like controllers */
|
||||
AdisGyroPrimaryDataset(object_id_t adisId):
|
||||
StaticLocalDataSet(sid_t(adisId, ADIS16507::ADIS_DATASET_ID)) {
|
||||
setAllVariablesReadOnly();
|
||||
}
|
||||
|
||||
/* Angular velocities in degrees per second (DPS) */
|
||||
lp_var_t<double> angVelocX = lp_var_t<double>(sid.objectId,
|
||||
ADIS16507::ANG_VELOC_X, this);
|
||||
lp_var_t<double> angVelocY = lp_var_t<double>(sid.objectId,
|
||||
ADIS16507::ANG_VELOC_Y, this);
|
||||
lp_var_t<double> angVelocZ = lp_var_t<double>(sid.objectId,
|
||||
ADIS16507::ANG_VELOC_Z, this);
|
||||
lp_var_t<double> accelX = lp_var_t<double>(sid.objectId,
|
||||
ADIS16507::ACCELERATION_X, this);
|
||||
lp_var_t<double> accelY = lp_var_t<double>(sid.objectId,
|
||||
ADIS16507::ACCELERATION_Y, this);
|
||||
lp_var_t<double> accelZ = lp_var_t<double>(sid.objectId,
|
||||
ADIS16507::ACCELERATION_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
|
||||
ADIS16507::TEMPERATURE, this);
|
||||
private:
|
||||
|
||||
friend class GyroADIS16507Handler;
|
||||
/** Constructor for the data creator */
|
||||
AdisGyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, ADIS16507::ADIS_DATASET_ID) {}
|
||||
};
|
||||
|
||||
class AdisGyroConfigDataset: public StaticLocalDataSet<5> {
|
||||
public:
|
||||
|
||||
/** Constructor for data users like controllers */
|
||||
AdisGyroConfigDataset(object_id_t adisId):
|
||||
StaticLocalDataSet(sid_t(adisId, ADIS16507::ADIS_CFG_DATASET_ID)) {
|
||||
setAllVariablesReadOnly();
|
||||
}
|
||||
|
||||
lp_var_t<uint16_t> diagStatReg = lp_var_t<uint16_t>(sid.objectId,
|
||||
ADIS16507::DIAG_STAT_REGISTER);
|
||||
lp_var_t<uint8_t> filterSetting = lp_var_t<uint8_t>(sid.objectId, ADIS16507::FILTER_SETTINGS);
|
||||
lp_var_t<uint16_t> mscCtrlReg = lp_var_t<uint16_t>(sid.objectId, ADIS16507::MSC_CTRL_REGISTER);
|
||||
lp_var_t<uint16_t> decRateReg = lp_var_t<uint16_t>(sid.objectId, ADIS16507::DEC_RATE_REGISTER);
|
||||
private:
|
||||
friend class GyroADIS16507Handler;
|
||||
/** Constructor for the data creator */
|
||||
AdisGyroConfigDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, ADIS16507::ADIS_CFG_DATASET_ID) {}
|
||||
};
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_ */
|
||||
@ -110,7 +110,7 @@ enum GyroPoolIds: lp_id_t {
|
||||
|
||||
}
|
||||
|
||||
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
|
||||
class GyroPrimaryDataset: public StaticLocalDataSet<5> {
|
||||
public:
|
||||
|
||||
/** Constructor for data users like controllers */
|
||||
|
||||
@ -142,7 +142,7 @@ enum MgmPoolIds: lp_id_t {
|
||||
TEMPERATURE_CELCIUS
|
||||
};
|
||||
|
||||
class MgmPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
|
||||
class MgmPrimaryDataset: public StaticLocalDataSet<5> {
|
||||
public:
|
||||
MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user