TMTC updated #7
3
.gitignore
vendored
3
.gitignore
vendored
@ -7,3 +7,6 @@ _dep
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.project
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.cproject
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__pycache__
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!misc/eclipse/**/.cproject
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!misc/eclipse/**/.project
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6
.gitmodules
vendored
6
.gitmodules
vendored
@ -1,12 +1,12 @@
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[submodule "etl"]
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path = etl
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url = https://github.com/ETLCPP/etl.git
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[submodule "tmtc"]
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path = tmtc
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url = https://git.ksat-stuttgart.de/Robin.Mueller/tmtc.git
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[submodule "arduino"]
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path = arduino
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url = https://egit.irs.uni-stuttgart.de/eive/eive_arduino_interface.git
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[submodule "fsfw"]
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path = fsfw
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url = https://egit.irs.uni-stuttgart.de/eive/fsfw.git
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[submodule "tmtc"]
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path = tmtc
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url = https://egit.irs.uni-stuttgart.de/eive/eive_tmtc.git
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@ -15,7 +15,7 @@ CUSTOM_DEFINES :=
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# Chip & board used for compilation
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# (can be overriden by adding CHIP=chip and BOARD=board to the command-line)
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BOARD_FILE_ROOT = hosted
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BOARD_FILE_ROOT = bsp_hosted
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BOARD = host
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OS_FSFW = host
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CUSTOM_DEFINES += -D$(OS_FSFW)
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@ -4,7 +4,6 @@
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#include <fsfw/objectmanager/ObjectManagerIF.h>
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include <fsfw/datapool/DataPool.h>
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#include <fsfw/objectmanager/ObjectManager.h>
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#include <fsfw/tasks/FixedTimeslotTaskIF.h>
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#include <fsfw/tasks/PeriodicTaskIF.h>
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@ -29,9 +28,6 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
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ObjectManagerIF *objectManager = nullptr;
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//Initialize Data Pool
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DataPool dataPool(nullptr);
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void InitMission::initMission() {
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sif::info << "Building global objects.." << std::endl;
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/* Instantiate global object manager and also create all objects */
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@ -1,7 +1,7 @@
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#include "ObjectFactory.h"
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#include <objects/systemObjectList.h>
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#include <OBSWConfig.h>
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#include <objects/systemObjectList.h>
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#include <tmtc/apid.h>
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#include <tmtc/pusIds.h>
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@ -1,4 +1,5 @@
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#include "print.h"
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#include <stdio.h>
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void printChar(const char* character, bool errStream) {
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8
bsp_hosted/boardconfig/print.h
Normal file
8
bsp_hosted/boardconfig/print.h
Normal file
@ -0,0 +1,8 @@
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#ifndef BSP_HOSTED_BOARDCONFIG_PRINT_H_
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#define BSP_HOSTED_BOARDCONFIG_PRINT_H_
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#include <stdbool.h>
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void printChar(const char* character, bool errStream);
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#endif /* BSP_HOSTED_BOARDCONFIG_PRINT_H_ */
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@ -8,3 +8,4 @@ CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp)
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CSRC += $(wildcard $(CURRENTPATH)/comIF/*.c)
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INCLUDES += $(CURRENTPATH)/boardconfig
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INCLUDES += $(CURRENTPATH)/fsfwconfig
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@ -1,6 +1,5 @@
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#include "ArduinoComIF.h"
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#include "ArduinoCookie.h"
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#include <bsp_hosted/comIF/ArduinoComIF.h>
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#include <bsp_hosted/comIF/ArduinoCookie.h>
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#include <fsfw/globalfunctions/DleEncoder.h>
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#include <fsfw/globalfunctions/CRC.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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@ -1,4 +1,4 @@
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#include "ArduinoCookie.h"
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#include <bsp_hosted/comIF/ArduinoCookie.h>
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ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address,
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const size_t maxReplySize) :
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@ -1,8 +1,8 @@
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#ifndef CONFIG_FSFWCONFIG_H_
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#define CONFIG_FSFWCONFIG_H_
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#include <FSFWVersion.h>
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#include <cstddef>
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#include <cstdint>
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//! Used to determine whether C++ ostreams are used
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//! Those can lead to code bloat.
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@ -6,9 +6,10 @@
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#ifndef CONFIG_OBSWCONFIG_H_
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#define CONFIG_OBSWCONFIG_H_
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#define ADD_TEST_FOLDER 1
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#define OBSW_ADD_TEST_CODE 0
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// Define not used yet, PUS stack and TMTC tasks are always started
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#define ADD_PUS_STACK 1
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// These defines should be disabled for mission code but are useful for
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// debugging.
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#define OBSW_ENHANCED_PRINTOUT 1
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#endif /* CONFIG_OBSWCONFIG_H_ */
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@ -1,5 +1,5 @@
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#include "MissionMessageTypes.h"
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#include <fsfw/ipc/CommandMessage.h>
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#include <hosted/fsfwconfig/ipc/MissionMessageTypes.h>
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void messagetypes::clearMissionMessage(CommandMessage* message) {
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switch(message->getMessageType()) {
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36
bsp_hosted/fsfwconfig/objects/systemObjectList.h
Normal file
36
bsp_hosted/fsfwconfig/objects/systemObjectList.h
Normal file
@ -0,0 +1,36 @@
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#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
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#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
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#include <cstdint>
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// The objects will be instantiated in the ID order
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namespace objects {
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enum sourceObjects: uint32_t {
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/* First Byte 0x50-0x52 reserved for PUS Services **/
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CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
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PUS_PACKET_DISTRIBUTOR = 0x50000200,
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UDP_BRIDGE = 0x50000300,
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UDP_POLLING_TASK = 0x50000400,
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PUS_SERVICE_3 = 0x51000300,
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PUS_SERVICE_5 = 0x51000400,
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PUS_SERVICE_6 = 0x51000500,
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PUS_SERVICE_8 = 0x51000800,
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PUS_SERVICE_23 = 0x51002300,
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PUS_SERVICE_201 = 0x51020100,
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TIME_STAMPER = 0x52000001,
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TM_FUNNEL = 0x52000002,
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/* Test Task */
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TEST_TASK = 0x42694269,
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DUMMY_INTERFACE = 0xCAFECAFE,
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DUMMY_HANDLER = 0x4400AFFE,
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/* 0x49 ('I') for Communication Interfaces **/
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ARDUINO_COM_IF = 0x49000001
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};
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}
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#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */
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19
bsp_hosted/fsfwconfig/tmtc/apid.h
Normal file
19
bsp_hosted/fsfwconfig/tmtc/apid.h
Normal file
@ -0,0 +1,19 @@
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#ifndef FSFWCONFIG_TMTC_APID_H_
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#define FSFWCONFIG_TMTC_APID_H_
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#include <stdint.h>
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/**
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* Application Process Definition: entity, uniquely identified by an
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* application process ID (APID), capable of generating telemetry source
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* packets and receiving telecommand packets
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*
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* SOURCE APID: 0x73 / 115 / s
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* APID is a 11 bit number
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*/
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namespace apid {
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static const uint16_t EIVE_OBSW = 0x65;
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}
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#endif /* FSFWCONFIG_TMTC_APID_H_ */
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23
bsp_hosted/fsfwconfig/tmtc/pusIds.h
Normal file
23
bsp_hosted/fsfwconfig/tmtc/pusIds.h
Normal file
@ -0,0 +1,23 @@
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#ifndef CONFIG_TMTC_PUSIDS_HPP_
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#define CONFIG_TMTC_PUSIDS_HPP_
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namespace pus {
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enum Ids{
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PUS_SERVICE_1 = 1,
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PUS_SERVICE_2 = 2,
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PUS_SERVICE_3 = 3,
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PUS_SERVICE_3_PSB = 3,
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PUS_SERVICE_5 = 5,
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PUS_SERVICE_6 = 6,
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PUS_SERVICE_8 = 8,
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PUS_SERVICE_9 = 9,
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PUS_SERVICE_17 = 17,
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PUS_SERVICE_19 = 19,
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PUS_SERVICE_20 = 20,
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PUS_SERVICE_23 = 23,
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PUS_SERVICE_200 = 200,
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PUS_SERVICE_201 = 201,
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};
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};
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#endif /* CONFIG_TMTC_PUSIDS_HPP_ */
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@ -1,7 +1,6 @@
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#include <bsp_hosted/fsfwconfig/OBSWVersion.h>
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#include <bsp_linux/InitMission.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include <hosted/fsfwconfig/OBSWVersion.h>
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#include <iostream>
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#ifdef WIN32
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@ -1,324 +0,0 @@
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#include "ArduinoCookie.h"
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#include "ArduinoComIF.h"
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#include <fsfw/globalfunctions/DleEncoder.h>
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#include <stdio.h>
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#include <string.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <fsfw/globalfunctions/CRC.h>
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#include <termios.h>
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ArduinoCommInterface::ArduinoCommInterface(object_id_t setObjectId,
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const char *serialDevice) :
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spiMap(MAX_NUMBER_OF_SPI_DEVICES), rxBuffer(
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MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true), SystemObject(setObjectId) {
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initialized = false;
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serialPort = ::open("/dev/ttyUSB0", O_RDWR);
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if (serialPort < 0) {
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//configuration error
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printf("Error %i from open: %s\n", errno, strerror(errno));
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return;
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}
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struct termios tty;
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memset(&tty, 0, sizeof tty);
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// Read in existing settings, and handle any error
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if (tcgetattr(serialPort, &tty) != 0) {
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printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
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return;
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}
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tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity
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tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
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tty.c_cflag |= CS8; // 8 bits per byte
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tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
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tty.c_lflag &= ~ICANON; //Disable Canonical Mode
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tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
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tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
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tty.c_cc[VTIME] = 0; // Non Blocking
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tty.c_cc[VMIN] = 0;
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cfsetispeed(&tty, B9600); //Baudrate
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if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
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//printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
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return;
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}
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initialized = true;
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}
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ArduinoCommInterface::~ArduinoCommInterface() {
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::close(serialPort);
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}
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ReturnValue_t ArduinoCommInterface::open(Cookie **cookie, uint32_t address,
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uint32_t maxReplyLen) {
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//This is a hack, will be gone with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19
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switch ((address >> 8) & 0xff) {
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case 0:
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*cookie = new ArduinoCookie(ArduinoCookie::SPI, address, maxReplyLen);
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spiMap.insert(address, (ArduinoCookie*) *cookie); //Yes, I *do* know that it is an ArduinoSpiCookie, I just new'd it
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break;
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default:
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t ArduinoCommInterface::reOpen(Cookie *cookie, uint32_t address,
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uint32_t maxReplyLen) {
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//too lazy right now will be irrelevant with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19
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return HasReturnvaluesIF::RETURN_FAILED;
|
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}
|
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void ArduinoCommInterface::close(Cookie *cookie) {
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//too lazy as well, find the correct Map, delete it there, then the cookie...
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}
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ReturnValue_t ArduinoCommInterface::sendMessage(Cookie *cookie, uint8_t *data,
|
||||
uint32_t len) {
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ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
|
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if (arduinoCookie == NULL) {
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return INVALID_COOKIE_TYPE;
|
||||
}
|
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|
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return sendMessage(arduinoCookie->command, arduinoCookie->address, data,
|
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len);
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}
|
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|
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ReturnValue_t ArduinoCommInterface::getSendSuccess(Cookie *cookie) {
|
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return RETURN_OK;
|
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}
|
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|
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ReturnValue_t ArduinoCommInterface::requestReceiveMessage(Cookie *cookie) {
|
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return RETURN_OK;
|
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}
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|
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ReturnValue_t ArduinoCommInterface::readReceivedMessage(Cookie *cookie,
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uint8_t **buffer, uint32_t *size) {
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|
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handleSerialPortRx();
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|
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ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
|
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if (arduinoCookie == NULL) {
|
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return INVALID_COOKIE_TYPE;
|
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}
|
||||
|
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*buffer = arduinoCookie->replyBuffer;
|
||||
*size = arduinoCookie->receivedDataLen;
|
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return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
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|
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ReturnValue_t ArduinoCommInterface::setAddress(Cookie *cookie,
|
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uint32_t address) {
|
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//not implemented
|
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return RETURN_FAILED;
|
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}
|
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|
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uint32_t ArduinoCommInterface::getAddress(Cookie *cookie) {
|
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//not implemented
|
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return 0;
|
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}
|
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|
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ReturnValue_t ArduinoCommInterface::setParameter(Cookie *cookie,
|
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uint32_t parameter) {
|
||||
//not implemented
|
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return RETURN_FAILED;
|
||||
}
|
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|
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uint32_t ArduinoCommInterface::getParameter(Cookie *cookie) {
|
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//not implemented
|
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return 0;
|
||||
}
|
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|
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ReturnValue_t ArduinoCommInterface::sendMessage(uint8_t command,
|
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uint8_t address, const uint8_t *data, size_t dataLen) {
|
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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;
|
||||
}
|
||||
}
|
||||
@ -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_ */
|
||||
@ -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;
|
||||
//}
|
||||
@ -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_ */
|
||||
2
fsfw
2
fsfw
@ -1 +1 @@
|
||||
Subproject commit b232a8a2919841b331b43c84a7fb2ae80f93186f
|
||||
Subproject commit 086cbe1e3950cf6c904609352408a7fa48cc83ef
|
||||
@ -8,7 +8,8 @@
|
||||
|
||||
#define OBSW_ADD_TEST_CODE 0
|
||||
|
||||
// Define not used yet, PUS stack and TMTC tasks are always started
|
||||
#define ADD_PUS_STACK 1
|
||||
// These defines should be disabled for mission code but are useful for
|
||||
// debugging.
|
||||
#define OBSW_ENHANCED_PRINTOUT 1
|
||||
|
||||
#endif /* FSFWCONFIG_OBSWCONFIG_H_ */
|
||||
|
||||
@ -1,14 +1,14 @@
|
||||
#ifndef FSFWCONFIG_TMTC_APID_H_
|
||||
#define FSFWCONFIG_TMTC_APID_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <cstdint>
|
||||
|
||||
/**
|
||||
* Application Process Definition: entity, uniquely identified by an
|
||||
* application process ID (APID), capable of generating telemetry source
|
||||
* packets and receiving telecommand packets
|
||||
*
|
||||
* SOURCE APID: 0x73 / 115 / s
|
||||
* EIVE APID: 0x65 / 101 / e
|
||||
* APID is a 11 bit number
|
||||
*/
|
||||
namespace apid {
|
||||
|
||||
@ -1,10 +0,0 @@
|
||||
#ifndef FSFWCONFIG_TMTC_TMTCSIZE_H_
|
||||
#define FSFWCONFIG_TMTC_TMTCSIZE_H_
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace tmtcsize {
|
||||
static const uint32_t MAX_TM_PACKET = 50;
|
||||
}
|
||||
|
||||
#endif /* FSFWCONFIG_TMTC_TMTCSIZE_H_ */
|
||||
@ -1,8 +0,0 @@
|
||||
#ifndef HOSTED_BOARDCONFIG_PRINT_H_
|
||||
#define HOSTED_BOARDCONFIG_PRINT_H_
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
void printChar(const char* character, bool errStream);
|
||||
|
||||
#endif /* HOSTED_BOARDCONFIG_PRINT_H_ */
|
||||
144
misc/eclipse/.cproject
Normal file
144
misc/eclipse/.cproject
Normal file
@ -0,0 +1,144 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
|
||||
<storageModule moduleId="org.eclipse.cdt.core.settings">
|
||||
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186">
|
||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186" moduleId="org.eclipse.cdt.core.settings" name="Default">
|
||||
<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="org.eclipse.cdt.core.PE64" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186" name="Default" optionalBuildProperties="" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.471696178" name="/" resourcePath="">
|
||||
<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.708704722" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
|
||||
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1147901267" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
|
||||
<builder buildPath="${workspace_loc:/eive_obsw}/Default" command="make" id="cdt.managedbuild.builder.gnu.cross.1787778157" incrementalBuildTarget="debug" keepEnvironmentInBuildfile="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.1943279911" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.assembler.input.745109632" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.archiver.mingw.base.2124527841" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.mingw.base"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.1825890326" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1800325625" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.c.compiler.mingw.base.562363652" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1828496389" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.c.linker.mingw.base.2091184770" name="MinGW C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.mingw.base"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cpp.linker.mingw.base.1024503752" name="MinGW C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1930752543" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
|
||||
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
|
||||
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
|
||||
</inputType>
|
||||
</tool>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
</cconfiguration>
|
||||
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443">
|
||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443" moduleId="org.eclipse.cdt.core.settings" name="eive-mingw-debug">
|
||||
<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="org.eclipse.cdt.core.PE64" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443" name="eive-mingw-debug" optionalBuildProperties="" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443." name="/" resourcePath="">
|
||||
<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.1176904738" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
|
||||
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1087094604" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
|
||||
<builder arguments="-f Makefile-Hosted" command="make" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="release" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.813737526" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1289649483" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.archiver.mingw.base.1046377753" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.mingw.base"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.646655988" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1437856797" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.c.compiler.mingw.base.397223006" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1482659499" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.c.linker.mingw.base.361305758" name="MinGW C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.mingw.base"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cpp.linker.mingw.base.1019605845" name="MinGW C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1704278779" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
|
||||
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
|
||||
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
|
||||
</inputType>
|
||||
</tool>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
</cconfiguration>
|
||||
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249">
|
||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249" moduleId="org.eclipse.cdt.core.settings" name="eive-mingw-release">
|
||||
<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="org.eclipse.cdt.core.PE64" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249" name="eive-mingw-release" optionalBuildProperties="" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249." name="/" resourcePath="">
|
||||
<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.754560869" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
|
||||
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.2125491129" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
|
||||
<builder arguments="-f Makefile-Hosted" command="make" id="cdt.managedbuild.builder.gnu.cross.1840576359" incrementalBuildTarget="debug" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.1445228447" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1571446155" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.archiver.mingw.base.18980373" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.mingw.base"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.539225324" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1848997248" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.c.compiler.mingw.base.473677411" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.2060052812" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.c.linker.mingw.base.416732714" name="MinGW C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.mingw.base"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cpp.linker.mingw.base.1096391538" name="MinGW C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1444067768" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
|
||||
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
|
||||
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
|
||||
</inputType>
|
||||
</tool>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
</cconfiguration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<project id="eive_obsw.null.1109622296" name="eive_obsw"/>
|
||||
</storageModule>
|
||||
<storageModule moduleId="scannerConfiguration">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
|
||||
<storageModule moduleId="refreshScope" versionNumber="2">
|
||||
<configuration configurationName="eive-mingw-debug">
|
||||
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
|
||||
</configuration>
|
||||
<configuration configurationName="Default">
|
||||
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
|
||||
</cproject>
|
||||
27
misc/eclipse/.project
Normal file
27
misc/eclipse/.project
Normal file
@ -0,0 +1,27 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
|
||||
<name>eive_obsw</name>
|
||||
<comment></comment>
|
||||
<projects>
|
||||
</projects>
|
||||
<buildSpec>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
||||
<triggers>clean,full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
|
||||
<triggers>full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
</buildSpec>
|
||||
<natures>
|
||||
<nature>org.eclipse.cdt.core.cnature</nature>
|
||||
<nature>org.eclipse.cdt.core.ccnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
|
||||
</natures>
|
||||
</projectDescription>
|
||||
33
misc/eclipse/eive-mingw-debug.launch
Normal file
33
misc/eclipse/eive-mingw-debug.launch
Normal file
@ -0,0 +1,33 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
|
||||
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="_bin/host/devel/eiveobsw-host.exe"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443"/>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
|
||||
<listEntry value="/eive_obsw"/>
|
||||
</listAttribute>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
|
||||
<listEntry value="4"/>
|
||||
</listAttribute>
|
||||
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><memoryBlockExpressionList context="reserved-for-future-use"/>"/>
|
||||
<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
|
||||
</launchConfiguration>
|
||||
33
misc/eclipse/eive-mingw-release.launch
Normal file
33
misc/eclipse/eive-mingw-release.launch
Normal file
@ -0,0 +1,33 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
|
||||
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="_bin/host/devel/eiveobsw-host.exe"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249"/>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
|
||||
<listEntry value="/eive_obsw"/>
|
||||
</listAttribute>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
|
||||
<listEntry value="4"/>
|
||||
</listAttribute>
|
||||
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><memoryBlockExpressionList context="reserved-for-future-use"/>"/>
|
||||
<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
|
||||
</launchConfiguration>
|
||||
@ -24,32 +24,28 @@ void ObjectFactory::produceGenericObjects() {
|
||||
/* Framework objects */
|
||||
new EventManager(objects::EVENT_MANAGER);
|
||||
new HealthTable(objects::HEALTH_TABLE);
|
||||
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER, 0, 0, 0);
|
||||
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
|
||||
new TimeStamper(objects::TIME_STAMPER);
|
||||
|
||||
{
|
||||
static constexpr uint8_t NUMBER_OF_POOLS = 5;
|
||||
const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
|
||||
const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
|
||||
new PoolManager<NUMBER_OF_POOLS>(objects::TC_STORE, element_sizes,
|
||||
n_elements);
|
||||
PoolManager::LocalPoolConfig poolCfg = {
|
||||
{100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024}
|
||||
};
|
||||
new PoolManager(objects::TC_STORE, poolCfg);
|
||||
}
|
||||
|
||||
{
|
||||
static constexpr uint8_t NUMBER_OF_POOLS = 5;
|
||||
const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
|
||||
const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
|
||||
new PoolManager<NUMBER_OF_POOLS>(objects::TM_STORE, element_sizes,
|
||||
n_elements);
|
||||
PoolManager::LocalPoolConfig poolCfg = {
|
||||
{100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024}
|
||||
};
|
||||
new PoolManager(objects::TM_STORE, poolCfg);
|
||||
}
|
||||
|
||||
{
|
||||
static constexpr uint8_t NUMBER_OF_POOLS = 6;
|
||||
const uint16_t element_sizes[NUMBER_OF_POOLS] = {32, 64, 512,
|
||||
1024, 2048, 4096};
|
||||
const uint16_t n_elements[NUMBER_OF_POOLS] = {200, 100, 50, 25, 15, 5};
|
||||
new PoolManager<NUMBER_OF_POOLS>(objects::IPC_STORE, element_sizes,
|
||||
n_elements);
|
||||
PoolManager::LocalPoolConfig poolCfg = {
|
||||
{100, 16}, {50, 32}, {25, 64}, {15, 128}, {5, 1024}
|
||||
};
|
||||
new PoolManager(objects::IPC_STORE, poolCfg);
|
||||
}
|
||||
|
||||
new CCSDSDistributor(apid::EIVE_OBSW, objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
@ -62,7 +58,7 @@ void ObjectFactory::produceGenericObjects() {
|
||||
|
||||
/* PUS stack */
|
||||
new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION,
|
||||
apid::EIVE_OBSW, pus::PUS_SERVICE_1, objects::TM_FUNNEL);
|
||||
apid::EIVE_OBSW, pus::PUS_SERVICE_1, objects::TM_FUNNEL, 20);
|
||||
new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS,
|
||||
apid::EIVE_OBSW, pus::PUS_SERVICE_2, 3, 10);
|
||||
new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING,
|
||||
|
||||
@ -1,13 +1,19 @@
|
||||
#include "MGMHandlerLIS3MDL.h"
|
||||
|
||||
|
||||
MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
|
||||
object_id_t deviceCommunication, CookieIF* comCookie):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
|
||||
registers[0] = 0x00;
|
||||
registers[1] = 0x00;
|
||||
registers[2] = 0x00;
|
||||
registers[3] = 0x00;
|
||||
registers[4] = 0x00;
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
dataset(this) {
|
||||
#if OBSW_ENHANCED_PRINTOUT == 1
|
||||
debugDivider = new PeriodicOperationDivider(10);
|
||||
#endif
|
||||
// Set to default values right away.
|
||||
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
|
||||
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
|
||||
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
|
||||
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
|
||||
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
|
||||
|
||||
}
|
||||
|
||||
@ -29,18 +35,14 @@ void MGMHandlerLIS3MDL::doStartUp() {
|
||||
internalState = STATE_CHECK_REGISTERS;
|
||||
break;
|
||||
|
||||
case STATE_CHECK_REGISTERS:
|
||||
if (setupMGM() == RETURN_OK) {
|
||||
for (size_t i = 1; i <= MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
|
||||
if (registers[i - 1] != commandBuffer[i]) {
|
||||
case STATE_CHECK_REGISTERS: {
|
||||
// Set up cached registers which will be used to configure the MGM.
|
||||
if(commandExecuted) {
|
||||
commandExecuted = false;
|
||||
setMode(MODE_NORMAL);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
setMode(_MODE_TO_ON);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
@ -63,7 +65,7 @@ ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
|
||||
break;
|
||||
|
||||
case STATE_CHECK_REGISTERS:
|
||||
*id = MGMLIS3MDL::READALL_MGM;
|
||||
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
break;
|
||||
|
||||
default:
|
||||
@ -88,25 +90,33 @@ uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) {
|
||||
return command;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::setupMGM() {
|
||||
void MGMHandlerLIS3MDL::setupMgm() {
|
||||
|
||||
registers[0] = (1 << MGMLIS3MDL::TEMP_EN) | (1 << MGMLIS3MDL::OM1)
|
||||
| (1 << MGMLIS3MDL::DO0) | (1 << MGMLIS3MDL::DO1)
|
||||
| (1 << MGMLIS3MDL::DO2);
|
||||
registers[1] = 0;
|
||||
registers[2] = 0;
|
||||
registers[3] = (1 << MGMLIS3MDL::OMZ1);
|
||||
registers[4] = 0;
|
||||
|
||||
return prepareCtrlRegisterWrite();
|
||||
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
|
||||
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
|
||||
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
|
||||
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
|
||||
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
|
||||
|
||||
prepareCtrlRegisterWrite();
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) {
|
||||
//defines CommandID of MGM in normal operation and build command from command
|
||||
*id = MGMLIS3MDL::READALL_MGM;
|
||||
// Data/config register will be read in an alternating manner.
|
||||
if(communicationStep == CommunicationStep::DATA) {
|
||||
lastSentCommand = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
communicationStep = CommunicationStep::TEMPERATURE;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
else {
|
||||
lastSentCommand = MGMLIS3MDL::READ_TEMPERATURE;
|
||||
*id = MGMLIS3MDL::READ_TEMPERATURE;
|
||||
communicationStep = CommunicationStep::DATA;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
|
||||
@ -114,13 +124,22 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
|
||||
size_t commandDataLen) {
|
||||
lastSentCommand = deviceCommand;
|
||||
switch(deviceCommand) {
|
||||
case(MGMLIS3MDL::READALL_MGM): {
|
||||
case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
|
||||
std::memset(commandBuffer, 0, sizeof(commandBuffer));
|
||||
commandBuffer[0] = readCommand(0, true);
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = sizeof(commandBuffer);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
|
||||
return RETURN_OK;
|
||||
}
|
||||
case(MGMLIS3MDL::READ_TEMPERATURE): {
|
||||
std::memset(commandBuffer, 0, 3);
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 3;
|
||||
return RETURN_OK;
|
||||
}
|
||||
case(MGMLIS3MDL::IDENTIFY_DEVICE): {
|
||||
return identifyDevice();
|
||||
}
|
||||
@ -128,7 +147,8 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
|
||||
return enableTemperatureSensor(commandData, commandDataLen);
|
||||
}
|
||||
case(MGMLIS3MDL::SETUP_MGM): {
|
||||
return setupMGM();
|
||||
setupMgm();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
|
||||
return setOperatingMode(commandData, commandDataLen);
|
||||
@ -137,7 +157,6 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
|
||||
lastSentCommand = DeviceHandlerIF::NO_COMMAND;
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
@ -155,22 +174,33 @@ ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() {
|
||||
ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
|
||||
size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
*foundLen = len;
|
||||
if (len == MGMLIS3MDL::TOTAL_NR_OF_ADRESSES + 1) {
|
||||
if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::READALL_MGM;
|
||||
//WHO AM I test
|
||||
if (*(start + 16) != MGMLIS3MDL::DEVICE_ID) {
|
||||
*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
// Check validity by checking config registers
|
||||
if (start[1] != registers[0] or start[2] != registers[1] or
|
||||
start[3] != registers[2] or start[4] != registers[3] or
|
||||
start[5] != registers[4]) {
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
if(mode == _MODE_START_UP) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
|
||||
} else if (len == MGMLIS3MDL::SETUP_REPLY) {
|
||||
}
|
||||
else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::READ_TEMPERATURE;
|
||||
}
|
||||
else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::SETUP_MGM;
|
||||
} else if (len == SINGLE_COMMAND_ANSWER_LEN) {
|
||||
}
|
||||
else if (len == SINGLE_COMMAND_ANSWER_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = lastSentCommand;
|
||||
} else {
|
||||
|
||||
}
|
||||
else {
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
|
||||
@ -193,40 +223,62 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
|
||||
case MGMLIS3MDL::SETUP_MGM: {
|
||||
break;
|
||||
}
|
||||
case MGMLIS3MDL::READALL_MGM: {
|
||||
case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
|
||||
// TODO: Store configuration and sensor values in new local datasets.
|
||||
registers[0] = *(packet + 33);
|
||||
registers[1] = *(packet + 34);
|
||||
registers[2] = *(packet + 35);
|
||||
registers[3] = *(packet + 36);
|
||||
registers[4] = *(packet + 37);
|
||||
|
||||
uint8_t reg2_value = *(packet + 34);
|
||||
uint8_t scale = getFullScale(®2_value);
|
||||
uint8_t scale = getFullScale(registers[2]);
|
||||
float sensitivityFactor = getSensitivityFactor(scale);
|
||||
|
||||
int16_t x_value_raw;
|
||||
int16_t y_value_raw;
|
||||
int16_t z_value_raw;
|
||||
int16_t temp_value_raw;
|
||||
//size_t size = 2;
|
||||
uint8_t *accessBuffer;
|
||||
accessBuffer = const_cast<uint8_t*>(packet + 41);
|
||||
int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
|
||||
| packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
|
||||
int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
|
||||
| packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
|
||||
int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
|
||||
| packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
|
||||
|
||||
x_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
|
||||
accessBuffer += 2;
|
||||
y_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
|
||||
accessBuffer += 2;
|
||||
z_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
|
||||
accessBuffer += 2;
|
||||
// Target value in microtesla
|
||||
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
|
||||
temp_value_raw = *(accessBuffer + 1) << 8 | *(accessBuffer);
|
||||
|
||||
float x_value = static_cast<float>(x_value_raw) * sensitivityFactor;
|
||||
float y_value = static_cast<float>(y_value_raw) * sensitivityFactor;
|
||||
float z_value = static_cast<float>(z_value_raw) * sensitivityFactor;
|
||||
float temp_value = 25.0 + ((static_cast<float>(temp_value_raw)) / 8.0);
|
||||
#if OBSW_ENHANCED_PRINTOUT == 1
|
||||
if(debugDivider->checkAndIncrement()) {
|
||||
sif::info << "MGMHandlerLIS3: Magnetic field strength in"
|
||||
" microtesla:" << std::endl;
|
||||
// Set terminal to utf-8 if there is an issue with micro printout.
|
||||
sif::info << "X: " << mgmX << " \xC2\xB5T" << std::endl;
|
||||
sif::info << "Y: " << mgmY << " \xC2\xB5T" << std::endl;
|
||||
sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl;
|
||||
}
|
||||
#endif
|
||||
ReturnValue_t result = dataset.read(20);
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.fieldStrengthX = mgmX;
|
||||
dataset.fieldStrengthY = mgmY;
|
||||
dataset.fieldStrengthZ = mgmZ;
|
||||
dataset.commit(20);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case MGMLIS3MDL::READ_TEMPERATURE: {
|
||||
int16_t tempValueRaw = packet[2] << 8 | packet[1];
|
||||
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
|
||||
#if OBSW_ENHANCED_PRINTOUT == 1
|
||||
if(debugDivider->check()) {
|
||||
// Set terminal to utf-8 if there is an issue with micro printout.
|
||||
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue<< " °C"
|
||||
<< std::endl;
|
||||
}
|
||||
#endif
|
||||
ReturnValue_t result = dataset.read(20);
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.temperature = tempValue;
|
||||
dataset.commit(20);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
@ -238,12 +290,12 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t *reg2) {
|
||||
uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) {
|
||||
bool FS0 = false;
|
||||
bool FS1 = false;
|
||||
if ((*reg2 >> 5) == 1)
|
||||
if ((ctrlRegister2 >> 5) == 1)
|
||||
FS0 = true;
|
||||
if ((*reg2 >> 6) == 1)
|
||||
if ((ctrlRegister2 >> 6) == 1)
|
||||
FS1 = true;
|
||||
if ((FS0 == true) && (FS1 == true))
|
||||
return 16;
|
||||
@ -269,17 +321,16 @@ ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor(
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
switch (*commandData) {
|
||||
case (MGMLIS3MDL::ON):
|
||||
case (MGMLIS3MDL::ON): {
|
||||
commandBuffer[1] = registers[0] | (1 << 7);
|
||||
break;
|
||||
|
||||
case (MGMLIS3MDL::OFF):
|
||||
}
|
||||
case (MGMLIS3MDL::OFF): {
|
||||
commandBuffer[1] = registers[0] & ~(1 << 7);
|
||||
break;
|
||||
|
||||
}
|
||||
default:
|
||||
return INVALID_COMMAND_PARAMETER;
|
||||
break;
|
||||
}
|
||||
registers[0] = commandBuffer[1];
|
||||
|
||||
@ -333,7 +384,8 @@ void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
|
||||
* We dont read single registers, we just expect special
|
||||
* reply from he Readall_MGM
|
||||
*/
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READALL_MGM, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
|
||||
@ -348,7 +400,7 @@ ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
|
||||
commandBuffer[i + 1] = registers[i];
|
||||
}
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
|
||||
|
||||
// We dont have to check if this is working because we just did it
|
||||
return RETURN_OK;
|
||||
@ -369,3 +421,16 @@ uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
void MGMHandlerLIS3MDL::modeChanged(void) {
|
||||
internalState = STATE_NONE;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
|
||||
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
|
||||
new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
@ -1,9 +1,13 @@
|
||||
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
|
||||
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include "devicedefinitions/MGMHandlerLIS3Definitions.h"
|
||||
#include <subsystemIdRanges.h>
|
||||
|
||||
#include <OBSWConfig.h>
|
||||
#include <events/subsystemIdRanges.h>
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
|
||||
|
||||
/**
|
||||
* @brief Device handler object for the LIS3MDL 3-axis magnetometer
|
||||
@ -14,10 +18,15 @@
|
||||
*/
|
||||
class MGMHandlerLIS3MDL: public DeviceHandlerBase {
|
||||
public:
|
||||
enum class CommunicationStep {
|
||||
DATA,
|
||||
TEMPERATURE
|
||||
};
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
|
||||
//Notifies a command to change the setup parameters
|
||||
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, SEVERITY::LOW);
|
||||
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
|
||||
|
||||
MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie);
|
||||
@ -44,8 +53,13 @@ protected:
|
||||
virtual void fillCommandAndReplyMap() override;
|
||||
virtual void modeChanged(void) override;
|
||||
void setNormalDatapoolEntriesInvalid() override;
|
||||
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
|
||||
private:
|
||||
MGMLIS3MDL::MgmPrimaryDataset dataset;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Device specific commands and variables */
|
||||
/*------------------------------------------------------------------------*/
|
||||
@ -68,7 +82,7 @@ private:
|
||||
* e.g.: +- 4 gauss. See p.25 datasheet.
|
||||
* @return The ReturnValue does not contain the sign of the value
|
||||
*/
|
||||
uint8_t getFullScale(uint8_t *reg2);
|
||||
uint8_t getFullScale(uint8_t ctrlReg2);
|
||||
|
||||
/**
|
||||
* The 16 bit value needs to be divided by the full range of a 16bit value
|
||||
@ -86,7 +100,7 @@ private:
|
||||
*/
|
||||
ReturnValue_t identifyDevice();
|
||||
|
||||
virtual ReturnValue_t setupMGM();
|
||||
virtual void setupMgm();
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Non normal commands */
|
||||
@ -114,7 +128,7 @@ private:
|
||||
//Single SPIcommand has 2 bytes, first for adress, second for content
|
||||
size_t singleComandSize = 2;
|
||||
//has the size for all adresses of the lis3mdl + the continous write bit
|
||||
uint8_t commandBuffer[MGMLIS3MDL::TOTAL_NR_OF_ADRESSES + 1];
|
||||
uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
|
||||
|
||||
/**
|
||||
* We want to save the registers we set, so we dont have to read the
|
||||
@ -123,6 +137,9 @@ private:
|
||||
*/
|
||||
uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
|
||||
|
||||
uint8_t statusRegister = 0;
|
||||
|
||||
|
||||
/**
|
||||
* As this is a SPI Device, we get the Answer of the last sent command in
|
||||
* the next read cycle, so we could check the command for identification.
|
||||
@ -142,6 +159,12 @@ private:
|
||||
};
|
||||
|
||||
InternalState internalState = STATE_NONE;
|
||||
CommunicationStep communicationStep = CommunicationStep::DATA;
|
||||
bool commandExecuted = false;
|
||||
|
||||
#if OBSW_ENHANCED_PRINTOUT == 1
|
||||
PeriodicOperationDivider* debugDivider;
|
||||
#endif
|
||||
|
||||
};
|
||||
|
||||
|
||||
@ -1,6 +1,9 @@
|
||||
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_
|
||||
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/datapoollocal/LocalPoolVariable.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <cstdint>
|
||||
|
||||
namespace MGMLIS3MDL {
|
||||
@ -12,11 +15,14 @@ enum opMode {
|
||||
LOW, MEDIUM, HIGH, ULTRA
|
||||
};
|
||||
|
||||
static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
|
||||
|
||||
static const DeviceCommandId_t SETUP_MGM = 0x00;
|
||||
static const DeviceCommandId_t READALL_MGM = 0x01;
|
||||
static const DeviceCommandId_t IDENTIFY_DEVICE = 0x02;
|
||||
static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x03;
|
||||
static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x04;
|
||||
static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x01;
|
||||
static const DeviceCommandId_t READ_TEMPERATURE = 0x02;
|
||||
static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
|
||||
static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;
|
||||
static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05;
|
||||
|
||||
//Number of all control registers
|
||||
static const uint8_t NR_OF_CTRL_REGISTERS = 5;
|
||||
@ -24,7 +30,9 @@ static const uint8_t NR_OF_CTRL_REGISTERS = 5;
|
||||
static const uint8_t NR_OF_REGISTERS = 19;
|
||||
//Total number of adresses for all registers
|
||||
static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
|
||||
static const uint8_t SETUP_REPLY = 6;
|
||||
static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14;
|
||||
static const uint8_t TEMPERATURE_REPLY_LEN = 3;
|
||||
static const uint8_t SETUP_REPLY_LEN = 6;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Register adresses */
|
||||
@ -45,19 +53,26 @@ static const uint8_t CTRL_REG4 = 0b00100011;
|
||||
static const uint8_t CTRL_REG5 = 0b00100100;
|
||||
|
||||
//Register adress to access status register
|
||||
static const uint8_t STATUS_REG_IDX = 8;
|
||||
static const uint8_t STATUS_REG = 0b00100111;
|
||||
|
||||
//Register adress to access low byte of x-axis
|
||||
static const uint8_t X_LOWBYTE_IDX = 9;
|
||||
static const uint8_t X_LOWBYTE = 0b00101000;
|
||||
//Register adress to access high byte of x-axis
|
||||
static const uint8_t X_HIGHBYTE_IDX = 10;
|
||||
static const uint8_t X_HIGHBYTE = 0b00101001;
|
||||
//Register adress to access low byte of y-axis
|
||||
static const uint8_t Y_LOWBYTE_IDX = 11;
|
||||
static const uint8_t Y_LOWBYTE = 0b00101010;
|
||||
//Register adress to access high byte of y-axis
|
||||
static const uint8_t Y_HIGHBYTE_IDX = 12;
|
||||
static const uint8_t Y_HIGHBYTE = 0b00101011;
|
||||
//Register adress to access low byte of z-axis
|
||||
static const uint8_t Z_LOWBYTE_IDX = 13;
|
||||
static const uint8_t Z_LOWBYTE = 0b00101100;
|
||||
//Register adress to access high byte of z-axis
|
||||
static const uint8_t Z_HIGHBYTE_IDX = 14;
|
||||
static const uint8_t Z_HIGHBYTE = 0b00101101;
|
||||
|
||||
//Register adress to access low byte of temperature sensor
|
||||
@ -66,7 +81,7 @@ static const uint8_t TEMP_LOWBYTE = 0b00101110;
|
||||
static const uint8_t TEMP_HIGHBYTE = 0b00101111;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Initialize Setup Register set bits
|
||||
/* Initialize Setup Register set bits */
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* General transfer bits */
|
||||
// Read=1 / Write=0 Bit
|
||||
@ -84,6 +99,8 @@ static const uint8_t DO2 = 4; // Output data rate bit 4
|
||||
static const uint8_t OM0 = 5; // XY operating mode bit 5
|
||||
static const uint8_t OM1 = 6; // XY operating mode bit 6
|
||||
static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1
|
||||
static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
|
||||
(1 << DO0) | (1 << DO1) | (1 << DO2);
|
||||
|
||||
/* CTRL_REG2 bits */
|
||||
//reset configuration registers and user registers
|
||||
@ -91,6 +108,7 @@ static const uint8_t SOFT_RST = 2;
|
||||
static const uint8_t REBOOT = 3; //reboot memory content
|
||||
static const uint8_t FSO = 5; //full-scale selection bit 5
|
||||
static const uint8_t FS1 = 6; //full-scale selection bit 6
|
||||
static const uint8_t CTRL_REG2_DEFAULT = 0;
|
||||
|
||||
/* CTRL_REG3 bits */
|
||||
static const uint8_t MD0 = 0; //Operating mode bit 0
|
||||
@ -98,18 +116,48 @@ static const uint8_t MD1 = 1; //Operating mode bit 1
|
||||
//SPI serial interface mode selection enabled = 3-wire-mode
|
||||
static const uint8_t SIM = 2;
|
||||
static const uint8_t LP = 5; //low-power mode
|
||||
static const uint8_t CTRL_REG3_DEFAULT = 0;
|
||||
|
||||
/* CTRL_REG4 bits */
|
||||
//big/little endian data selection enabled = MSb at lower adress
|
||||
static const uint8_t BLE = 1;
|
||||
static const uint8_t OMZ0 = 2; //Z operating mode bit 2
|
||||
static const uint8_t OMZ1 = 3; //Z operating mode bit 3
|
||||
static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
|
||||
|
||||
/* CTRL_REG5 bits */
|
||||
static const uint8_t BDU = 6; //Block data update
|
||||
static const uint8_t FAST_READ = 7; //Fast read enabled = 1
|
||||
static const uint8_t CTRL_REG5_DEFAULT = 0;
|
||||
|
||||
static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
|
||||
|
||||
enum MgmPoolIds: lp_id_t {
|
||||
FIELD_STRENGTH_X,
|
||||
FIELD_STRENGTH_Y,
|
||||
FIELD_STRENGTH_Z,
|
||||
TEMPERATURE_CELCIUS
|
||||
};
|
||||
|
||||
class MgmPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
|
||||
public:
|
||||
MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
|
||||
|
||||
MgmPrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
|
||||
|
||||
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_X, this);
|
||||
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Y, this);
|
||||
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
|
||||
TEMPERATURE_CELCIUS, this);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_ */
|
||||
|
||||
2
tmtc
2
tmtc
@ -1 +1 @@
|
||||
Subproject commit 4463efcf7bfd2181a78eff66fca82c335aeea1d1
|
||||
Subproject commit e0c896e62d25286d00599ca57b71d0a3495ed95f
|
||||
Loading…
Reference in New Issue
Block a user