Merge remote-tracking branch 'origin/development' into gaisser_countdown_timer
This commit is contained in:
commit
1b38f84edc
68
CHANGELOG
68
CHANGELOG
@ -1,17 +1,81 @@
|
||||
## Changes from ASTP 1.0.0 to 1.1.0
|
||||
# Changed from ASTP 1.1.0 to 1.2.0
|
||||
|
||||
## API Changes
|
||||
|
||||
### FSFW Architecture
|
||||
|
||||
- New src folder which contains all source files except the HAL, contributed code and test code
|
||||
- External and internal API mostly stayed the same
|
||||
- Folder names are now all smaller case: internalError was renamed to internalerror and
|
||||
FreeRTOS was renamed to freertos
|
||||
- Warning if optional headers are used but the modules was not added to the source files to compile
|
||||
|
||||
### HAL
|
||||
|
||||
- HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library
|
||||
made using it more complicated than necessary
|
||||
|
||||
## Bugfixes
|
||||
|
||||
### FreeRTOS QueueMapManager
|
||||
|
||||
- Fixed a bug which causes the first generated Queue ID to be invalid
|
||||
|
||||
## Enhancements
|
||||
|
||||
### FSFW Architecture
|
||||
|
||||
- See API changes chapter. This change will keep the internal API consistent in the future
|
||||
|
||||
# Changes from ASTP 1.0.0 to 1.1.0
|
||||
|
||||
## API Changes
|
||||
|
||||
### PUS
|
||||
|
||||
- Added PUS C support
|
||||
- SUBSYSTEM_IDs added for PUS Services
|
||||
- Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE
|
||||
|
||||
### ObjectManager
|
||||
|
||||
- ObjectManager is now a singelton
|
||||
|
||||
|
||||
### Configuration
|
||||
|
||||
- Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which
|
||||
need to be specified in FSFWConfig.h
|
||||
|
||||
### CMake
|
||||
|
||||
- Changed Cmake FSFW_ADDITIONAL_INC_PATH to FSFW_ADDITIONAL_INC_PATHS
|
||||
|
||||
## Bugfixes
|
||||
|
||||
- timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
|
||||
- TCP server fixes
|
||||
|
||||
## Enhancements
|
||||
|
||||
### FreeRTOS Queue Handles
|
||||
|
||||
- Fixed an internal issue how FreeRTOS MessageQueues were handled
|
||||
|
||||
### Linux OSAL
|
||||
|
||||
- Better printf error messages
|
||||
|
||||
### CMake
|
||||
|
||||
- Check for C++11 as mininimum required Version
|
||||
|
||||
### Debug Output
|
||||
|
||||
- Changed Warning color to magenta, which is well readable on both dark and light mode IDEs
|
||||
|
||||
|
||||
## Changes from ASTP 0.0.1 to 1.0.0
|
||||
# Changes from ASTP 0.0.1 to 1.0.0
|
||||
|
||||
### Host OSAL
|
||||
|
||||
|
||||
132
CMakeLists.txt
132
CMakeLists.txt
@ -3,20 +3,33 @@ cmake_minimum_required(VERSION 3.13)
|
||||
option(FSFW_GENERATE_SECTIONS
|
||||
"Generate function and data sections. Required to remove unused code" ON
|
||||
)
|
||||
|
||||
if(FSFW_GENERATE_SECTIONS)
|
||||
option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
|
||||
endif()
|
||||
|
||||
option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
|
||||
# Options to exclude parts of the FSFW from compilation.
|
||||
option(FSFW_USE_RMAP "Compile with RMAP" ON)
|
||||
option(FSFW_USE_DATALINKLAYER "Compile with Data Link Layer" ON)
|
||||
option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
|
||||
option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
|
||||
option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
|
||||
|
||||
# Optional sources
|
||||
option(FSFW_ADD_PUS "Compile with PUS sources" ON)
|
||||
option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)
|
||||
|
||||
option(FSFW_ADD_RMAP "Compile with RMAP" OFF)
|
||||
option(FSFW_ADD_DATALINKLAYER "Compile with Data Link Layer" OFF)
|
||||
option(FSFW_ADD_COORDINATES "Compile with coordinate components" OFF)
|
||||
option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
|
||||
|
||||
# Contrib sources
|
||||
option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
|
||||
|
||||
set(LIB_FSFW_NAME fsfw)
|
||||
add_library(${LIB_FSFW_NAME})
|
||||
set(FSFW_CORE_INC_PATH "inc")
|
||||
|
||||
set_property(CACHE OS_FSFW PROPERTY STRINGS host linux rtems freertos)
|
||||
set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
|
||||
|
||||
if(NOT CMAKE_CXX_STANDARD)
|
||||
set(CMAKE_CXX_STANDARD 11)
|
||||
@ -25,100 +38,61 @@ elseif(${CMAKE_CXX_STANDARD} LESS 11)
|
||||
message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
|
||||
endif()
|
||||
|
||||
if(NOT OS_FSFW)
|
||||
message(STATUS "No OS for FSFW via OS_FSFW set. Assuming host OS")
|
||||
# Backwards comptability
|
||||
if(OS_FSFW AND NOT FSFW_OSAL)
|
||||
message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
|
||||
set(FSFW_OSAL OS_FSFW)
|
||||
endif()
|
||||
|
||||
if(NOT FSFW_OSAL)
|
||||
message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
|
||||
# Assume host OS and autodetermine from OS_FSFW
|
||||
if(UNIX)
|
||||
set(OS_FSFW "linux"
|
||||
set(FSFW_OSAL "linux"
|
||||
CACHE STRING
|
||||
"OS abstraction layer used in the FSFW"
|
||||
)
|
||||
elseif(WIN32)
|
||||
set(OS_FSFW "host"
|
||||
set(FSFW_OSAL "host"
|
||||
CACHE STRING "OS abstraction layer used in the FSFW"
|
||||
)
|
||||
endif()
|
||||
|
||||
endif()
|
||||
|
||||
set(FSFW_OSAL_DEFINITION FSFW_HOST)
|
||||
set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
|
||||
|
||||
if(${OS_FSFW} STREQUAL host)
|
||||
set(OS_FSFW_NAME "Host")
|
||||
elseif(${OS_FSFW} STREQUAL linux)
|
||||
set(OS_FSFW_NAME "Linux")
|
||||
set(FSFW_OSAL_DEFINITION FSFW_LINUX)
|
||||
elseif(${OS_FSFW} STREQUAL freertos)
|
||||
set(OS_FSFW_NAME "FreeRTOS")
|
||||
set(FSFW_OSAL_DEFINITION FSFW_FREERTOS)
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
|
||||
if(FSFW_OSAL MATCHES host)
|
||||
set(OS_FSFW_NAME "Host")
|
||||
set(FSFW_OSAL_HOST ON)
|
||||
elseif(FSFW_OSAL MATCHES linux)
|
||||
set(OS_FSFW_NAME "Linux")
|
||||
set(FSFW_OSAL_LINUX ON)
|
||||
elseif(FSFW_OSAL MATCHES freertos)
|
||||
set(OS_FSFW_NAME "FreeRTOS")
|
||||
set(FSFW_OSAL_FREERTOS ON)
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
|
||||
${LIB_OS_NAME}
|
||||
)
|
||||
elseif(${OS_FSFW} STREQUAL rtems)
|
||||
set(OS_FSFW_NAME "RTEMS")
|
||||
set(FSFW_OSAL_DEFINITION FSFW_RTEMS)
|
||||
)
|
||||
elseif(FSFW_OSAL STREQUAL rtems)
|
||||
set(OS_FSFW_NAME "RTEMS")
|
||||
set(FSFW_OSAL_RTEMS ON)
|
||||
else()
|
||||
message(WARNING
|
||||
"Invalid operating system for FSFW specified! Setting to host.."
|
||||
)
|
||||
set(OS_FSFW_NAME "Host")
|
||||
set(OS_FSFW "host")
|
||||
message(WARNING
|
||||
"Invalid operating system for FSFW specified! Setting to host.."
|
||||
)
|
||||
set(OS_FSFW_NAME "Host")
|
||||
set(OS_FSFW "host")
|
||||
endif()
|
||||
|
||||
target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_OSAL_DEFINITION}
|
||||
)
|
||||
|
||||
target_compile_definitions(${LIB_FSFW_NAME} INTERFACE
|
||||
${FSFW_OSAL_DEFINITION}
|
||||
)
|
||||
|
||||
message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system.")
|
||||
|
||||
add_subdirectory(action)
|
||||
add_subdirectory(container)
|
||||
add_subdirectory(controller)
|
||||
add_subdirectory(coordinates)
|
||||
|
||||
if(FSFW_USE_DATALINKLAYER)
|
||||
add_subdirectory(datalinklayer)
|
||||
add_subdirectory(src)
|
||||
add_subdirectory(tests)
|
||||
if(FSFW_ADD_HAL)
|
||||
add_subdirectory(hal)
|
||||
endif()
|
||||
|
||||
add_subdirectory(datapool)
|
||||
add_subdirectory(datapoollocal)
|
||||
add_subdirectory(housekeeping)
|
||||
add_subdirectory(devicehandlers)
|
||||
add_subdirectory(events)
|
||||
add_subdirectory(fdir)
|
||||
add_subdirectory(globalfunctions)
|
||||
add_subdirectory(health)
|
||||
add_subdirectory(internalError)
|
||||
add_subdirectory(ipc)
|
||||
add_subdirectory(memory)
|
||||
add_subdirectory(modes)
|
||||
add_subdirectory(monitoring)
|
||||
add_subdirectory(objectmanager)
|
||||
add_subdirectory(osal)
|
||||
add_subdirectory(parameters)
|
||||
add_subdirectory(power)
|
||||
add_subdirectory(pus)
|
||||
|
||||
if(FSFW_USE_RMAP)
|
||||
add_subdirectory(rmap)
|
||||
endif()
|
||||
|
||||
add_subdirectory(serialize)
|
||||
add_subdirectory(serviceinterface)
|
||||
add_subdirectory(storagemanager)
|
||||
add_subdirectory(subsystem)
|
||||
add_subdirectory(tasks)
|
||||
add_subdirectory(tcdistribution)
|
||||
add_subdirectory(thermal)
|
||||
add_subdirectory(timemanager)
|
||||
add_subdirectory(tmstorage)
|
||||
add_subdirectory(tmtcpacket)
|
||||
add_subdirectory(tmtcservices)
|
||||
add_subdirectory(unittest)
|
||||
add_subdirectory(contrib)
|
||||
|
||||
# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
|
||||
# If this is not given, we include the default configuration and emit a warning.
|
||||
@ -191,6 +165,7 @@ endif()
|
||||
target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_SOURCE_DIR}
|
||||
${FSFW_CONFIG_PATH_ABSOLUTE}
|
||||
${FSFW_CORE_INC_PATH}
|
||||
${FSFW_ADD_INC_PATHS_ABS}
|
||||
)
|
||||
|
||||
@ -200,6 +175,7 @@ target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_SOURCE_DIR}
|
||||
${FSFW_CONFIG_PATH_ABSOLUTE}
|
||||
${FSFW_CORE_INC_PATH}
|
||||
${FSFW_ADD_INC_PATHS_ABS}
|
||||
)
|
||||
|
||||
|
||||
7
FSFW.h
7
FSFW.h
@ -1,7 +0,0 @@
|
||||
#ifndef FSFW_FSFW_H_
|
||||
#define FSFW_FSFW_H_
|
||||
|
||||
#include "FSFWConfig.h"
|
||||
|
||||
|
||||
#endif /* FSFW_FSFW_H_ */
|
||||
@ -1,12 +0,0 @@
|
||||
#ifndef FSFW_DEFAULTCFG_VERSION_H_
|
||||
#define FSFW_DEFAULTCFG_VERSION_H_
|
||||
|
||||
const char* const FSFW_VERSION_NAME = "ASTP";
|
||||
|
||||
#define FSFW_VERSION 1
|
||||
#define FSFW_SUBVERSION 0
|
||||
#define FSFW_REVISION 0
|
||||
|
||||
|
||||
|
||||
#endif /* FSFW_DEFAULTCFG_VERSION_H_ */
|
||||
@ -1,4 +1,4 @@
|
||||
|
||||
|
||||
|
||||
# Flight Software Framework (FSFW)
|
||||
|
||||
|
||||
9
contrib/CMakeLists.txt
Normal file
9
contrib/CMakeLists.txt
Normal file
@ -0,0 +1,9 @@
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
add_subdirectory(fsfw_contrib)
|
||||
11
contrib/fsfw_contrib/CMakeLists.txt
Normal file
11
contrib/fsfw_contrib/CMakeLists.txt
Normal file
@ -0,0 +1,11 @@
|
||||
if(FSFW_ADD_SGP4_PROPAGATOR)
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
sgp4/sgp4unit.cpp
|
||||
)
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/sgp4
|
||||
)
|
||||
target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/sgp4
|
||||
)
|
||||
endif()
|
||||
@ -1,12 +0,0 @@
|
||||
#ifndef FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_
|
||||
#define FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_
|
||||
|
||||
/* Collected related headers */
|
||||
#include "LocalPoolVariable.h"
|
||||
#include "LocalPoolVector.h"
|
||||
#include "StaticLocalDataSet.h"
|
||||
#include "LocalDataSet.h"
|
||||
#include "SharedLocalDataSet.h"
|
||||
|
||||
|
||||
#endif /* FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_ */
|
||||
@ -1,15 +0,0 @@
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/tmtc/*.cpp)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/devices/*.cpp)
|
||||
|
||||
INCLUDES += $(CURRENTPATH)
|
||||
INCLUDES += $(CURRENTPATH)/objects
|
||||
INCLUDES += $(CURRENTPATH)/returnvalues
|
||||
INCLUDES += $(CURRENTPATH)/tmtc
|
||||
INCLUDES += $(CURRENTPATH)/events
|
||||
INCLUDES += $(CURRENTPATH)/devices
|
||||
INCLUDES += $(CURRENTPATH)/pollingsequence
|
||||
INCLUDES += $(CURRENTPATH)/ipc
|
||||
@ -1,7 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME}
|
||||
PRIVATE
|
||||
EventManager.cpp
|
||||
EventMessage.cpp
|
||||
)
|
||||
|
||||
add_subdirectory(eventmatching)
|
||||
75
fsfw.mk
75
fsfw.mk
@ -1,75 +0,0 @@
|
||||
# This submake file needs to be included by the primary Makefile.
|
||||
# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile.
|
||||
# Valid API settings: rtems, linux, freeRTOS, host
|
||||
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/contrib/sgp4/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/internal/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/health/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/internalError/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/ipc/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/memory/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/modes/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/monitoring/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/objectmanager/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
|
||||
|
||||
# select the OS
|
||||
ifeq ($(OS_FSFW),rtems)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
|
||||
|
||||
else ifeq ($(OS_FSFW),linux)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
|
||||
|
||||
else ifeq ($(OS_FSFW),freeRTOS)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
|
||||
|
||||
else ifeq ($(OS_FSFW),host)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
|
||||
ifeq ($(OS),Windows_NT)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/windows/*.cpp)
|
||||
else
|
||||
# For now, the linux UDP bridge sources needs to be included manually by upper makefile
|
||||
# for host OS because we can't be sure the OS is linux.
|
||||
# Following lines can be used to do this:
|
||||
# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp
|
||||
# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp
|
||||
endif
|
||||
|
||||
else
|
||||
$(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
|
||||
endif
|
||||
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/power/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/returnvalues/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/rmap/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/serialize/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/serviceinterface/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/storagemanager/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/subsystem/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/subsystem/modes/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tasks/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tcdistribution/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/thermal/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/timemanager/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmstorage/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp)
|
||||
@ -1,124 +0,0 @@
|
||||
#include "../globalfunctions/DleEncoder.h"
|
||||
|
||||
DleEncoder::DleEncoder() {}
|
||||
|
||||
DleEncoder::~DleEncoder() {}
|
||||
|
||||
ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
|
||||
size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
|
||||
size_t* encodedLen, bool addStxEtx) {
|
||||
if (maxDestLen < 2) {
|
||||
return STREAM_TOO_SHORT;
|
||||
}
|
||||
size_t encodedIndex = 0, sourceIndex = 0;
|
||||
uint8_t nextByte;
|
||||
if (addStxEtx) {
|
||||
destStream[0] = STX_CHAR;
|
||||
++encodedIndex;
|
||||
}
|
||||
|
||||
while (encodedIndex < maxDestLen and sourceIndex < sourceLen)
|
||||
{
|
||||
nextByte = sourceStream[sourceIndex];
|
||||
// STX, ETX and CR characters in the stream need to be escaped with DLE
|
||||
if (nextByte == STX_CHAR or nextByte == ETX_CHAR or nextByte == CARRIAGE_RETURN) {
|
||||
if (encodedIndex + 1 >= maxDestLen) {
|
||||
return STREAM_TOO_SHORT;
|
||||
}
|
||||
else {
|
||||
destStream[encodedIndex] = DLE_CHAR;
|
||||
++encodedIndex;
|
||||
/* Escaped byte will be actual byte + 0x40. This prevents
|
||||
* STX, ETX, and carriage return characters from appearing
|
||||
* in the encoded data stream at all, so when polling an
|
||||
* encoded stream, the transmission can be stopped at ETX.
|
||||
* 0x40 was chosen at random with special requirements:
|
||||
* - Prevent going from one control char to another
|
||||
* - Prevent overflow for common characters */
|
||||
destStream[encodedIndex] = nextByte + 0x40;
|
||||
}
|
||||
}
|
||||
// DLE characters are simply escaped with DLE.
|
||||
else if (nextByte == DLE_CHAR) {
|
||||
if (encodedIndex + 1 >= maxDestLen) {
|
||||
return STREAM_TOO_SHORT;
|
||||
}
|
||||
else {
|
||||
destStream[encodedIndex] = DLE_CHAR;
|
||||
++encodedIndex;
|
||||
destStream[encodedIndex] = DLE_CHAR;
|
||||
}
|
||||
}
|
||||
else {
|
||||
destStream[encodedIndex] = nextByte;
|
||||
}
|
||||
++encodedIndex;
|
||||
++sourceIndex;
|
||||
}
|
||||
|
||||
if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
|
||||
if (addStxEtx) {
|
||||
destStream[encodedIndex] = ETX_CHAR;
|
||||
++encodedIndex;
|
||||
}
|
||||
*encodedLen = encodedIndex;
|
||||
return RETURN_OK;
|
||||
}
|
||||
else {
|
||||
return STREAM_TOO_SHORT;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
|
||||
size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
|
||||
size_t maxDestStreamlen, size_t *decodedLen) {
|
||||
size_t encodedIndex = 0, decodedIndex = 0;
|
||||
uint8_t nextByte;
|
||||
if (*sourceStream != STX_CHAR) {
|
||||
return DECODING_ERROR;
|
||||
}
|
||||
++encodedIndex;
|
||||
|
||||
while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
|
||||
&& (sourceStream[encodedIndex] != ETX_CHAR)
|
||||
&& (sourceStream[encodedIndex] != STX_CHAR)) {
|
||||
if (sourceStream[encodedIndex] == DLE_CHAR) {
|
||||
nextByte = sourceStream[encodedIndex + 1];
|
||||
// The next byte is a DLE character that was escaped by another
|
||||
// DLE character, so we can write it to the destination stream.
|
||||
if (nextByte == DLE_CHAR) {
|
||||
destStream[decodedIndex] = nextByte;
|
||||
}
|
||||
else {
|
||||
/* The next byte is a STX, DTX or 0x0D character which
|
||||
* was escaped by a DLE character. The actual byte was
|
||||
* also encoded by adding + 0x40 to prevent having control chars,
|
||||
* in the stream at all, so we convert it back. */
|
||||
if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) {
|
||||
destStream[decodedIndex] = nextByte - 0x40;
|
||||
}
|
||||
else {
|
||||
return DECODING_ERROR;
|
||||
}
|
||||
}
|
||||
++encodedIndex;
|
||||
}
|
||||
else {
|
||||
destStream[decodedIndex] = sourceStream[encodedIndex];
|
||||
}
|
||||
|
||||
++encodedIndex;
|
||||
++decodedIndex;
|
||||
}
|
||||
|
||||
if (sourceStream[encodedIndex] != ETX_CHAR) {
|
||||
*readLen = ++encodedIndex;
|
||||
return DECODING_ERROR;
|
||||
}
|
||||
else {
|
||||
*readLen = ++encodedIndex;
|
||||
*decodedLen = decodedIndex;
|
||||
return RETURN_OK;
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,79 +0,0 @@
|
||||
#ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
|
||||
#define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
|
||||
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include <cstddef>
|
||||
|
||||
/**
|
||||
* @brief This DLE Encoder (Data Link Encoder) can be used to encode and
|
||||
* decode arbitrary data with ASCII control characters
|
||||
* @details
|
||||
* List of control codes:
|
||||
* https://en.wikipedia.org/wiki/C0_and_C1_control_codes
|
||||
*
|
||||
* This encoder can be used to achieve a basic transport layer when using
|
||||
* char based transmission systems.
|
||||
* The passed source strean is converted into a encoded stream by adding
|
||||
* a STX marker at the start of the stream and an ETX marker at the end of
|
||||
* the stream. Any STX, ETX, DLE and CR occurrences in the source stream are
|
||||
* escaped by a DLE character. The encoder also replaces escaped control chars
|
||||
* by another char, so STX, ETX and CR should not appear anywhere in the actual
|
||||
* encoded data stream.
|
||||
*
|
||||
* When using a strictly char based reception of packets encoded with DLE,
|
||||
* STX can be used to notify a reader that actual data will start to arrive
|
||||
* while ETX can be used to notify the reader that the data has ended.
|
||||
*/
|
||||
class DleEncoder: public HasReturnvaluesIF {
|
||||
private:
|
||||
DleEncoder();
|
||||
virtual ~DleEncoder();
|
||||
|
||||
public:
|
||||
static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
|
||||
static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
|
||||
static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
|
||||
|
||||
//! Start Of Text character. First character is encoded stream
|
||||
static constexpr uint8_t STX_CHAR = 0x02;
|
||||
//! End Of Text character. Last character in encoded stream
|
||||
static constexpr uint8_t ETX_CHAR = 0x03;
|
||||
//! Data Link Escape character. Used to escape STX, ETX and DLE occurrences
|
||||
//! in the source stream.
|
||||
static constexpr uint8_t DLE_CHAR = 0x10;
|
||||
static constexpr uint8_t CARRIAGE_RETURN = 0x0D;
|
||||
|
||||
/**
|
||||
* Encodes the give data stream by preceding it with the STX marker
|
||||
* and ending it with an ETX marker. STX, ETX and DLE characters inside
|
||||
* the stream are escaped by DLE characters and also replaced by adding
|
||||
* 0x40 (which is reverted in the decoding process).
|
||||
* @param sourceStream
|
||||
* @param sourceLen
|
||||
* @param destStream
|
||||
* @param maxDestLen
|
||||
* @param encodedLen
|
||||
* @param addStxEtx
|
||||
* Adding STX and ETX can be omitted, if they are added manually.
|
||||
* @return
|
||||
*/
|
||||
static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
|
||||
uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
|
||||
bool addStxEtx = true);
|
||||
|
||||
/**
|
||||
* Converts an encoded stream back.
|
||||
* @param sourceStream
|
||||
* @param sourceStreamLen
|
||||
* @param readLen
|
||||
* @param destStream
|
||||
* @param maxDestStreamlen
|
||||
* @param decodedLen
|
||||
* @return
|
||||
*/
|
||||
static ReturnValue_t decode(const uint8_t *sourceStream,
|
||||
size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
|
||||
size_t maxDestStreamlen, size_t *decodedLen);
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */
|
||||
41
hal/CMakeLists.txt
Normal file
41
hal/CMakeLists.txt
Normal file
@ -0,0 +1,41 @@
|
||||
cmake_minimum_required(VERSION 3.13)
|
||||
|
||||
# Can also be changed by upper CMakeLists.txt file
|
||||
find_library(LIB_FSFW_NAME fsfw REQUIRED)
|
||||
|
||||
option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Required gpiod library" OFF)
|
||||
option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
|
||||
option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
|
||||
option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
|
||||
|
||||
set(LINUX_HAL_PATH_NAME linux)
|
||||
set(STM32H7_PATH_NAME stm32h7)
|
||||
|
||||
add_subdirectory(src)
|
||||
|
||||
foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
|
||||
if(IS_ABSOLUTE ${INCLUDE_PATH})
|
||||
set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
|
||||
else()
|
||||
get_filename_component(CURR_ABS_INC_PATH
|
||||
${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
|
||||
endif()
|
||||
|
||||
if(CMAKE_VERBOSE)
|
||||
message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
|
||||
endif()
|
||||
|
||||
list(APPEND FSFW_HAL_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
|
||||
endforeach()
|
||||
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_HAL_ADD_INC_PATHS_ABS}
|
||||
)
|
||||
|
||||
target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_HAL_DEFINES}
|
||||
)
|
||||
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_HAL_LINK_LIBS}
|
||||
)
|
||||
9
hal/src/CMakeLists.txt
Normal file
9
hal/src/CMakeLists.txt
Normal file
@ -0,0 +1,9 @@
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
add_subdirectory(fsfw_hal)
|
||||
10
hal/src/fsfw_hal/CMakeLists.txt
Normal file
10
hal/src/fsfw_hal/CMakeLists.txt
Normal file
@ -0,0 +1,10 @@
|
||||
add_subdirectory(devicehandlers)
|
||||
add_subdirectory(common)
|
||||
|
||||
if(FSFW_HAL_ADD_LINUX)
|
||||
add_subdirectory(linux)
|
||||
endif()
|
||||
|
||||
if(FSFW_HAL_ADD_STM32H7)
|
||||
add_subdirectory(stm32h7)
|
||||
endif()
|
||||
1
hal/src/fsfw_hal/common/CMakeLists.txt
Normal file
1
hal/src/fsfw_hal/common/CMakeLists.txt
Normal file
@ -0,0 +1 @@
|
||||
add_subdirectory(gpio)
|
||||
3
hal/src/fsfw_hal/common/gpio/CMakeLists.txt
Normal file
3
hal/src/fsfw_hal/common/gpio/CMakeLists.txt
Normal file
@ -0,0 +1,3 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
GpioCookie.cpp
|
||||
)
|
||||
50
hal/src/fsfw_hal/common/gpio/GpioCookie.cpp
Normal file
50
hal/src/fsfw_hal/common/gpio/GpioCookie.cpp
Normal file
@ -0,0 +1,50 @@
|
||||
#include "fsfw_hal/common/gpio/GpioCookie.h"
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
|
||||
GpioCookie::GpioCookie() {
|
||||
}
|
||||
|
||||
ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
|
||||
if (gpioConfig == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
|
||||
#else
|
||||
sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
auto gpioMapIter = gpioMap.find(gpioId);
|
||||
if(gpioMapIter == gpioMap.end()) {
|
||||
auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
|
||||
if (statusPair.second == false) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId <<
|
||||
" to GPIO map" << std::endl;
|
||||
#else
|
||||
sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
|
||||
#endif
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
|
||||
#else
|
||||
sif::printWarning("GpioCookie::addGpio: GPIO already exists in GPIO map\n");
|
||||
#endif
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
GpioMap GpioCookie::getGpioMap() const {
|
||||
return gpioMap;
|
||||
}
|
||||
|
||||
GpioCookie::~GpioCookie() {
|
||||
for(auto& config: gpioMap) {
|
||||
delete(config.second);
|
||||
}
|
||||
}
|
||||
41
hal/src/fsfw_hal/common/gpio/GpioCookie.h
Normal file
41
hal/src/fsfw_hal/common/gpio/GpioCookie.h
Normal file
@ -0,0 +1,41 @@
|
||||
#ifndef COMMON_GPIO_GPIOCOOKIE_H_
|
||||
#define COMMON_GPIO_GPIOCOOKIE_H_
|
||||
|
||||
#include "GpioIF.h"
|
||||
#include "gpioDefinitions.h"
|
||||
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
|
||||
/**
|
||||
* @brief Cookie for the GpioIF. Allows the GpioIF to determine which
|
||||
* GPIOs to initialize and whether they should be configured as in- or
|
||||
* output.
|
||||
* @details One GpioCookie can hold multiple GPIO configurations. To add a new
|
||||
* GPIO configuration to a GpioCookie use the GpioCookie::addGpio
|
||||
* function.
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class GpioCookie: public CookieIF {
|
||||
public:
|
||||
|
||||
GpioCookie();
|
||||
|
||||
virtual ~GpioCookie();
|
||||
|
||||
ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
|
||||
|
||||
/**
|
||||
* @brief Get map with registered GPIOs.
|
||||
*/
|
||||
GpioMap getGpioMap() const;
|
||||
|
||||
private:
|
||||
/**
|
||||
* Returns a copy of the internal GPIO map.
|
||||
*/
|
||||
GpioMap gpioMap;
|
||||
};
|
||||
|
||||
#endif /* COMMON_GPIO_GPIOCOOKIE_H_ */
|
||||
54
hal/src/fsfw_hal/common/gpio/GpioIF.h
Normal file
54
hal/src/fsfw_hal/common/gpio/GpioIF.h
Normal file
@ -0,0 +1,54 @@
|
||||
#ifndef COMMON_GPIO_GPIOIF_H_
|
||||
#define COMMON_GPIO_GPIOIF_H_
|
||||
|
||||
#include "gpioDefinitions.h"
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
|
||||
class GpioCookie;
|
||||
|
||||
/**
|
||||
* @brief This class defines the interface for objects requiring the control
|
||||
* over GPIOs.
|
||||
* @author J. Meier
|
||||
*/
|
||||
class GpioIF : public HasReturnvaluesIF {
|
||||
public:
|
||||
|
||||
virtual ~GpioIF() {};
|
||||
|
||||
/**
|
||||
* @brief Called by the GPIO using object.
|
||||
* @param cookie Cookie specifying informations of the GPIOs required
|
||||
* by a object.
|
||||
*/
|
||||
virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
|
||||
|
||||
/**
|
||||
* @brief By implementing this function a child must provide the
|
||||
* functionality to pull a certain GPIO to high logic level.
|
||||
*
|
||||
* @param gpioId A unique number which specifies the GPIO to drive.
|
||||
* @return Returns RETURN_OK for success. This should never return RETURN_FAILED.
|
||||
*/
|
||||
virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
|
||||
|
||||
/**
|
||||
* @brief By implementing this function a child must provide the
|
||||
* functionality to pull a certain GPIO to low logic level.
|
||||
*
|
||||
* @param gpioId A unique number which specifies the GPIO to drive.
|
||||
*/
|
||||
virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
|
||||
|
||||
/**
|
||||
* @brief This function requires a child to implement the functionality to read the state of
|
||||
* an ouput or input gpio.
|
||||
*
|
||||
* @param gpioId A unique number which specifies the GPIO to read.
|
||||
* @param gpioState State of GPIO will be written to this pointer.
|
||||
*/
|
||||
virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
|
||||
};
|
||||
|
||||
#endif /* COMMON_GPIO_GPIOIF_H_ */
|
||||
140
hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
Normal file
140
hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
Normal file
@ -0,0 +1,140 @@
|
||||
#ifndef COMMON_GPIO_GPIODEFINITIONS_H_
|
||||
#define COMMON_GPIO_GPIODEFINITIONS_H_
|
||||
|
||||
#include <string>
|
||||
#include <unordered_map>
|
||||
#include <map>
|
||||
|
||||
using gpioId_t = uint16_t;
|
||||
|
||||
namespace gpio {
|
||||
|
||||
enum Levels {
|
||||
LOW = 0,
|
||||
HIGH = 1
|
||||
};
|
||||
|
||||
enum Direction {
|
||||
IN = 0,
|
||||
OUT = 1
|
||||
};
|
||||
|
||||
enum GpioOperation {
|
||||
READ,
|
||||
WRITE
|
||||
};
|
||||
|
||||
enum GpioTypes {
|
||||
NONE,
|
||||
GPIO_REGULAR_BY_CHIP,
|
||||
GPIO_REGULAR_BY_LABEL,
|
||||
CALLBACK
|
||||
};
|
||||
|
||||
static constexpr gpioId_t NO_GPIO = -1;
|
||||
|
||||
using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args);
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Struct containing information about the GPIO to use. This is
|
||||
* required by the libgpiod to access and drive a GPIO.
|
||||
* @param chipname String of the chipname specifying the group which contains the GPIO to
|
||||
* access. E.g. gpiochip0. To detect names of GPIO groups run gpiodetect on
|
||||
* the linux command line.
|
||||
* @param lineNum The offset of the GPIO within the GPIO group.
|
||||
* @param consumer Name of the consumer. Simply a description of the GPIO configuration.
|
||||
* @param direction Specifies whether the GPIO should be used as in- or output.
|
||||
* @param initValue Defines the initial state of the GPIO when configured as output.
|
||||
* Only required for output GPIOs.
|
||||
* @param lineHandle The handle returned by gpiod_chip_get_line will be later written to this
|
||||
* pointer.
|
||||
*/
|
||||
class GpioBase {
|
||||
public:
|
||||
|
||||
GpioBase() = default;
|
||||
|
||||
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
|
||||
int initValue):
|
||||
gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
|
||||
|
||||
virtual~ GpioBase() {};
|
||||
|
||||
// Can be used to cast GpioBase to a concrete child implementation
|
||||
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
|
||||
std::string consumer;
|
||||
gpio::Direction direction = gpio::Direction::IN;
|
||||
int initValue = 0;
|
||||
};
|
||||
|
||||
class GpiodRegularBase: public GpioBase {
|
||||
public:
|
||||
GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
|
||||
int initValue, int lineNum): GpioBase(gpioType, consumer, direction, initValue),
|
||||
lineNum(lineNum) {
|
||||
}
|
||||
int lineNum = 0;
|
||||
struct gpiod_line* lineHandle = nullptr;
|
||||
};
|
||||
|
||||
class GpiodRegularByChip: public GpiodRegularBase {
|
||||
public:
|
||||
GpiodRegularByChip() :
|
||||
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
|
||||
std::string(), gpio::Direction::IN, gpio::LOW, 0) {
|
||||
}
|
||||
|
||||
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
|
||||
gpio::Direction direction_, int initValue_) :
|
||||
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
|
||||
consumer_, direction_, initValue_, lineNum_),
|
||||
chipname(chipname_){
|
||||
}
|
||||
|
||||
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
|
||||
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
|
||||
gpio::Direction::IN, gpio::LOW, lineNum_),
|
||||
chipname(chipname_) {
|
||||
}
|
||||
|
||||
std::string chipname;
|
||||
};
|
||||
|
||||
class GpiodRegularByLabel: public GpiodRegularBase {
|
||||
public:
|
||||
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
|
||||
gpio::Direction direction_, int initValue_) :
|
||||
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
|
||||
direction_, initValue_, lineNum_),
|
||||
label(label_) {
|
||||
}
|
||||
|
||||
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
|
||||
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
|
||||
gpio::Direction::IN, gpio::LOW, lineNum_),
|
||||
label(label_) {
|
||||
}
|
||||
|
||||
std::string label;
|
||||
};
|
||||
|
||||
class GpioCallback: public GpioBase {
|
||||
public:
|
||||
GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
|
||||
gpio::gpio_cb_t callback, void* callbackArgs):
|
||||
GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
|
||||
callback(callback), callbackArgs(callbackArgs) {}
|
||||
|
||||
gpio::gpio_cb_t callback = nullptr;
|
||||
void* callbackArgs = nullptr;
|
||||
};
|
||||
|
||||
|
||||
using GpioMap = std::map<gpioId_t, GpioBase*>;
|
||||
using GpioUnorderedMap = std::unordered_map<gpioId_t, GpioBase*>;
|
||||
using GpioMapIter = GpioMap::iterator;
|
||||
using GpioUnorderedMapIter = GpioUnorderedMap::iterator;
|
||||
|
||||
#endif /* LINUX_GPIO_GPIODEFINITIONS_H_ */
|
||||
17
hal/src/fsfw_hal/common/spi/spiCommon.h
Normal file
17
hal/src/fsfw_hal/common/spi/spiCommon.h
Normal file
@ -0,0 +1,17 @@
|
||||
#ifndef FSFW_HAL_COMMON_SPI_SPICOMMON_H_
|
||||
#define FSFW_HAL_COMMON_SPI_SPICOMMON_H_
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace spi {
|
||||
|
||||
enum SpiModes: uint8_t {
|
||||
MODE_0,
|
||||
MODE_1,
|
||||
MODE_2,
|
||||
MODE_3
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif /* FSFW_HAL_COMMON_SPI_SPICOMMON_H_ */
|
||||
5
hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
Normal file
5
hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
Normal file
@ -0,0 +1,5 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
GyroL3GD20Handler.cpp
|
||||
MgmRM3100Handler.cpp
|
||||
MgmLIS3MDLHandler.cpp
|
||||
)
|
||||
287
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
Normal file
287
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
Normal file
@ -0,0 +1,287 @@
|
||||
#include "GyroL3GD20Handler.h"
|
||||
|
||||
#include "fsfw/datapool/PoolReadGuard.h"
|
||||
|
||||
#include <cmath>
|
||||
|
||||
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF *comCookie, uint32_t transitionDelayMs):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
transitionDelayMs(transitionDelayMs), dataset(this) {
|
||||
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
|
||||
debugDivider = new PeriodicOperationDivider(3);
|
||||
#endif
|
||||
}
|
||||
|
||||
GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
|
||||
|
||||
void GyroHandlerL3GD20H::doStartUp() {
|
||||
if(internalState == InternalState::NONE) {
|
||||
internalState = InternalState::CONFIGURE;
|
||||
}
|
||||
|
||||
if(internalState == InternalState::CONFIGURE) {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::CHECK_REGS;
|
||||
commandExecuted = false;
|
||||
}
|
||||
}
|
||||
|
||||
if(internalState == InternalState::CHECK_REGS) {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::NORMAL;
|
||||
if(goNormalModeImmediately) {
|
||||
setMode(MODE_NORMAL);
|
||||
}
|
||||
else {
|
||||
setMode(_MODE_TO_ON);
|
||||
}
|
||||
commandExecuted = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::doShutDown() {
|
||||
setMode(_MODE_POWER_DOWN);
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
||||
switch(internalState) {
|
||||
case(InternalState::NONE):
|
||||
case(InternalState::NORMAL): {
|
||||
return NOTHING_TO_SEND;
|
||||
}
|
||||
case(InternalState::CONFIGURE): {
|
||||
*id = L3GD20H::CONFIGURE_CTRL_REGS;
|
||||
uint8_t command [5];
|
||||
command[0] = L3GD20H::CTRL_REG_1_VAL;
|
||||
command[1] = L3GD20H::CTRL_REG_2_VAL;
|
||||
command[2] = L3GD20H::CTRL_REG_3_VAL;
|
||||
command[3] = L3GD20H::CTRL_REG_4_VAL;
|
||||
command[4] = L3GD20H::CTRL_REG_5_VAL;
|
||||
return buildCommandFromCommand(*id, command, 5);
|
||||
}
|
||||
case(InternalState::CHECK_REGS): {
|
||||
*id = L3GD20H::READ_REGS;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
}
|
||||
default:
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
/* Might be a configuration error. */
|
||||
sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state!" << std::endl;
|
||||
#else
|
||||
sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state!\n");
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
|
||||
*id = L3GD20H::READ_REGS;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
switch(deviceCommand) {
|
||||
case(L3GD20H::READ_REGS): {
|
||||
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
|
||||
std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = L3GD20H::READ_LEN + 1;
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
|
||||
if(commandData == nullptr or commandDataLen != 5) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
ctrlReg1Value = commandData[0];
|
||||
ctrlReg2Value = commandData[1];
|
||||
ctrlReg3Value = commandData[2];
|
||||
ctrlReg4Value = commandData[3];
|
||||
ctrlReg5Value = commandData[4];
|
||||
|
||||
bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
|
||||
bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
|
||||
|
||||
if(not fsH and not fsL) {
|
||||
sensitivity = L3GD20H::SENSITIVITY_00;
|
||||
}
|
||||
else if(not fsH and fsL) {
|
||||
sensitivity = L3GD20H::SENSITIVITY_01;
|
||||
}
|
||||
else {
|
||||
sensitivity = L3GD20H::SENSITIVITY_11;
|
||||
}
|
||||
|
||||
commandBuffer[1] = ctrlReg1Value;
|
||||
commandBuffer[2] = ctrlReg2Value;
|
||||
commandBuffer[3] = ctrlReg3Value;
|
||||
commandBuffer[4] = ctrlReg4Value;
|
||||
commandBuffer[5] = ctrlReg5Value;
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 6;
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::READ_CTRL_REGS): {
|
||||
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
|
||||
L3GD20H::READ_MASK;
|
||||
|
||||
std::memset(commandBuffer + 1, 0, 5);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 6;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
|
||||
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 GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
switch(id) {
|
||||
case(L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
commandExecuted = true;
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::READ_CTRL_REGS): {
|
||||
if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
|
||||
packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
|
||||
packet[5] == ctrlReg5Value) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
else {
|
||||
// Attempt reconfiguration
|
||||
internalState = InternalState::CONFIGURE;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::READ_REGS): {
|
||||
if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
|
||||
packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
|
||||
packet[5] != ctrlReg5Value) {
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
else {
|
||||
if(internalState == InternalState::CHECK_REGS) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
}
|
||||
|
||||
statusReg = packet[L3GD20H::STATUS_IDX];
|
||||
|
||||
int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
|
||||
int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
|
||||
int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
|
||||
float angVelocX = angVelocXRaw * sensitivity;
|
||||
float angVelocY = angVelocYRaw * sensitivity;
|
||||
float angVelocZ = angVelocZRaw * sensitivity;
|
||||
|
||||
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
|
||||
float temperature = 25.0 + temperaturOffset;
|
||||
#if FSFW_HAL_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
|
||||
sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
|
||||
sif::info << "X: " << angVelocX << std::endl;
|
||||
sif::info << "Y: " << angVelocY << std::endl;
|
||||
sif::info << "Z: " << angVelocZ << std::endl;
|
||||
#else
|
||||
sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
|
||||
sif::printInfo("X: %f\n", angVelocX);
|
||||
sif::printInfo("Y: %f\n", angVelocY);
|
||||
sif::printInfo("Z: %f\n", angVelocZ);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
PoolReadGuard readSet(&dataset);
|
||||
if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
if(std::abs(angVelocX) < this->absLimitX) {
|
||||
dataset.angVelocX = angVelocX;
|
||||
dataset.angVelocX.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.angVelocX.setValid(false);
|
||||
}
|
||||
|
||||
if(std::abs(angVelocY) < this->absLimitY) {
|
||||
dataset.angVelocY = angVelocY;
|
||||
dataset.angVelocY.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.angVelocY.setValid(false);
|
||||
}
|
||||
|
||||
if(std::abs(angVelocZ) < this->absLimitZ) {
|
||||
dataset.angVelocZ = angVelocZ;
|
||||
dataset.angVelocZ.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.angVelocZ.setValid(false);
|
||||
}
|
||||
|
||||
dataset.temperature = temperature;
|
||||
dataset.temperature.setValid(true);
|
||||
}
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return this->transitionDelayMs;
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
|
||||
this->goNormalModeImmediately = true;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
|
||||
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
|
||||
insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
|
||||
insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
|
||||
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::modeChanged() {
|
||||
internalState = InternalState::NONE;
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
|
||||
this->absLimitX = limitX;
|
||||
this->absLimitY = limitY;
|
||||
this->absLimitZ = limitZ;
|
||||
}
|
||||
99
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
Normal file
99
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
Normal file
@ -0,0 +1,99 @@
|
||||
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
||||
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "devicedefinitions/GyroL3GD20Definitions.h"
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
|
||||
|
||||
/**
|
||||
* @brief Device Handler for the L3GD20H gyroscope sensor
|
||||
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
|
||||
* @details
|
||||
* Advanced documentation:
|
||||
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
|
||||
*
|
||||
* Data is read big endian with the smallest possible range of 245 degrees per second.
|
||||
*/
|
||||
class GyroHandlerL3GD20H: public DeviceHandlerBase {
|
||||
public:
|
||||
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie, uint32_t transitionDelayMs);
|
||||
virtual ~GyroHandlerL3GD20H();
|
||||
|
||||
/**
|
||||
* Set the absolute limit for the values on the axis in degrees per second.
|
||||
* The dataset values will be marked as invalid if that limit is exceeded
|
||||
* @param xLimit
|
||||
* @param yLimit
|
||||
* @param zLimit
|
||||
*/
|
||||
void setAbsoluteLimits(float limitX, float limitY, float limitZ);
|
||||
|
||||
/**
|
||||
* @brief Configure device handler to go to normal mode immediately
|
||||
*/
|
||||