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updating code from Flying Laptop

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This is the framework of Flying Laptop OBSW version A.13.0.
This commit is contained in:
Ulrich Mohr
2018-07-12 16:29:32 +02:00
parent 1d22a6c97e
commit 575f70ba03
395 changed files with 12807 additions and 8404 deletions
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2
rmap/RMAP.cpp
View File

@ -8,8 +8,6 @@ ReturnValue_t RMAP::reset(RMAPCookie* cookie) {
return cookie->channel->reset();
}
//TODO Check for channel == NULL
//Done. BB
RMAP::RMAP(){
}

5
rmap/RMAP.h
View File

@ -4,7 +4,7 @@
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/rmap/RMAPCookie.h>
//TODO: clean up includes for RMAP, should be enough to include RMAP.h but right now it's quite chaotic...
//SHOULDTODO: clean up includes for RMAP, should be enough to include RMAP.h but right now it's quite chaotic...
/**
* API for a Cookie/Channel based RMAP implementation.
@ -36,7 +36,7 @@
*/
class RMAP: public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = RMAP_CHANNEL;
static const uint8_t INTERFACE_ID = CLASS_ID::RMAP_CHANNEL;
//static const ReturnValue_t COMMAND_OK = MAKE_RETURN_CODE(0x00);
static const ReturnValue_t COMMAND_NO_DESCRIPTORS_AVAILABLE =
@ -53,6 +53,7 @@ public:
0xE7); //The specified port is not valid
static const ReturnValue_t COMMAND_PORT_IN_USE = MAKE_RETURN_CODE(0xE8);//The specified port is already in use
static const ReturnValue_t COMMAND_NO_CHANNEL = MAKE_RETURN_CODE(0xE9);//The cookie to work with has no channel assigned.
static const ReturnValue_t NO_HW_CRC = MAKE_RETURN_CODE(0xEA);//The SpW port does not support HW CRC generation, which is unsupported
//return values for both get_write_reply and get_read_reply
static const ReturnValue_t REPLY_NO_REPLY = MAKE_RETURN_CODE(0xD0); //no reply was received
static const ReturnValue_t REPLY_NOT_SENT = MAKE_RETURN_CODE(0xD1); //command was not sent, implies no reply

12
rmap/RMAPChannelIF.h
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@ -1,14 +1,8 @@
/*
* RMAPChannelIF.h
*
* Created on: 31.05.2013
* Author: tod
*/
#ifndef RMAPCHANNELIF_H_
#define RMAPCHANNELIF_H_
#include <framework/rmap/RMAP.h>
#include <framework/tasks/PeriodicTaskIF.h>
class RMAPChannelIF: public RMAP {
public:
@ -48,7 +42,7 @@ public:
* - @c COMMAND_PORT_OUT_OF_RANGE if the port is invalid
*/
virtual ReturnValue_t setPort(int8_t port, uint8_t dest_addr,
uint8_t src_addr)=0;
uint8_t src_addr, PeriodicTaskIF* currentTask)=0;
/**
* Assign a SpaceWire port to the Channel
@ -60,7 +54,7 @@ public:
* - @c COMMAND_OK if port was changed
* - @c COMMAND_PORT_OUT_OF_RANGE if the port is invalid
*/
virtual ReturnValue_t setPort(int8_t port)=0;
virtual ReturnValue_t setPort(int8_t port, PeriodicTaskIF* currentTask)=0;
/**
* Send an RMAP command

9
rmap/RMAPCookie.cpp
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@ -1,15 +1,8 @@
/*
* RMAPcpp
*
* Created on: 07.11.2012
* Author: mohr
*/
#include <framework/rmap/RMAPChannelIF.h>
#include <framework/rmap/RMAPCookie.h>
#include <stddef.h>
//TODO use ctor initialization list
RMAPCookie::RMAPCookie() {
this->header.dest_address = 0;
this->header.protocol = 0x01;

7
rmap/RMAPCookie.h
View File

@ -1,10 +1,3 @@
/*
* RMAPCookie.h
*
* Created on: 07.11.2012
* Author: mohr
*/
#ifndef RMAPCOOKIE_H_
#define RMAPCOOKIE_H_

76
rmap/RmapSPWChannel.cpp
View File

@ -1,10 +1,3 @@
/*
* RMAPStack.cpp
*
* Created on: 30.05.2013
* Author: tod
*/
#include <framework/rmap/RmapSPWChannel.h>
extern "C" {
#include <bsp_flp/hw_timer/hw_timer.h>
@ -33,18 +26,18 @@ extern "C" {
RmapSPWChannel::RmapSPWChannel(object_id_t setObjectId,
uint16_t buffersize_words, uint32_t maxPacketSize, int8_t portNr,
uint8_t dest_addr, uint8_t src_addr,
uint8_t dest_addr, uint8_t src_addr, PeriodicTaskIF* currentTask,
datapool::opus_variable_id portVariable) :
SystemObject(setObjectId), port(NULL), port_has_crc(0), rx_index(0), max_rx(
128), tx_index(0), max_tx(64), src_addr(src_addr), dest_addr(
dest_addr), portPoolId(portVariable) {
SystemObject(setObjectId), port(NULL), rx_index(0), max_rx(128), tx_index(
0), max_tx(64), src_addr(src_addr), dest_addr(dest_addr), portPoolId(
portVariable) {
buffer = new uint32_t[buffersize_words];
buffer_pointer = buffer;
end_of_buffer = &buffer[buffersize_words];
max_packet_len = maxPacketSize & 0x1FFFFFC;
tid = 0;
failure_table = new uint16_t[128];
setPort(portNr, dest_addr, src_addr);
setPort(portNr, dest_addr, src_addr, currentTask);
}
RmapSPWChannel::~RmapSPWChannel() {
@ -57,8 +50,6 @@ ReturnValue_t RmapSPWChannel::reset() {
uint8_t missed, i;
uint32_t state;
//printf_sif_rmap("reset channel %i\n", channel_nr);
//check if channel has a port
if (port == NULL) {
return COMMAND_CHANNEL_DEACTIVATED;
@ -114,7 +105,7 @@ ReturnValue_t RmapSPWChannel::reset() {
if (missed == rx_index) {
link_down++;
}
//TODO: checkme
for (i = rx_index - missed; i > 0; i--) {
if (!(failure_table[i - 1] & 1)) {
checkRxDescPacket(&(rx_descriptor_table[i - 1]),
@ -166,7 +157,7 @@ ReturnValue_t RmapSPWChannel::isActive() {
}
ReturnValue_t RmapSPWChannel::setPort(int8_t portNr, uint8_t dest_addr,
uint8_t src_addr) {
uint8_t src_addr, PeriodicTaskIF* currentTask) {
SPW_dev *new_port;
@ -175,8 +166,13 @@ ReturnValue_t RmapSPWChannel::setPort(int8_t portNr, uint8_t dest_addr,
return COMMAND_PORT_OUT_OF_RANGE;
}
//check if crc is enabled
if (portNr != -1) {
new_port = SPW_devices.devices[portNr];
if (!spw_crc_enabled(new_port)) {
return NO_HW_CRC;
}
} else {
new_port = NULL;
}
@ -203,8 +199,6 @@ ReturnValue_t RmapSPWChannel::setPort(int8_t portNr, uint8_t dest_addr,
//stop the new port
spw_stop(new_port);
//check if crc is enabled
port_has_crc = spw_crc_enabled(new_port);
//make sure the new port has the max len set
new_port->SPWRXL = max_packet_len;
//set the addresses
@ -218,13 +212,13 @@ ReturnValue_t RmapSPWChannel::setPort(int8_t portNr, uint8_t dest_addr,
spw_reset_txdesc_table(new_port);
//reset the channel
spw_start(new_port);
OSAL::sleepFor(10);
currentTask->sleepFor(10);
reset();
return RETURN_OK;
}
ReturnValue_t RmapSPWChannel::setPort(int8_t port) {
return setPort(port, this->dest_addr, this->src_addr);
ReturnValue_t RmapSPWChannel::setPort(int8_t port, PeriodicTaskIF* currentTask) {
return setPort(port, this->dest_addr, this->src_addr, currentTask);
}
spw_rx_desc* RmapSPWChannel::findReply(RMAPCookie* cookie) {
@ -232,7 +226,6 @@ spw_rx_desc* RmapSPWChannel::findReply(RMAPCookie* cookie) {
uint8_t i;
//look downwards
//TODO: checkme
for (i = cookie->rxdesc_index; i < 200; i--) {
if ((rxdesc = checkRxDesc(cookie, i)) != NULL) {
return rxdesc;
@ -334,21 +327,6 @@ ReturnValue_t RmapSPWChannel::sendCommand(RMAPCookie* cookie,
buffer_pointer += BYTES2WORDS(RMAP_READ_REPLY_HEADER_LEN + datalen + 1); //+1 for crc
}
//calculate crc if not done in hw
if (!port_has_crc) {
cookie->header.header_crc = crc_calculate((uint8_t *) &cookie->header,
RMAP_COMMAND_HEADER_LEN - 1);
headerlen = RMAP_COMMAND_HEADER_LEN;
if (instruction & (1 << RMAP_COMMAND_BIT_WRITE)) {
if (datalen == 0) {
data = &null_crc;
} else {
data[datalen] = crc_calculate(data, datalen);
}
datalen++;
}
}
//configure tx_descriptor
tx_descriptor_table[tx_index].word1 = (uint32_t) &cookie->header;
if (instruction & (1 << RMAP_COMMAND_BIT_WRITE)) {
@ -357,18 +335,14 @@ ReturnValue_t RmapSPWChannel::sendCommand(RMAPCookie* cookie,
tx_descriptor_table[tx_index].word2 = 0;
}
tx_descriptor_table[tx_index].word3 = (uint32_t) data;
if (port_has_crc) {
if (instruction & (1 << RMAP_COMMAND_BIT_WRITE)) {
tx_descriptor_table[tx_index].word0 = headerlen
| (1 << SPW_DESC_TX_ENABLE) | (1 << SPW_DESC_TX_CRC_DATA)
| (1 << SPW_DESC_TX_CRC_HEADER);
} else {
tx_descriptor_table[tx_index].word0 = headerlen
| (1 << SPW_DESC_TX_ENABLE) | (1 << SPW_DESC_TX_CRC_HEADER);
}
if (instruction & (1 << RMAP_COMMAND_BIT_WRITE)) {
tx_descriptor_table[tx_index].word0 = headerlen
| (1 << SPW_DESC_TX_ENABLE) | (1 << SPW_DESC_TX_CRC_DATA)
| (1 << SPW_DESC_TX_CRC_HEADER);
} else {
tx_descriptor_table[tx_index].word0 = headerlen
| (1 << SPW_DESC_TX_ENABLE);
| (1 << SPW_DESC_TX_ENABLE) | (1 << SPW_DESC_TX_CRC_HEADER);
}
//remember descriptors to find them faster when looking for the reply
@ -404,7 +378,6 @@ ReturnValue_t RmapSPWChannel::getReply(RMAPCookie* cookie, uint8_t** databuffer,
//reply_header = (rmap_write_reply_header *) rxdesc->word1;
if (databuffer != NULL) {
packetlen = (rxdesc->word0 & 0x1FFFFFF);
// printf_sif("Reached critical entry.\n");
*databuffer = ((uint8_t *) rxdesc->word1) + RMAP_READ_REPLY_HEADER_LEN;
*len = packetlen - RMAP_READ_REPLY_HEADER_LEN - 1;
}
@ -623,7 +596,7 @@ ReturnValue_t RmapSPWChannel::sendCommandBlocking(RMAPCookie *cookie,
return REPLY_TIMEOUT;
}
//TODO find a better way to inject the Extended address
//SHOULDDO find a better way to inject the Extended address
#include <config/hardware/IoBoardAddresses.h>
ReturnValue_t RmapSPWChannel::open(Cookie **cookie, uint32_t address,
uint32_t maxReplyLen) {
@ -647,7 +620,7 @@ ReturnValue_t RmapSPWChannel::reOpen(Cookie* cookie, uint32_t address,
rCookie->setCommandMask(0);
rCookie->setExtendedAddress(IoBoardExtendedAddresses::DEVICE_BUFFER);
rCookie->setMaxReplyLen(maxReplyLen);
return REPLY_OK;
return RETURN_OK;
}
void RmapSPWChannel::close(Cookie* cookie) {
@ -692,7 +665,6 @@ uint32_t RmapSPWChannel::getParameter(Cookie* cookie) {
void RmapSPWChannel::reportFailures(uint16_t failureEntry,
uint8_t descriptorNr) {
//TODO: Communicate to Kai, adjust return codes.
if (failureEntry & (1 << RMAP_RX_FAIL_CRC)) {
triggerEvent(RMAP_PROTOCOL_ERROR, REPLY_INVALID_DATA_CRC, descriptorNr);
}
@ -730,13 +702,11 @@ void RmapSPWChannel::reportFailures(uint16_t failureEntry,
}
if (failureEntry & (1 << RMAP_RX_FAIL_WRONG_REPLY)) {
triggerEvent(RMAP_PROTOCOL_ERROR, REPLY_INVALID_KEY, descriptorNr);
;
}
}
void RmapSPWChannel::reportSpwstr(uint32_t spwstr) {
//TODO: Communicate to Kai.
if (spwstr & (1 << SPW_SPWSTR_CE)) {
triggerEvent(SPW_ERROR, SPW_CREDIT);
}

16
rmap/RmapSPWChannel.h
View File

@ -1,10 +1,3 @@
/*
* RMAPStack.h
*
* Created on: 30.05.2013
* Author: tod
*/
#ifndef RMAPCHANNEL_H_
#define RMAPCHANNEL_H_
@ -16,6 +9,7 @@ extern "C" {
#include <config/datapool/dataPoolInit.h>
#include <framework/devicehandlers/DeviceCommunicationIF.h>
#include <framework/events/Event.h>
#include <framework/tasks/PeriodicTaskIF.h>
class RmapSPWChannel: public SystemObject,
public RMAPChannelIF,
@ -52,7 +46,7 @@ public:
RmapSPWChannel(object_id_t setObjectId, uint16_t buffersize_words,
uint32_t maxPacketSize, int8_t portNr, uint8_t dest_addr,
uint8_t src_addr, datapool::opus_variable_id portVariable =
uint8_t src_addr, PeriodicTaskIF* currentTask, datapool::opus_variable_id portVariable =
datapool::NO_PARAMETER);
virtual ~RmapSPWChannel();
@ -62,9 +56,9 @@ public:
virtual ReturnValue_t isActive();
virtual ReturnValue_t setPort(int8_t port, uint8_t dest_addr,
uint8_t src_addr);
uint8_t src_addr, PeriodicTaskIF* currentTask);
virtual ReturnValue_t setPort(int8_t port);
virtual ReturnValue_t setPort(int8_t port, PeriodicTaskIF* currentTask);
virtual ReturnValue_t sendCommand(RMAPCookie *cookie, uint8_t instruction,
uint8_t *data, uint32_t datalen);
@ -111,7 +105,7 @@ private:
uint16_t *failure_table;
uint32_t max_packet_len;
uint16_t tid;
uint8_t port_has_crc;
// uint8_t port_has_crc;
uint8_t rx_index; //index of the next unused rx descriptor
uint8_t max_rx;
uint8_t tx_index; //index of the next unused tx descriptor

9
rmap/rmapStructs.h
View File

@ -1,16 +1,9 @@
/*
* rmapStructs.h
*
* Created on: 30.05.2013
* Author: tod
*/
#ifndef RMAPSTRUCTS_H_
#define RMAPSTRUCTS_H_
#include <stdint.h>
//TODO: having the defines within a namespace would be nice. Problem are the defines referencing the previous define, eg RMAP_COMMAND_WRITE
//SHOULDDO: having the defines within a namespace would be nice. Problem are the defines referencing the previous define, eg RMAP_COMMAND_WRITE
//////////////////////////////////////////////////////////////////////////////////
// RMAP command bits