Merge remote-tracking branch 'upstream/development' into mueller/dev-printout-runtime-configurable

CHANGELOG.md

@@ -14,6 +14,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 
+## Additions
+
+- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
+
 # [v4.0.0]
 
 ## Additions

hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -1,4 +1,13 @@
-#include "fsfw_hal/linux/i2c/I2cComIF.h"
+#include "I2cComIF.h"
+
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw_hal/linux/utility.h"
+
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+#include "fsfw/globalfunctions/arrayprinter.h"
+#endif
 
 #include <errno.h>
 #include <fcntl.h>
@@ -8,11 +17,6 @@
 
 #include <cstring>
 
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface.h"
-#include "fsfw_hal/linux/UnixFileGuard.h"
-#include "fsfw_hal/linux/utility.h"
-
 I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
 
 I2cComIF::~I2cComIF() {}
@@ -112,6 +116,11 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
+
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+  sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
+  arrayprinter::print(sendData, sendLen);
+#endif
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -176,6 +185,11 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+  sif::info << "I2C read bytes from bus " << deviceFile << ":" << std::endl;
+  arrayprinter::print(replyBuffer, requestLen);
+#endif
+
   i2cDeviceMapIter->second.replyLen = requestLen;
   return HasReturnvaluesIF::RETURN_OK;
 }

src/fsfw/FSFW.h.in

@@ -57,4 +57,9 @@
 #define FSFW_HAL_SPI_WIRETAPPING            0
 #endif
 
+// Can be used for low-level debugging of the I2C bus
+#ifndef FSFW_HAL_I2C_WIRETAPPING
+#define FSFW_HAL_I2C_WIRETAPPING            0
+#endif
+
 #endif /* FSFW_FSFW_H_ */

src/fsfw/globalfunctions/CRC.cpp

@@ -117,7 +117,7 @@ uint16_t CRC::crc16ccitt(uint8_t const input[], uint32_t length, uint16_t starti
   //	{
   //		 if  (xor_out[i] == true)
   //			 crc_value = crc_value + pow(2,(15 -i));   // reverse CrC result before
-  //Final XOR
+  // Final XOR
   //	}
   //
   //	crc_value = 0;// for debug mode

src/fsfw/osal/linux/PeriodicPosixTask.h

@@ -65,9 +65,10 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
   /**
    * @brief	The function containing the actual functionality of the task.
    * @details	The method sets and starts
-   * 			the task's period, then enters a loop that is repeated indefinitely. Within the
+   * 			the task's period, then enters a loop that is repeated indefinitely. Within
-   * loop, all performOperation methods of the added objects are called. Afterwards the task will be
+   * the loop, all performOperation methods of the added objects are called. Afterwards the task
-   * blocked until the next period. On missing the deadline, the deadlineMissedFunction is executed.
+   * will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is
+   * executed.
    */
   virtual void taskFunctionality(void);
   /**

src/fsfw/osal/rtems/PeriodicTask.h

@@ -13,8 +13,8 @@ class ExecutableObjectIF;
  * @brief This class represents a specialized task for periodic activities of multiple objects.
  *
  * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
- * 			multiple objects that implement the ExecutableObjectIF interface. The objects
+ * 			multiple objects that implement the ExecutableObjectIF interface. The
- * must be added prior to starting the task.
+ * objects must be added prior to starting the task.
  * @author  baetz
  * @ingroup task_handling
  */

src/fsfw/rmap/RMAP.h

@@ -169,8 +169,8 @@ class RMAP : public HasReturnvaluesIF {
    * @param buffer the data to write
    * @param length length of data
    * @return
-   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL in
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL
-   * write command
+   * in write command
    *      - return codes of RMAPChannelIF::sendCommand()
    */
   static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t *buffer, size_t length);
@@ -205,8 +205,8 @@ class RMAP : public HasReturnvaluesIF {
    * @param cookie to cookie to read from
    * @param expLength the expected maximum length of the reply
    * @return
-   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL in
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL
-   * write command, or nullpointer in read command
+   * in write command, or nullpointer in read command
    *      - return codes of RMAPChannelIF::sendCommand()
    */
   static ReturnValue_t sendReadCommand(RMAPCookie *cookie, uint32_t expLength);

src/fsfw/rmap/RMAPChannelIF.h

@@ -75,10 +75,10 @@ class RMAPChannelIF {
    *      - @c RETURN_OK
    *      - @c COMMAND_NO_DESCRIPTORS_AVAILABLE 	no descriptors available for sending
    * command; command was not sent
-   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for expected len;
+   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for expected
-   * command was not sent
+   * len; command was not sent
-   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too long for the hw
+   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too long for the
-   * to handle (write command) or the expected len was bigger than maximal expected len (read
+   * hw to handle (write command) or the expected len was bigger than maximal expected len (read
    * command) command was not sent
    *      - @c COMMAND_CHANNEL_DEACTIVATED		the channel has no port set
    *      - @c NOT_SUPPORTED						if you dont feel like
@@ -97,8 +97,8 @@ class RMAPChannelIF {
    *      - @c REPLY_NO_REPLY				no reply was received
    *      - @c REPLY_NOT_SENT				command was not sent, implies no reply
    *      - @c REPLY_NOT_YET_SENT			command is still waiting to be sent
-   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission buffer still
+   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission buffer
-   * being processed)
+   * still being processed)
    *      - @c WRITE_REPLY_TRANSMISSION_ERROR		Interface encountered errors during last
    * operation, data could not be processed. (transmission error)
    *      - @c WRITE_REPLY_INVALID_DATA			Invalid data (amount / value)