eive/fsfw
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This commit is contained in:
Robin Müller 2022-02-02 12:02:58 +01:00
parent bf5a11cbd3
commit d8c5bd125e
No known key found for this signature in database
GPG Key ID: 11D4952C8CCEF814
23 changed files with 237 additions and 61 deletions
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20
hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
View File

@ -11,7 +11,7 @@ namespace gpio {
enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 };
enum Direction : uint8_t { IN = 0, OUT = 1 };
enum Direction : uint8_t { DIR_IN = 0, DIR_OUT = 1 };
enum GpioOperation { READ, WRITE };
@ -20,7 +20,7 @@ enum class GpioTypes {
GPIO_REGULAR_BY_CHIP,
GPIO_REGULAR_BY_LABEL,
GPIO_REGULAR_BY_LINE_NAME,
CALLBACK
TYPE_CALLBACK
};
static constexpr gpioId_t NO_GPIO = -1;
@ -57,7 +57,7 @@ class 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;
gpio::Direction direction = gpio::Direction::DIR_IN;
gpio::Levels initValue = gpio::Levels::NONE;
};
@ -79,8 +79,8 @@ class GpiodRegularBase : public GpioBase {
class GpiodRegularByChip : public GpiodRegularBase {
public:
GpiodRegularByChip()
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN,
gpio::LOW, 0) {}
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(),
gpio::Direction::DIR_IN, gpio::LOW, 0) {}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, gpio::Levels initValue_)
@ -89,7 +89,7 @@ class GpiodRegularByChip : public GpiodRegularBase {
chipname(chipname_) {}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN,
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::DIR_IN,
gpio::LOW, lineNum_),
chipname(chipname_) {}
@ -105,7 +105,7 @@ class GpiodRegularByLabel : public GpiodRegularBase {
label(label_) {}
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN,
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::DIR_IN,
gpio::LOW, lineNum_),
label(label_) {}
@ -126,8 +126,8 @@ class GpiodRegularByLineName : public GpiodRegularBase {
lineName(lineName_) {}
GpiodRegularByLineName(std::string lineName_, std::string consumer_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
gpio::LOW),
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
gpio::Direction::DIR_IN, gpio::LOW),
lineName(lineName_) {}
std::string lineName;
@ -137,7 +137,7 @@ class GpioCallback : public GpioBase {
public:
GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
gpio::gpio_cb_t callback, void* callbackArgs)
: GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
: GpioBase(gpio::GpioTypes::TYPE_CALLBACK, consumer, direction_, initValue_),
callback(callback),
callbackArgs(callbackArgs) {}

2
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
View File

@ -10,7 +10,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
transitionDelayMs(transitionDelayMs),
dataset(this) {
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
debugDivider = new PeriodicOperationDivider(10);
#endif
}

8
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
View File

@ -13,7 +13,7 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
dataset(this),
transitionDelay(transitionDelay) {
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
debugDivider = new PeriodicOperationDivider(10);
#endif
// Set to default values right away
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
@ -264,7 +264,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
int16_t mgmMeasurementRawZ =
packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];
/* Target value in microtesla */
// Target value in microtesla
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
@ -462,7 +462,9 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
return RETURN_OK;
}
void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {}
void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
}
uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }

2
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
View File

@ -12,7 +12,7 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu
primaryDataset(this),
transitionDelay(transitionDelay) {
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
debugDivider = new PeriodicOperationDivider(10);
#endif
}

14
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
View File

@ -74,7 +74,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
configureGpioByLineName(gpioConfig.first, *regularGpio);
break;
}
case (gpio::GpioTypes::CALLBACK): {
case (gpio::GpioTypes::TYPE_CALLBACK): {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
@ -161,11 +161,11 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
consumer = regularGpio.consumer;
/* Configure direction and add a description to the GPIO */
switch (direction) {
case (gpio::OUT): {
case (gpio::DIR_OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue);
break;
}
case (gpio::IN): {
case (gpio::DIR_IN): {
result = gpiod_line_request_input(lineHandle, consumer.c_str());
break;
}
@ -326,7 +326,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
}
break;
}
case (gpio::GpioTypes::CALLBACK): {
case (gpio::GpioTypes::TYPE_CALLBACK): {
auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
if (callbackGpio == nullptr) {
return GPIO_TYPE_FAILURE;
@ -366,13 +366,13 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::TYPE_CALLBACK) {
eraseDuplicateDifferentType = true;
}
break;
}
case (gpio::GpioTypes::CALLBACK): {
if (gpioType != gpio::GpioTypes::CALLBACK) {
case (gpio::GpioTypes::TYPE_CALLBACK): {
if (gpioType != gpio::GpioTypes::TYPE_CALLBACK) {
eraseDuplicateDifferentType = true;
}
}

5
hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
View File

@ -8,8 +8,7 @@
#include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw_hal/linux/utility.h"
@ -104,7 +103,7 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
return result;
}
if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
if (write(fd, sendData, sendLen) != (int)sendLen) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
"device with error code "

2
hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
View File

@ -7,7 +7,7 @@
ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
std::string consumer, gpio::Direction direction,
int initValue) {
gpio::Levels initValue) {
if (cookie == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}

3
hal/src/fsfw_hal/linux/rpi/GpioRPi.h
View File

@ -21,7 +21,8 @@ namespace gpio {
* @return
*/
ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
std::string consumer, gpio::Direction direction, int initValue);
std::string consumer, gpio::Direction direction,
gpio::Levels initValue);
} // namespace gpio
#endif /* BSP_RPI_GPIO_GPIORPI_H_ */

3
hal/src/fsfw_hal/linux/uart/UartComIF.cpp
View File

@ -7,7 +7,6 @@
#include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/utility.h"
@ -313,7 +312,7 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
fd = uartDeviceMapIter->second.fileDescriptor;
if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
if (write(fd, sendData, sendLen) != (int)sendLen) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
<< ": Error description: " << strerror(errno) << std::endl;

2
hal/src/fsfw_hal/linux/uart/UartCookie.cpp
View File

@ -1,6 +1,6 @@
#include "fsfw_hal/linux/uart/UartCookie.h"
#include <fsfw/serviceinterface.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
uint32_t baudrate, size_t maxReplyLen)

3
hal/src/fsfw_hal/linux/uio/CMakeLists.txt Normal file
View File

@ -0,0 +1,3 @@
target_sources(${LIB_FSFW_NAME} PUBLIC
UioMapper.cpp
)

66
hal/src/fsfw_hal/linux/uio/UioMapper.cpp Normal file
View File

@ -0,0 +1,66 @@
#include "UioMapper.h"
#include <fcntl.h>
#include <unistd.h>
#include <filesystem>
#include <fstream>
#include <sstream>
#include "fsfw/serviceinterface/ServiceInterface.h"
UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum(mapNum) {}
UioMapper::~UioMapper() {}
ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permissions) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
int fd = open(uioFile.c_str(), O_RDWR);
if (fd < 1) {
sif::warning << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t size = 0;
result = getMapSize(&size);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*address = static_cast<uint32_t*>(
mmap(NULL, size, static_cast<int>(permissions), MAP_SHARED, fd, mapNum * getpagesize()));
if (*address == MAP_FAILED) {
sif::warning << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
<< uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t UioMapper::getMapSize(size_t* size) {
std::stringstream namestream;
namestream << UIO_PATH_PREFIX << uioFile.substr(5, std::string::npos) << MAP_SUBSTR << mapNum
<< SIZE_FILE_PATH;
FILE* fp;
fp = fopen(namestream.str().c_str(), "r");
if (fp == nullptr) {
sif::warning << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
char hexstring[SIZE_HEX_STRING] = "";
int items = fscanf(fp, "%s", hexstring);
if (items != 1) {
sif::warning << "UioMapper::getMapSize: Failed with error code " << errno
<< " to read size "
"string from file "
<< namestream.str() << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
items = sscanf(hexstring, "%x", size);
if (items != 1) {
sif::warning << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "
<< "size of map" << mapNum << " to integer" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
fclose(fp);
return HasReturnvaluesIF::RETURN_OK;
}

58
hal/src/fsfw_hal/linux/uio/UioMapper.h Normal file
View File

@ -0,0 +1,58 @@
#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
#define FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
#include <sys/mman.h>
#include <string>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
/**
* @brief Class to help opening uio device files and mapping the physical addresses into the user
* address space.
*
* @author J. Meier
*/
class UioMapper {
public:
enum class Permissions : int {
READ_ONLY = PROT_READ,
WRITE_ONLY = PROT_WRITE,
READ_WRITE = PROT_READ | PROT_WRITE
};
/**
* @brief Constructor
*
* @param uioFile The device file of the uiO to open
* @param uioMap Number of memory map. Most UIO drivers have only one map which has than 0.
*/
UioMapper(std::string uioFile, int mapNum = 0);
virtual ~UioMapper();
/**
* @brief Maps the physical address into user address space and returns the mapped address
*
* @address The mapped user space address
* @permissions Specifies the read/write permissions of the address region
*/
ReturnValue_t getMappedAdress(uint32_t** address, Permissions permissions);
private:
static constexpr char UIO_PATH_PREFIX[] = "/sys/class/uio/";
static constexpr char MAP_SUBSTR[] = "/maps/map";
static constexpr char SIZE_FILE_PATH[] = "/size";
static constexpr int SIZE_HEX_STRING = 10;
std::string uioFile;
int mapNum = 0;
/**
* @brief Reads the map size from the associated sysfs size file
*
* @param size The read map size
*/
ReturnValue_t getMapSize(size_t* size);
};
#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_ */

2
src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp
View File

@ -291,3 +291,5 @@ float LocalPoolDataSetBase::getCollectionInterval() const {
return 0.0;
}
}
void LocalPoolDataSetBase::printSet() { return; }

5
src/fsfw/datapoollocal/LocalPoolDataSetBase.h
View File

@ -171,6 +171,11 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
*/
float getCollectionInterval() const;
/**
* @brief Can be overwritten by a specific implementation of a dataset to print the set.
*/
virtual void printSet();
protected:
sid_t sid;
//! This mutex is used if the data is created by one object only.

11
src/fsfw/datapoollocal/LocalPoolObjectBase.cpp
View File

@ -47,13 +47,14 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
HasLocalDataPoolIF* hkOwner = ObjectManager::instance()->get<HasLocalDataPoolIF>(poolOwner);
if (hkOwner == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalPoolVariable: The supplied pool owner did not implement the correct "
"interface HasLocalDataPoolIF!"
<< std::endl;
sif::error << "LocalPoolVariable: The supplied pool owner 0x" << std::hex << poolOwner
<< std::dec << " did not implement the correct interface "
<< "HasLocalDataPoolIF" << std::endl;
#else
sif::printError(
"LocalPoolVariable: The supplied pool owner did not implement the correct "
"interface HasLocalDataPoolIF!\n");
"LocalPoolVariable: The supplied pool owner 0x%08x did not implement the correct "
"interface HasLocalDataPoolIF\n",
poolOwner);
#endif
return;
}

7
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
View File

@ -665,6 +665,11 @@ void DeviceHandlerBase::doGetWrite() {
void DeviceHandlerBase::doSendRead() {
ReturnValue_t result;
result = doSendReadHook();
if (result != RETURN_OK) {
return;
}
size_t replyLen = 0;
if (cookieInfo.pendingCommand != deviceCommandMap.end()) {
replyLen = getNextReplyLength(cookieInfo.pendingCommand->first);
@ -920,6 +925,8 @@ void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) {
}
}
ReturnValue_t DeviceHandlerBase::doSendReadHook() { return RETURN_OK; }
ReturnValue_t DeviceHandlerBase::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
return DeviceHandlerBase::NO_SWITCH;
}

6
src/fsfw/devicehandlers/DeviceHandlerBase.h
View File

@ -1082,6 +1082,12 @@ class DeviceHandlerBase : public DeviceHandlerIF,
*/
void commandSwitch(ReturnValue_t onOff);
/**
* @brief This function can be used to insert device specific code during the do-send-read
* step.
*/
virtual ReturnValue_t doSendReadHook();
private:
/**
* State a cookie is in.

7
src/fsfw/timemanager/Clock.h
View File

@ -99,6 +99,13 @@ class Clock {
*/
static ReturnValue_t getDateAndTime(TimeOfDay_t *time);
/**
* Convert to time of day struct given the POSIX timeval struct
* @param from
* @param to
* @return
*/
static ReturnValue_t convertTimevalToTimeOfDay(const timeval *from, TimeOfDay_t *to);
/**
* Converts a time of day struct to POSIX seconds.
* @param time The time of day as input

21
src/fsfw/timemanager/ClockCommon.cpp
View File

@ -1,7 +1,9 @@
#include <ctime>
#include "fsfw/ipc/MutexGuard.h"
#include "fsfw/timemanager/Clock.h"
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval *tt) {
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
uint16_t leapSeconds;
ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) {
@ -31,7 +33,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) {
ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -42,9 +44,22 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertTimevalToTimeOfDay(const timeval* from, TimeOfDay_t* to) {
struct tm* timeInfo;
timeInfo = gmtime(&from->tv_sec);
to->year = timeInfo->tm_year + 1900;
to->month = timeInfo->tm_mon + 1;
to->day = timeInfo->tm_mday;
to->hour = timeInfo->tm_hour;
to->minute = timeInfo->tm_min;
to->second = timeInfo->tm_sec;
to->usecond = from->tv_usec;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::checkOrCreateClockMutex() {
if (timeMutex == nullptr) {
MutexFactory *mutexFactory = MutexFactory::instance();
MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}

3
src/fsfw/tmtcservices/TmTcBridge.cpp
View File

@ -172,6 +172,7 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) {
}
if (tmFifo->full()) {
if (warningLatch) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
"of stored packet IDs reached!"
@ -181,6 +182,8 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) {
"TmTcBridge::storeDownlinkData: TM downlink max. number "
"of stored packet IDs reached!\n");
#endif
warningLatch = true;
}
if (overwriteOld) {
tmFifo->retrieve(&storeId);
tmStore->deleteData(storeId);

2
src/fsfw/tmtcservices/TmTcBridge.h
View File

@ -72,6 +72,8 @@ class TmTcBridge : public AcceptsTelemetryIF,
virtual uint16_t getIdentifier() override;
virtual MessageQueueId_t getRequestQueue() override;
bool warningLatch = true;
protected:
//! Cached for initialize function.
object_id_t tmStoreId = objects::NO_OBJECT;