Merge pull request 'Merge development into master for v2.0.0' (#493) from development into master

Reviewed-on: fsfw/fsfw#493

hal/src/fsfw_hal/common/gpio/gpioDefinitions.h

@@ -26,7 +26,8 @@ enum GpioOperation {
 
 enum GpioTypes {
     NONE,
-    GPIO_REGULAR,
+    GPIO_REGULAR_BY_CHIP,
+    GPIO_REGULAR_BY_LABEL,
     CALLBACK
 };
 
@@ -68,28 +69,57 @@ public:
     int initValue = 0;
 };
 
-class GpiodRegular: public GpioBase {
+class GpiodRegularBase: public GpioBase {
 public:
-    GpiodRegular() :
-            GpioBase(gpio::GpioTypes::GPIO_REGULAR, std::string(), gpio::Direction::IN, 0) {
+    GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+            int initValue, int lineNum): GpioBase(gpioType, consumer, direction, initValue),
+            lineNum(lineNum) {
     }
-    ;
-
-    GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
-            gpio::Direction direction_, int initValue_) :
-            GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, direction_, initValue_),
-            chipname(chipname_), lineNum(lineNum_) {
-    }
-
-    GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_) :
-            GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, gpio::Direction::IN, 0),
-            chipname(chipname_), lineNum(lineNum_) {
-    }
-    std::string chipname;
     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_,

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -2,7 +2,6 @@
 #define MISSION_DEVICES_MGMRM3100HANDLER_H_
 
 #include "fsfw/FSFW.h"
-#include "devices/powerSwitcherList.h"
 #include "devicedefinitions/MgmRM3100HandlerDefs.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 

hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h

@@ -49,7 +49,7 @@ static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_DEFAULT_37HZ_VALUE;
 
 static constexpr uint8_t MEASUREMENT_REG_START = 0x24;
 static constexpr uint8_t BIST_REGISTER = 0x33;
-static constexpr uint8_t DATA_READY_VAL = 0b1000'0000;
+static constexpr uint8_t DATA_READY_VAL = 0b10000000;
 static constexpr uint8_t STATUS_REGISTER = 0x34;
 static constexpr uint8_t REVID_REGISTER = 0x36;
 

hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp

@@ -20,7 +20,7 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
     ReturnValue_t result;
     if(gpioCookie == nullptr) {
-        sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
+        sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
         return RETURN_FAILED;
     }
 
@@ -45,16 +45,25 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
 
 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
     for(auto& gpioConfig: mapToAdd) {
-        switch(gpioConfig.second->gpioType) {
+        auto& gpioType = gpioConfig.second->gpioType;
+        switch(gpioType) {
         case(gpio::GpioTypes::NONE): {
             return GPIO_INVALID_INSTANCE;
         }
-        case(gpio::GpioTypes::GPIO_REGULAR): {
-            GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
+            auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
             if(regularGpio == nullptr) {
                 return GPIO_INVALID_INSTANCE;
             }
-            configureRegularGpio(gpioConfig.first, regularGpio);
+            configureGpioByChip(gpioConfig.first, *regularGpio);
+            break;
+        }
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{
+            auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
+            if(regularGpio == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
+            configureGpioByLabel(gpioConfig.first, *regularGpio);
             break;
         }
         case(gpio::GpioTypes::CALLBACK): {
@@ -70,41 +79,59 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
     return RETURN_OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
-    std::string chipname;
+ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
+        GpiodRegularByLabel &gpioByLabel) {
+    std::string& label = gpioByLabel.label;
+    struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
+    if (chip == nullptr) {
+        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open gpio from gpio "
+                << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+
+    }
+    std::string failOutput = "label: " + label;
+    return configureRegularGpio(gpioId, gpioByLabel.gpioType, chip, gpioByLabel, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
+        GpiodRegularByChip &gpioByChip) {
+    std::string& chipname = gpioByChip.chipname;
+    struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
+    if (chip == nullptr) {
+        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
+                << chipname << ". Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+    }
+    std::string failOutput = "chipname: " + chipname;
+    return configureRegularGpio(gpioId, gpioByChip.gpioType, chip, gpioByChip, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
+        struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput) {
     unsigned int lineNum;
-    struct gpiod_chip *chip;
     gpio::Direction direction;
     std::string consumer;
     struct gpiod_line *lineHandle;
     int result = 0;
 
-    chipname = regularGpio->chipname;
-    chip = gpiod_chip_open_by_name(chipname.c_str());
-    if (!chip) {
-        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
-                << chipname << ". Gpio ID: " << gpioId << std::endl;
-        return RETURN_FAILED;
-    }
-
-    lineNum = regularGpio->lineNum;
+    lineNum = regularGpio.lineNum;
     lineHandle = gpiod_chip_get_line(chip, lineNum);
     if (!lineHandle) {
-        sif::debug << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
-        sif::debug << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
-                ", chipname: " << chipname << std::endl;
-        sif::debug << "Check if linux GPIO configuration has changed. " << std::endl;
+        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
+        sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
+                ", " << failOutput << std::endl;
+        sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
         gpiod_chip_close(chip);
         return RETURN_FAILED;
     }
 
-    direction = regularGpio->direction;
-    consumer = regularGpio->consumer;
+    direction = regularGpio.direction;
+    consumer = regularGpio.consumer;
     /* Configure direction and add a description to the GPIO */
     switch (direction) {
     case(gpio::OUT): {
         result = gpiod_line_request_output(lineHandle, consumer.c_str(),
-                regularGpio->initValue);
+                regularGpio.initValue);
         if (result < 0) {
             sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
                     " from GPIO instance with ID: " << gpioId << std::endl;
@@ -134,7 +161,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
      * Write line handle to GPIO configuration instance so it can later be used to set or
      * read states of GPIOs.
      */
-    regularGpio->lineHandle = lineHandle;
+    regularGpio.lineHandle = lineHandle;
     return RETURN_OK;
 }
 
@@ -145,8 +172,14 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
         return UNKNOWN_GPIO_ID;
     }
 
-    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
-        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
+    auto gpioType = gpioMapIter->second->gpioType;
+    if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
+            gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+        if(regularGpio == nullptr) {
+            return GPIO_TYPE_FAILURE;
+        }
+        return driveGpio(gpioId, *regularGpio, gpio::HIGH);
     }
     else {
         auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
@@ -167,8 +200,14 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
         return UNKNOWN_GPIO_ID;
     }
 
-    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
-        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
+    auto& gpioType = gpioMapIter->second->gpioType;
+    if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
+            gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+        if(regularGpio == nullptr) {
+            return GPIO_TYPE_FAILURE;
+        }
+        return driveGpio(gpioId, *regularGpio, gpio::LOW);
     }
     else {
         auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
@@ -183,12 +222,8 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
 }
 
 ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
-        GpiodRegular* regularGpio, unsigned int logicLevel) {
-    if(regularGpio == nullptr) {
-        return GPIO_TYPE_FAILURE;
-    }
-
-    int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
+        GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
+    int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
     if (result < 0) {
         sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
                 " to logic level " << logicLevel << std::endl;
@@ -204,9 +239,10 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
         sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
         return UNKNOWN_GPIO_ID;
     }
-
-    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
-        GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+    auto gpioType = gpioMapIter->second->gpioType;
+    if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
+            gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
         if(regularGpio == nullptr) {
             return GPIO_TYPE_FAILURE;
         }
@@ -225,13 +261,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     for(auto& gpioConfig: mapToAdd) {
         switch(gpioConfig.second->gpioType) {
-        case(gpio::GpioTypes::GPIO_REGULAR): {
-            auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
+            auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
             if(regularGpio == nullptr)  {
                 return GPIO_TYPE_FAILURE;
             }
             /* Check for conflicts and remove duplicates if necessary */
-            result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
+            result = checkForConflictsRegularGpio(gpioConfig.first, *regularGpio, mapToAdd);
             if(result != HasReturnvaluesIF::RETURN_OK) {
                 status = result;
             }
@@ -259,17 +296,19 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
 
 
 ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
-        GpiodRegular* gpioToCheck, GpioMap& mapToAdd) {
+        GpiodRegularBase& gpioToCheck, GpioMap& mapToAdd) {
     /* Cross check with private map */
     gpioMapIter = gpioMap.find(gpioIdToCheck);
     if(gpioMapIter != gpioMap.end()) {
-        if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIO_REGULAR) {
+        auto& gpioType = gpioMapIter->second->gpioType;
+        if(gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_CHIP and
+                gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
             sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
                     "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
             mapToAdd.erase(gpioIdToCheck);
             return HasReturnvaluesIF::RETURN_OK;
         }
-        auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+        auto ownRegularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
         if(ownRegularGpio == nullptr) {
             return GPIO_TYPE_FAILURE;
         }

hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h

@@ -6,6 +6,7 @@
 #include <fsfw/objectmanager/SystemObject.h>
 
 class GpioCookie;
+class GpiodRegularIF;
 
 /**
  * @brief	This class implements the GpioIF for a linux based system. The
@@ -47,9 +48,13 @@ private:
 	 * @param gpioId	The GPIO ID of the GPIO to drive.
 	 * @param logiclevel	The logic level to set. O or 1.
 	 */
-	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel);
+	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
+	        gpio::Levels logicLevel);
 
-	ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
+	ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
+	ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
+    ReturnValue_t configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
+            struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput);
 
 	/**
 	 * @brief	This function checks if GPIOs are already registered and whether
@@ -62,7 +67,7 @@ private:
 	 */
 	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 
-	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
+	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegularBase& regularGpio,
 	        GpioMap& mapToAdd);
     ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
             GpioMap& mapToAdd);

hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp

@@ -12,7 +12,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
-    GpiodRegular* config = new GpiodRegular();
+    auto config = new GpiodRegularByChip();
     /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
     will not need this */
     config->chipname = "gpiochip0";

hal/src/fsfw_hal/linux/spi/SpiComIF.cpp

@@ -141,8 +141,8 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
     if(sendLen > spiCookie->getMaxBufferSize()) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length" << sendLen <<
-                "larger than maximum buffer length" << spiCookie->getMaxBufferSize() << std::endl;
+        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen <<
+                "larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl;
 #else
         sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
                 "than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
@@ -197,12 +197,26 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
     if(gpioId != gpio::NO_GPIO) {
         result = spiMutex->lockMutex(timeoutType, timeoutMs);
         if (result != RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
+#else
+            sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
+#endif
+#endif
+            return result;
+        }
+        ReturnValue_t result = gpioComIF->pullLow(gpioId);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
+#else
+            sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
+#endif
 #endif
             return result;
         }
-        gpioComIF->pullLow(gpioId);
     }
 
     /* Execute transfer */
@@ -213,7 +227,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
             utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
             result = FULL_DUPLEX_TRANSFER_FAILED;
         }
-#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
+#if FSFW_HAL_SPI_WIRETAPPING == 1
         performSpiWiretapping(spiCookie);
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
     }
@@ -384,11 +398,11 @@ GpioIF* SpiComIF::getGpioInterface() {
 void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
     int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
     if(retval != 0) {
-        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
+        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
     }
 
     retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
     if(retval != 0) {
-        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
+        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
     }
 }

src/fsfw/FSFW.h.in

@@ -16,6 +16,11 @@
 #cmakedefine FSFW_ADD_MONITORING
 #cmakedefine FSFW_ADD_SGP4_PROPAGATOR
 
+// Can be used for low-level debugging of the SPI bus
+#ifndef FSFW_HAL_SPI_WIRETAPPING
+#define FSFW_HAL_SPI_WIRETAPPING      0
+#endif
+
 #ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
 #define FSFW_HAL_L3GD20_GYRO_DEBUG          0
 #endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */

src/fsfw/FSFWVersion.h

@@ -3,8 +3,8 @@
 
 const char* const FSFW_VERSION_NAME = "ASTP";
 
-#define FSFW_VERSION        1
-#define FSFW_SUBVERSION     2
+#define FSFW_VERSION        2
+#define FSFW_SUBVERSION     0
 #define FSFW_REVISION       0
 
 #endif /* FSFW_VERSION_H_ */

src/fsfw/globalfunctions/DleEncoder.cpp

@@ -165,11 +165,9 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
     if (sourceStream[encodedIndex++] != STX_CHAR) {
         return DECODING_ERROR;
     }
-    while ((encodedIndex < sourceStreamLen)
-            and (decodedIndex < maxDestStreamlen)
-            and (sourceStream[encodedIndex] != ETX_CHAR)
-            and (sourceStream[encodedIndex] != STX_CHAR)) {
-        if (sourceStream[encodedIndex] == DLE_CHAR) {
+    while ((encodedIndex < sourceStreamLen) and (decodedIndex < maxDestStreamlen)) {
+        switch(sourceStream[encodedIndex]) {
+        case(DLE_CHAR): {
             if(encodedIndex + 1 >= sourceStreamLen) {
                 //reached the end of the sourceStream
                 *readLen = sourceStreamLen;
@@ -197,29 +195,33 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
                 }
             }
             ++encodedIndex;
+            break;
         }
-        else {
+        case(STX_CHAR): {
+            *readLen = encodedIndex;
+            return DECODING_ERROR;
+        }
+        case(ETX_CHAR): {
+            *readLen = ++encodedIndex;
+            *decodedLen = decodedIndex;
+            return RETURN_OK;
+        }
+        default: {
             destStream[decodedIndex] = sourceStream[encodedIndex];
+            break;
+        }
         }
-
         ++encodedIndex;
         ++decodedIndex;
     }
-    if (sourceStream[encodedIndex] != ETX_CHAR) {
-        if(decodedIndex == maxDestStreamlen) {
-            //so far we did not find anything wrong here, so let user try again
-            *readLen = 0;
-            return STREAM_TOO_SHORT;
-        }
-        else {
-            *readLen = ++encodedIndex;
-            return DECODING_ERROR;
-        }
-    }
-    else {
-        *readLen = ++encodedIndex;
-        *decodedLen = decodedIndex;
-        return RETURN_OK;
+
+    if(decodedIndex == maxDestStreamlen) {
+        //so far we did not find anything wrong here, so let user try again
+        *readLen = 0;
+        return STREAM_TOO_SHORT;
+    } else {
+        *readLen = encodedIndex;
+        return DECODING_ERROR;
     }
 }
 

src/fsfw/osal/linux/CMakeLists.txt

@@ -13,7 +13,6 @@ target_sources(${LIB_FSFW_NAME}
 		QueueFactory.cpp
 		SemaphoreFactory.cpp
 		TaskFactory.cpp
-		Timer.cpp
 		tcpipHelpers.cpp
 		unixUtility.cpp
 )

src/fsfw/osal/linux/Timer.cpp

@@ -1,45 +0,0 @@
-#include "fsfw/osal/linux/Timer.h"
-#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
-#include <errno.h>
-
-
-Timer::Timer() {
-	sigevent sigEvent;
-	sigEvent.sigev_notify = SIGEV_NONE;
-	sigEvent.sigev_signo = 0;
-	sigEvent.sigev_value.sival_ptr = &timerId;
-	int status = timer_create(CLOCK_MONOTONIC, &sigEvent, &timerId);
-	if(status!=0){
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "Timer creation failed with: " << status <<
-				" errno: " << errno << std::endl;
-#endif
-	}
-}
-
-Timer::~Timer() {
-	timer_delete(timerId);
-}
-
-int Timer::setTimer(uint32_t intervalMs) {
-	itimerspec timer;
-	timer.it_value.tv_sec = intervalMs / 1000;
-	timer.it_value.tv_nsec = (intervalMs * 1000000) % (1000000000);
-	timer.it_interval.tv_sec = 0;
-	timer.it_interval.tv_nsec = 0;
-	return timer_settime(timerId, 0, &timer, NULL);
-}
-
-
-int Timer::getTimer(uint32_t* remainingTimeMs){
-	itimerspec timer;
-	timer.it_value.tv_sec = 0;
-	timer.it_value.tv_nsec = 0;
-	timer.it_interval.tv_sec = 0;
-	timer.it_interval.tv_nsec = 0;
-	int status = timer_gettime(timerId, &timer);
-
-	*remainingTimeMs = timer.it_value.tv_sec * 1000 + timer.it_value.tv_nsec / 1000000;
-
-	return status;
-}

src/fsfw/osal/linux/Timer.h

@@ -1,45 +0,0 @@
-#ifndef FRAMEWORK_OSAL_LINUX_TIMER_H_
-#define FRAMEWORK_OSAL_LINUX_TIMER_H_
-
-#include <signal.h>
-#include <time.h>
-#include <stdint.h>
-
-/**
- * This class is a helper for the creation of a Clock Monotonic timer which does not trigger a signal
- */
-class Timer {
-public:
-	/**
-	 * Creates the Timer sets the timerId Member
-	 */
-	Timer();
-	/**
-	 * Deletes the timer
-	 *
-	 * Careful! According to POSIX documentation:
-	 * The treatment of any pending signal generated by the deleted timer is unspecified.
-	 */
-	virtual ~Timer();
-
-	/**
-	 * Set the timer given in timerId to the given interval
-	 *
-	 * @param intervalMs Interval in ms to be set
-	 * @return 0 on Success 1 else
-	 */
-	int setTimer(uint32_t intervalMs);
-
-	/**
-	 * Get the remaining time of the timer
-	 *
-	 * @param remainingTimeMs Pointer to integer value which is used to return the remaining time
-	 * @return 0 on Success 1 else (see timer_getime documentation of posix function)
-	 */
-	int getTimer(uint32_t* remainingTimeMs);
-
-private:
-	timer_t timerId;
-};
-
-#endif /* FRAMEWORK_OSAL_LINUX_TIMER_H_ */

src/fsfw/returnvalues/FwClassIds.h

@@ -72,10 +72,12 @@ enum: uint8_t {
     PUS_SERVICE_3, //PUS3
     PUS_SERVICE_9, //PUS9
     FILE_SYSTEM, //FILS
+    LINUX_OSAL, //UXOS
     HAL_SPI, //HSPI
     HAL_UART, //HURT
     HAL_I2C, //HI2C
     HAL_GPIO, //HGIO
+    FIXED_SLOT_TASK_IF, //FTIF
     MGM_LIS3MDL, //MGMLIS3
     MGM_RM3100, //MGMRM3100
     FW_CLASS_ID_COUNT // [EXPORT] : [END]

src/fsfw/tasks/FixedSlotSequence.cpp

@@ -1,4 +1,5 @@
 #include "fsfw/tasks/FixedSlotSequence.h"
+#include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include <cstdlib>
 
@@ -92,10 +93,9 @@ void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
 ReturnValue_t FixedSlotSequence::checkSequence() const {
 	if(slotList.empty()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "FixedSlotSequence::checkSequence:"
-				<< " Slot list is empty!" << std::endl;
+		sif::warning << "FixedSlotSequence::checkSequence: Slot list is empty!" << std::endl;
 #endif
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return FixedTimeslotTaskIF::SLOT_LIST_EMPTY;
 	}
 
 	if(customCheckFunction != nullptr) {

src/fsfw/tasks/FixedSlotSequence.h

@@ -2,7 +2,7 @@
 #define FSFW_TASKS_FIXEDSLOTSEQUENCE_H_
 
 #include "FixedSequenceSlot.h"
-#include "../objectmanager/SystemObject.h"
+#include "fsfw/objectmanager/SystemObject.h"
 
 #include <set>
 
@@ -136,6 +136,7 @@ public:
 	 * @details
 	 * Checks if timing is ok (must be ascending) and if all handlers were found.
 	 * @return
+	 *  - SLOT_LIST_EMPTY if the slot list is empty
 	 */
 	ReturnValue_t checkSequence() const;
 
@@ -147,6 +148,7 @@ public:
 	 * The general check will be continued for now if the custom check function
 	 * fails but a diagnostic debug output will be given.
 	 * @param customCheckFunction
+	 *
 	 */
 	void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList &));
 

src/fsfw/tasks/FixedTimeslotTaskIF.h

@@ -2,7 +2,8 @@
 #define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 
 #include "PeriodicTaskIF.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/returnvalues/FwClassIds.h"
 
 /**
  * @brief Following the same principle as the base class IF.
@@ -12,6 +13,8 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
 public:
 	virtual ~FixedTimeslotTaskIF() {}
 
+	static constexpr ReturnValue_t SLOT_LIST_EMPTY = HasReturnvaluesIF::makeReturnCode(
+	        CLASS_ID::FIXED_SLOT_TASK_IF, 0);
 	/**
 	 * Add an object with a slot time and the execution step to the task.
 	 * The execution step will be passed to the object (e.g. as an operation

src/fsfw/tasks/Typedef.h

@@ -1,5 +1,8 @@
-#ifndef FRAMEWORK_TASKS_TYPEDEF_H_
-#define FRAMEWORK_TASKS_TYPEDEF_H_
+#ifndef FSFW_TASKS_TYPEDEF_H_
+#define FSFW_TASKS_TYPEDEF_H_
+
+#include <cstdint>
+#include <cstddef>
 
 typedef const char* TaskName;
 typedef uint32_t TaskPriority;
@@ -7,4 +10,4 @@ typedef size_t TaskStackSize;
 typedef double TaskPeriod;
 typedef void (*TaskDeadlineMissedFunction)();
 
-#endif /* FRAMEWORK_TASKS_TYPEDEF_H_ */
+#endif /* FSFW_TASKS_TYPEDEF_H_ */

src/fsfw/timemanager/Countdown.cpp

@@ -6,16 +6,14 @@ Countdown::Countdown(uint32_t initialTimeout): timeout(initialTimeout) {
 Countdown::~Countdown() {
 }
 
-ReturnValue_t Countdown::setTimeout(uint32_t miliseconds) {
-	ReturnValue_t return_value = Clock::getUptime( &startTime );
-	timeout = miliseconds;
-	return return_value;
+ReturnValue_t Countdown::setTimeout(uint32_t milliseconds) {
+	ReturnValue_t returnValue = Clock::getUptime( &startTime );
+	timeout = milliseconds;
+	return returnValue;
 }
 
 bool Countdown::hasTimedOut() const {
-	uint32_t current_time;
-	Clock::getUptime( &current_time );
-	if ( uint32_t(current_time - startTime) >= timeout) {
+	if ( uint32_t( this->getCurrentTime() - startTime) >= timeout) {
 		return true;
 	} else {
 		return false;
@@ -31,7 +29,23 @@ ReturnValue_t Countdown::resetTimer() {
 }
 
 void Countdown::timeOut() {
-	uint32_t current_time;
-		Clock::getUptime( &current_time );
-	startTime= current_time - timeout;
+	startTime = this->getCurrentTime() - timeout;
+}
+
+uint32_t Countdown::getRemainingMillis() const {
+	// We fetch the time before the if-statement
+	// to be sure that the return is in
+	// range 0 <= number <= timeout
+	uint32_t currentTime = this->getCurrentTime();
+	if (this->hasTimedOut()){
+		return 0;
+	}else{
+		return (startTime + timeout) - currentTime;
+	}
+}
+
+uint32_t Countdown::getCurrentTime() const {
+	uint32_t currentTime;
+	Clock::getUptime( &currentTime );
+	return currentTime;
 }

src/fsfw/timemanager/Countdown.h

@@ -4,28 +4,77 @@
 #include "Clock.h"
 
 /**
- * @brief	This file defines the Countdown class.
- * @author	baetz
+ *
+ * Countdown keeps track of a timespan.
+ *
+ * Countdown::resetTimer restarts the timer.
+ * Countdown::setTimeout sets a new countdown duration and resets.
+ *
+ * Can be checked with Countdown::hasTimedOut or
+ * Countdown::isBusy.
+ *
+ * Countdown::timeOut will force the timer to time out.
+ *
  */
 class Countdown {
 public:
-	uint32_t timeout;
+	/**
+	 * Constructor which sets the countdown duration in milliseconds
+	 *
+	 * It does not start the countdown!
+	 * Call resetTimer or setTimeout before usage!
+	 * Otherwise a call to hasTimedOut might return True.
+	 *
+	 * @param initialTimeout Countdown duration in milliseconds
+	 */
 	Countdown(uint32_t initialTimeout = 0);
 	~Countdown();
-	ReturnValue_t setTimeout(uint32_t miliseconds);
-
+	/**
+	 * Call to set a new countdown duration.
+	 *
+	 * Resets the countdown!
+	 *
+	 * @param milliseconds new countdown duration in milliseconds
+	 * @return Returnvalue from Clock::getUptime
+	 */
+	ReturnValue_t setTimeout(uint32_t milliseconds);
+	/**
+	 * Returns true if the countdown duration has passed.
+	 *
+	 * @return True if the countdown has passed
+	 * 		   False if it is still running
+	 */
 	bool hasTimedOut() const;
-
+	/**
+	 * Complementary to hasTimedOut.
+	 *
+	 * @return True if the countdown is till running
+	 * 		   False if it is still running
+	 */
 	bool isBusy() const;
-
-	//!< Use last set timeout value and restart timer.
+	/**
+	 *  Uses last set timeout value and restarts timer.
+	 */
 	ReturnValue_t resetTimer();
-
-	//!< Make hasTimedOut() return true
+	/**
+	 * Returns the remaining milliseconds (0 if timeout)
+	 */
+	uint32_t getRemainingMillis() const;
+	/**
+	 * Makes hasTimedOut() return true
+	 */
 	void timeOut();
-
+	/**
+	 * Internal countdown duration in milliseconds
+	 */
+	uint32_t timeout;
 private:
+	/**
+	 * Last time the timer was started (uptime)
+	 */
 	uint32_t startTime = 0;
+
+	uint32_t getCurrentTime() const;
 };
 
 #endif /* FSFW_TIMEMANAGER_COUNTDOWN_H_ */

src/fsfw/tmtcservices/TmTcBridge.h

@@ -19,7 +19,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
 public:
 	static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
 	static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
-	static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 20;
+	static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 200;
 
 	static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
 	static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;

tests/src/fsfw_tests/unit/CMakeLists.txt

@@ -18,4 +18,5 @@ add_subdirectory(serialize)
 add_subdirectory(datapoollocal)
 add_subdirectory(storagemanager)
 add_subdirectory(globalfunctions)
+add_subdirectory(timemanager)
 add_subdirectory(tmtcpacket)

tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp

@@ -103,7 +103,7 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
             for(size_t faultyDestSize = 0; faultyDestSize < expectedVec.size(); faultyDestSize ++) {
                 result = dleEncoder.encode(vecToEncode.data(), vecToEncode.size(),
                         buffer.data(), faultyDestSize, &encodedLen);
-                REQUIRE(result == DleEncoder::STREAM_TOO_SHORT);
+                REQUIRE(result == static_cast<int>(DleEncoder::STREAM_TOO_SHORT));
             }
         };
 
@@ -218,5 +218,10 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
         REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
 
         dleEncoder.setEscapeMode(true);
+        testArray1EncodedFaulty = TEST_ARRAY_1_ENCODED_ESCAPED;
+        testArray1EncodedFaulty[5] = 0;
+        result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
     }
 }

tests/src/fsfw_tests/unit/timemanager/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${TARGET_NAME} PRIVATE
+	TestCountdown.cpp
+)

tests/src/fsfw_tests/unit/timemanager/TestCountdown.cpp

@@ -0,0 +1,27 @@
+#include "fsfw_tests/unit/CatchDefinitions.h"
+#include <fsfw/timemanager/Countdown.h>
+#include <catch2/catch_test_macros.hpp>
+
+
+TEST_CASE( "Countdown Tests", "[TestCountdown]") {
+	INFO("Countdown Tests");
+	Countdown count(20);
+	REQUIRE(count.timeout == 20);
+	REQUIRE(count.setTimeout(100) == static_cast<uint16_t>(HasReturnvaluesIF::RETURN_OK));
+	REQUIRE(count.timeout == 100);
+	REQUIRE(count.setTimeout(150) == static_cast<uint16_t>(HasReturnvaluesIF::RETURN_OK));
+	REQUIRE(count.isBusy());
+	REQUIRE(not count.hasTimedOut());
+	uint32_t number = count.getRemainingMillis();
+	REQUIRE(number > 0);
+	bool blocked = false;
+	while(not count.hasTimedOut()){
+		blocked = true;
+	};
+	REQUIRE(blocked);
+	number = count.getRemainingMillis();
+	REQUIRE(number==0);
+	count.resetTimer();
+	REQUIRE(not count.hasTimedOut());
+	REQUIRE(count.isBusy());
+}